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Copter: 4.0.0-rc3 release notes

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Randy Mackay 2019-12-16 21:07:18 +09:00 committed by Andrew Tridgell
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ArduCopter/ReleaseNotes.txt
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ArduPilot Copter Release Notes:
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Copter 4.0.0-rc3 16-Nov-2019
Changes from 4.0.0-rc2
1) Flight mode and control improvements:
a) Auto mode Takeoff getting stuck fixed (very rare)
b) AutoTune protection against ESC sync loss at beginning of a twitch
c) SystemID mode parameters hidden by default (set SID_AXIS to non-zero to see all)
d) Takeoff from slanted surfaces improved by reducing I-term build-up in attitude controllers
2) Lua Script related enhancements:
a) MAV FTP support to ease uploading and downloading Lua scripts
b) NeoPixel/WS2812 LED control from Lua scripts
c) Pre-arm check that Lua scripting feature has enough memory
3) TradHeli enhancements:
a) Autonomous autorotation (compile time option, not available in stable firmware)
b) CCW Direct Drive Fixed Pitch tail support (see H_TAIL_TYPE parameter)
c) Parameter description improvements
d) STAB_COL_1/2/3 param range changed to 0 to 100 (was 0 to 1000)
4) Lightware SF40c driver for latest sensors with "streaming" protocol
5) Board/Frame specfic fixes:
a) Hex CubeOrange IMU heater control gain tuning improvement
b) Holybro Durandal IMUs ordering fix so EKx_IMU_MASK bits are intuitive
c) Holybro Pixhawk4 B/E LED fix (was flickering)
d) MatekF765 PWM outputs 5 and 6 now functional
e) MatekF765, MatekF405 time wrap CRITICAL fix for vehicles flying more than 72min
f) MatekF765 LED fixes
g) mRobotics ControlZeroF7 I2C bus numbering fix
h) Solo default params updated for 4.0.0
i) Bootloaders for boards using STM32H7 CPUs
j) Bootloader protection against line noise that could cause the board to get stuck during bootup
k) LED timing fix for FMUv5 boards with LEDs on one of first four auxiliary PWM outputs
6) Minor Enhancements and Bug Fixes
a) I2C storm High level protection
b) Internal errors (like I2C storms) reported to GCS by setting Heartbeat status to Critical
c) Dataflash Logging CTUN.TAlt and SAlt scaling fixed
d) DO_DIGICAM_CONTROL messages are sent using Mavlink1/2 as specified by SERIALx_PROTOCOL
e) DO_SET_SPEED sanity check fixed to protect against negative speeds
f) FrSky telemetry scheduling improvement (fixes issue in which GPS data would not be sent)
g) GPS auto configuration fix for non-Ublox-F9 (F9 config was interfering with other Ublox GPSs)
h) Landing gear DEPLOY message fix (could be displayed multiple times or when gear not configured)
i) Pre-arm check of position estimate when arming in Loiter even if arming is "forced"
j) Pre-arm check that Terrain database has enough memory
k) RangeFinder parameter conversion fix (some parameters were not upgraded from 3.6.x to 4.0.0)
l) RangeFinder TYPE parameter descriptions clarified for LidarLite and Benewake Lidars
m) Serial parameters hidden if they do not exist on the particular board
n) UAVCAN GPS fix for GPSs that don't provide "Aux" message (like the Here2)
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Copter 4.0.0-rc2 04-Nov-2019
Changes from 4.0.0-rc1
1) Failsafe changes: