diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 9ca8364d6c..58efcf9929 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,196 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Copter 4.4.0-beta1 19-Apr-2023 +Changes from 4.3.6 +1) New autopilots supported + a) ESP32 + b) Flywoo Goku F405S AIO + c) Foxeer H743v1 + d) MambaF405-2022B + e) PixPilot-V3 + f) PixSurveyA2 + g) rFCU H743 + h) ThePeach K1/R1 +2) Autopilot specific changes + a) Bi-Directional DShot support for CubeOrangePlus-bdshot, Matek F405TE/VTOL-bdshot, Pixhawk6C-bdshot, QioTekZealotH743-bdshot + b) BlueRobotics Navigator supports baro on I2C bus 6 + c) BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash") + d) CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards") + e) Foxeer Reaper F745 supports external compasses + f) OmnibusF4 support for BMI270 IMU + g) OmnibusF7V2-bdshot support removed + h) KakuteF7 regains displayport, frees up DMA from unused serial port + i) KakuteH7v2 gets second battery sensor + j) MambaH743v4 supports VTX + k) MatekF405-Wing supports InvensenseV3 IMUs + l) PixPilot-V6 heater enabled + m) Raspberry 64OS startup crash fixed + n) ReaperF745AIO serial protocol defaults fixed + o) SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version + p) Skyviper loses many unnecessary features to save flash + q) UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash") + r) VRBrain-v52 and VRCore-v10 features reduced to save flash +3) Driver enhancements + a) ARK RTK GPS support + b) BMI088 IMU filtering and timing improved, ignores bad data + c) CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS) + d) Daiwa winch baud rate obeys SERIALx_BAUD parameter + e) EFI supports fuel pressure and ignition voltage reporting and battery failsafe + f) ICM45686 IMU support + g) ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset) + h) ICM45686 supports fast sampling + i) MAX31865 temp sensor support + j) MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support + k) MMC3416 compass orientation fix + l) MPPT battery monitor reliability improvements, enable/disable aux function and less spammy + m) Multiple USD-D1-CAN radar support + n) NMEA output rate configurable (see NMEA_RATE_MS) + o) NMEA output supports PASHR message (see NMEA_MSG_EN) + p) OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params) + q) Rockblock satellite modem support + r) Serial baud support for 2Mbps (only some hardware supports this speed) + s) SF45b lidar filtering reduced (allows detecting smaller obstacles + t) SmartAudio 2.0 learns all VTX power levels) + u) UAVCAN ESCs report error count using ESC Telemetry + v) Unicore GPS (e.g. UM982) support + w) VectorNav 100 external AHRS support + x) 5 IMUs supported +4) EKF related enhancements + a) Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN) + b) External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS + c) Magnetic field tables updated + d) Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover) +5) Control and navigation enhancements + a) AutoTune of attitude control yaw D gain (set AUTOTUNE_AXES=8) + b) Circle moode and Loiter Turns command supports counter-clockwise rotation (set CIRCLE_RATE to negative number) + c) DO_SET_ROI_NONE command turns off ROI + d) JUMP_TAG mission item support + e) Missions can be stored on SD card (see BRD_SD_MISSION) + f) NAV_SCRIPT_TIME command accepts floating point arguments + g) Pause/Resume returns success if mission is already paused or resumed + h) Payload Place enhancements + i) Descent speed is configurable (see PLDP_SPEED_DN) + ii) Manual release supported (detects pilot release of gripper) + iii) Post release delay is configurable (see PLDP_DELAY) + iv) Range finder range used to protect against premature release (see PLDP_RNG_MIN) + v) Touchdown detection threshold is configurable (see PLDP_THRESH) + i) Position controller angle max adjusted inflight with CH6 Tuning knob (set TUNE=59) + j) Surface tracking time constant allows tuning response (see SURFTRAK_TC) + k) Takeoff throttle max is configurable (see TKOFF_TH_MAX) + l) Throttle-Gain boost increases attitude control gains when throttle high (see ATC_THR_G_BOOST) + m) Waypoint navigation cornering acceleration is configurable (see WPNAV_ACCEL_C) + n) WeatherVane option to only use during takoffs and landings (see WVANE_ENABLE) +6) TradHeli specific enhancements + a) Manual autorotation support + b) Improved collect to yaw compensation +7) Camera and gimbal enhancements + a) BMMCC support included in Servo driver + b) DJI RS2/RS3-Pro gimbal support + c) Dual camera support (see CAM2_TYPE) + d) Gimbal/Mount2 can be moved to retracted or neutral position + e) Gremsy ZIO support + f) IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support + g) Paramters renamed and rescaled + i) CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed + ii) CAM_DURATION renamed to CAM1_DURATION and scaled in seconds + iii) CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL + iv) CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds + v) CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values + h) RunCam2 4k support + i) ViewPro camera gimbal support +8) Logging changes + a) MCU log msg includes main CPU temp and voltage (was part of POWR