From 66cf54ba4eb4de1039e578afa2ac555e6aeb611e Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 20 Apr 2023 12:07:32 +0900 Subject: [PATCH] Rover: 4.4.0-beta1 release notes update --- Rover/release-notes.txt | 305 ++++++++++++++++++++-------------------- 1 file changed, 152 insertions(+), 153 deletions(-) diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt index 825e642bea..e4f8a97ded 100644 --- a/Rover/release-notes.txt +++ b/Rover/release-notes.txt @@ -3,170 +3,169 @@ Rover Release Notes: Rover 4.4.0-beta1 19-Apr-2023 Changes from 4.3.0-beta12 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 + - ESP32 + - Flywoo Goku F405S AIO + - Foxeer H743v1 + - MambaF405-2022B + - PixPilot-V3 + - PixSurveyA2 + - rFCU H743 + - 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 + - Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot + - Bi-Directional DShot up to 8 channels on MatekH743 + - BlueRobotics Navigator supports baro on I2C bus 6 + - BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash") + - CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards") + - Foxeer Reaper F745 supports external compasses + - OmnibusF4 support for BMI270 IMU + - OmnibusF7V2-bdshot support removed + - KakuteF7 regains displayport, frees up DMA from unused serial port + - KakuteH7v2 gets second battery sensor + - MambaH743v4 supports VTX + - MatekF405-Wing supports InvensenseV3 IMUs + - PixPilot-V6 heater enabled + - Raspberry 64OS startup crash fixed + - ReaperF745AIO serial protocol defaults fixed + - SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version + - Skyviper loses many unnecessary features to save flash + - UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash") + - 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 + - ARK RTK GPS support + - BMI088 IMU filtering and timing improved, ignores bad data + - CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS) + - Daiwa winch baud rate obeys SERIALx_BAUD parameter + - EFI supports fuel pressure and ignition voltage reporting and battery failsafe + - ICM45686 IMU support + - ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset) + - ICM45686 supports fast sampling + - MAX31865 temp sensor support + - MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support + - MMC3416 compass orientation fix + - MPPT battery monitor reliability improvements, enable/disable aux function and less spammy + - Multiple USD-D1-CAN radar support + - NMEA output rate configurable (see NMEA_RATE_MS) + - NMEA output supports PASHR message (see NMEA_MSG_EN) + - OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params) + - Rockblock satellite modem support + - Serial baud support for 2Mbps (only some hardware supports this speed) + - SF45b lidar filtering reduced (allows detecting smaller obstacles + - SmartAudio 2.0 learns all VTX power levels) + - UAVCAN ESCs report error count using ESC Telemetry + - Unicore GPS (e.g. UM982) support + - VectorNav 100 external AHRS support + - 5 IMUs supported 4) EKF related enhancements - a) External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS - b) Magnetic field tables updated - c) Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover) + - Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN) + - External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS + - Magnetic field tables updated + - Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover) 5) Control and navigation enhancements - a) DO_SET_ROI_NONE command turns off ROI - b) JUMP_TAG mission item support - c) Manual mode steering expo configurable (see MANUAL_STR_EXPO) - d) Missions can be stored on SD card (see BRD_SD_MISSION) - e) NAV_SCRIPT_TIME command accepts floating point arguments - f) Pause/Resume returns success if mission is already paused or resumed -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 + - DO_SET_ROI_NONE command turns off ROI + - JUMP_TAG mission item support + - Manual mode steering expo configurable (see MANUAL_STR_EXPO) + - Missions can be stored on SD card (see BRD_SD_MISSION) + - NAV_SCRIPT_TIME command accepts floating point arguments + - Pause/Resume returns success if mission is already paused or resumed +8) Camera and gimbal enhancements + - BMMCC support included in Servo driver + - DJI RS2/RS3-Pro gimbal support + - Dual camera support (see CAM2_TYPE) + - Gimbal/Mount2 can be moved to retracted or neutral position + - Gremsy ZIO support + - IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support + - Paramters renamed and rescaled + - CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed + - CAM_DURATION renamed to CAM1_DURATION and scaled in seconds + - CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL + - CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds + - CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values + - RunCam2 4k support + - 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) Home location not logged to CMD message + - BARD msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate + - MCU log msg includes main CPU temp and voltage (was part of POWR message) + - RCOut banner message always included in Logs + - SCR message includes memory usage of all