Copter: update 4.4.0-beta1 release notes based on peer feedback

ArduCopter/ReleaseNotes.txt

@@ -12,7 +12,8 @@ Changes from 4.3.6
     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
+    a) Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
+    b) Bi-Directional DShot up to 8 channels on MatekH743
     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") 
@@ -60,7 +61,7 @@ Changes from 4.3.6
     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
+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
@@ -79,11 +80,17 @@ Changes from 4.3.6
     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)
+    n) WeatherVane into the wind in Auto and Guided modes (see WVANE_ENABLE)
 6) TradHeli specific enhancements
     a) Manual autorotation support
     b) Improved collect to yaw compensation
-7) Camera and gimbal enhancements
+7) Filtering enhancements
+    a) FFT notch can be run based on filtered data
+    b) Warn of motor noise at RPM frequency using FFT
+    c) In-flight FFT can better track low frequency noise
+    d) In-flight FFT logging improved
+    e) IMU data can be read and replayed for FFT analysis
+8) 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)
@@ -98,7 +105,8 @@ Changes from 4.3.6
         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
+9) Logging changes
+    a) BARD msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
     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
@@ -106,31 +114,30 @@ Changes from 4.3.6
     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
+10) 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
+    f) Logging from scripts supports more formats
+    g) Parameters can be removed or reordered
+    h) Parameter description support (scripts must be in AP's applet or driver directory)
+    i) Rangefinder driver support
+    j) Runcam_on_arm applet starts recording when vehicle is armed
+    k) Safety switch, E-Stop and motor interlock support
+    l) Scripts can restart all scripts
+    m) Script_Controller applet supports inflight switching of active scripts
+11) Custom build server enhancements
+    a) AIS support for displaying nearby boats can be included
+    b) Battery, Camera and Compass drivers can be included/excluded
+    c) EKF3 wind estimation can be included/excluded
+    d) PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
+    e) Preclanding can be included/excluded
+    f) RichenPower generator can be included/excluded
+    g) RC SRXL protocol can be excluded
+    h) SIRF GPSs can be included/excluded
+12) 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)
@@ -140,8 +147,9 @@ Changes from 4.3.6
     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) Takeoff check of motor RPM (see TKOFF_RPM_MIN)
     j) Turtle mode warns user to raise throttle to arm
-12) Minor enhancements
+13) 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)
@@ -150,7 +158,7 @@ Changes from 4.3.6
     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:
+14) 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)
@@ -181,15 +189,16 @@ Changes from 4.3.6
     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
+15) 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
+    c) Scripts in applet and drivers directory checked using linter
+    d) Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
+    e) Simulink model and init scripts
+    f) SITL on hardware support (useful to demo servos moving in response to simulated flight)
+    g) SITL parameter definitions added (some, not all)
+    h) Webots 2023a simulator support
+    i) XPlane support for wider range of aircraft
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 Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6--beta2 27-Mar-2023
 Changes from 4.3.5