message) + b) RCOut banner message always included in Logs + c) SCR message includes memory usage of all running scripts + d) CANS message includes CAN bus tx/rx statistics + e) OFCA (optical flow calibration log message) units added + f) Home location not logged to CMD message + g) MOTB message includes throttle output +9) Scripting enhancements + a) Copter deadreckoning upgraded to applet + b) EFI Skypower driver gets improved telem messages and bug fixes + c) Generator throttle control example added + d) Heap max increased by allowing heap to be split across multiple underlying OS heaps + e) Hexsoon LEDs applet + f) Linter code checks for AP drivers and applets + g) Logging from scripts supports more formats + h) Parameters can be removed or reordered + i) Parameter description support (scripts must be in AP's applet or driver directory) + j) Rangefinder driver support + k) Runcam_on_arm applet starts recording when vehicle is armed + l) Safety switch, E-Stop and motor interlock support + m) Scripts can restart all scripts + n) Script_Controller applet supports inflight switching of active scripts + o) Skipcheck keywords supports skipping argument range checks +10) Custom build server enhancements + a) Battery, Camera and Compass drivers can be included/excluded + b) EKF3 wind estimation can be included/excluded + c) PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded + d) Preclanding can be included/excluded + e) RichenPower generator can be included/excluded + f) RC SRXL protocol can be excluded + g) SIRF GPSs can be included/excluded +11) Safety related enhancements and fixes + a) Arming check for high throttle skipped when arming in Auto mode + b) Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting + c) Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks) + d) "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled) + e) Pre-arm check that low and critical battery failsafe thresholds are different + f) Pre-arm message fixed if 2nd EKF core unhealthy + g) Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis) + h) RC failsafe (aka throttle failsafe) option to change to Brake mode + i) RC failsafe timeout configurable (see RC_FS_TIMEOUT) + j) Turtle mode warns user to raise throttle to arm +12) Minor enhancements + a) Boot time reduced by improving parameter conversion efficiency + b) BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT + c) Compass calibration auxiliary switch function (set RCx_OPTION=171) + d) Disable IMU3 auxiliary switch function (set RCx_OPTION=110) + e) Frame type sent to GCS defaults to multicopter to ease first time setup + f) Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier) + g) MAVFTP supports file renaming + h) MAVLink in-progress reply to some requests for calibration from GCS +13) Bug fixes: + a) ADSB telemetry and callsign fixes + b) Battery pct reported to GCS limited to 0% to 100% range + c) Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6) + d) DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards + e) DisplayPort OSD artificial horizon better matches actual horizon + f) EFI Serial MS bug fix to avoid possible infinite loop + g) EKF3 Replay fix when COMPASS_LEARN=3 + h) ESC Telemetry external temp reporting fix + i) Fence upload works even if Auto mode is excluded from firmware + j) FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server) + k) Guided mode slow yaw fix + l) Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running + m) ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset + n) IMU detection bug fix to avoid duplicates + o) IMU temp cal fix when using auxiliary IMU + p) Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947 + q) RADIO_STATUS messages slow-down feature never completely stops messages from being sent + r) SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc. Avoids momentary divide-by-zero + s) Scripting file system open fix + t) Scripting PWM source deletion crash fix + u) MAVFTP fix for low baudrates (4800 baud and lower) + v) ModalAI VOXL reset handling fix + w) MPU6500 IMU fast sampling rate to 4k (was 1K) + x) NMEA GPGGA output fixed for GPS quality, num sats and hdop + y) Position control reset avoided even with very uneven main loop rate due to high CPU load + z) SingleCopter and CoaxCopter fix to fin centering when using DShot + aa) SystemID mode fix to write PID log messages + ab) Terrain offset increased from 15m to 30m (see TERRAIN_OFS_MAX)to reduce chance of "clamping" + ac) Throttle notch FFT tuning param fix + ad) VTX protects against pitmode changes when not enabled or vehicle disarmed +14) Developer specific items + a) DroneCAN replaces UAVCAN + b) FlighAxis simulator rangefinder fixed + c) Simulator supports main loop timing jitter (see SIM_TIME_JITTER) + d) Simulink model and init scripts + e) SITL on hardware support (useful to demo servos moving in response to simulated flight) + f) SITL parameter definitions added (some, not all) + g) Webots 2023a simulator support + h) XPlane support for wider range of aircraft +------------------------------------------------------------------ Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6--beta2 27-Mar-2023 Changes from 4.3.5 1) Bi-directional DShot fix for possible motor stop approx 72min after startup