running scripts + - CANS message includes CAN bus tx/rx statistics + - Home location not logged to CMD message + - MOTB message includes throttle output 9) Scripting enhancements - a) EFI Skypower driver gets improved telem messages and bug fixes - b) Generator throttle control example added - c) Heap max increased by allowing heap to be split across multiple underlying OS heaps - d) Hexsoon LEDs applet - e) Linter code checks for AP drivers and applets - 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 - n) Skipcheck keywords supports skipping argument range checks + - EFI Skypower driver gets improved telem messages and bug fixes + - Generator throttle control example added + - Heap max increased by allowing heap to be split across multiple underlying OS heaps + - Hexsoon LEDs applet + - Logging from scripts supports more formats + - Parameters can be removed or reordered + - Parameter description support (scripts must be in AP's applet or driver directory) + - Rangefinder driver support + - Runcam_on_arm applet starts recording when vehicle is armed + - Safety switch, E-Stop and motor interlock support + - Scripts can restart all scripts + - Script_Controller applet supports inflight switching of active scripts 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 + - AIS support for displaying nearby boats can be included + - Battery, Camera and Compass drivers can be included/excluded + - EKF3 wind estimation can be included/excluded + - PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded + - RichenPower generator can be included/excluded + - RC SRXL protocol can be excluded + - SIRF GPSs can be included/excluded 11) Safety related enhancements and fixes - a) Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting - b) Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks) - c) GCS failsafe timeout is configurable (see FS_GCS_TIMEOUT) - d) Pre-arm check that low and critical battery failsafe thresholds are different - e) Pre-arm message fixed if 2nd EKF core unhealthy - f) Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis) - g) RC failsafe timeout configurable (see RC_FS_TIMEOUT) + - Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting + - Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks) + - GCS failsafe timeout is configurable (see FS_GCS_TIMEOUT) + - "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled) + - Pre-arm check that low and critical battery failsafe thresholds are different + - Pre-arm message fixed if 2nd EKF core unhealthy + - Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis) + - RC failsafe timeout configurable (see RC_FS_TIMEOUT) 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 + - Boot time reduced by improving parameter conversion efficiency + - BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT + - Compass calibration auxiliary switch function (set RCx_OPTION=171) + - Disable IMU3 auxiliary switch function (set RCx_OPTION=110) + - Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier) + - MAVFTP supports file renaming + - 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 + - ADSB telemetry and callsign fixes + - Battery pct reported to GCS limited to 0% to 100% range + - Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6) + - DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards + - DisplayPort OSD artificial horizon better matches actual horizon + - EFI Serial MS bug fix to avoid possible infinite loop + - EKF3 Replay fix when COMPASS_LEARN=3 + - ESC Telemetry external temp reporting fix + - Fence upload works even if Auto mode is excluded from firmware + - FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server) + - Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running + - ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset + - IMU detection bug fix to avoid duplicates + - IMU temp cal fix when using auxiliary IMU + - Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947 + - RADIO_STATUS messages slow-down feature never completely stops messages from being sent + - SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc. Avoids momentary divide-by-zero + - Scripting file system open fix + - Scripting PWM source deletion crash fix + - MAVFTP fix for low baudrates (4800 baud and lower) + - ModalAI VOXL reset handling fix + - MPU6500 IMU fast sampling rate to 4k (was 1K) + - NMEA GPGGA output fixed for GPS quality, num sats and hdop + - Position control reset avoided even with very uneven main loop rate due to high CPU load + - Throttle notch FFT tuning param fix + - 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 + - DroneCAN replaces UAVCAN + - FlighAxis simulator rangefinder fixed + - Scripts in applet and drivers directory checked using linter + - Simulator supports main loop timing jitter (see SIM_TIME_JITTER) + - Simulink model and init scripts + - SITL on hardware support (useful to demo servos moving in response to simulated flight) + - SITL parameter definitions added (some, not all) + - Webots 2023a simulator support + - XPlane support for wider range of aircraft ------------------------------------------------------------------ Rover 4.3.0-beta11/beta12 27-Mar-2023 Changes from 4.3.0-beta10