diff --git a/ArduPlane/release-notes.txt b/ArduPlane/release-notes.txt index d47c6086bc..5fcb605597 100644 --- a/ArduPlane/release-notes.txt +++ b/ArduPlane/release-notes.txt @@ -1,3 +1,57 @@ +Release 4.1.0beta1 14th June 2021 +--------------------------------- + +This is a major release, with a lot of changes across almost all +subsystems. Key changes include: + + - major updates to quadplane control algorithms, including new + landing approach system, new input shaping system for all levels of + VTOL control and new filtering options. + + - new PID system for fixed wing control, with much more flexible + filtering and true rate D term support. + + - new fixed wing autotune system which on most aircraft produces a + much better tune than the previous autotune. + +There have also been a lot of changes at the low level system level as +well. + + - new DShot system, with much better timing and new features. + + - improved support for GPS moving baseline yaw + + - new unified ESC telemetry system for CAN, DShot and serial ESC + telemetry, allowing for ESC RPM driven notch filters on more ESC + types + + - EKF3 is now the default estimator, with EKF2 also available on + systems with 2MByte of flash. + + - external AHRS support, allowing for a serial connected AHRS system + (VectorNav-300 only at the moment) + + - sensor affinity in EKF3, allowing for more robust handling of + sensor failure, especially for airspeed sensors + + - rate PID slew limiting to to detect and suppress oscillations + + - temperature calibration for IMUs, including factory calibration + support + + - much improved notch filtering support, including double-notch and + realtime FFT based notch filtering + + - lots of lua scripting improvements, with greatly expanded API + + - much faster parameter download and mission upload/down using MAVFTP + +Many thanks to everyone who contributed to this release. It is our +biggest release yet and has benefited from fantastic feedback from our +user community and partners. + +We hope you enjoy this release! Happy flying! + Release 4.0.9, 23rd February 2021 ---------------------------------