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Plane: prepare for 3.3.0 release
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Andrew Tridgell
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduPlane V3.3.0beta2"
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#define THISFIRMWARE "ArduPlane V3.3.0"
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/*
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Lead developer: Andrew Tridgell
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@ -1,8 +1,144 @@
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Release 3.3.0beta2, 30th April 2015
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-----------------------------------
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Release 3.3.0, 20th May 2015
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----------------------------
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Changes in this release:
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The ardupilot development team is proud to announce the release of
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version 3.3.0 of APM:Plane. This is a major release with a lot of
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changes. Please read the release notes carefully!
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The last stable release was 3 months ago, and since that time we have
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applied over 1200 changes to the code. It has been a period of very
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rapid development for ArduPilot. Explaining all of the changes that
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have been made would take far too long, so I've chosen some key
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changes to explain in detail, and listed the most important secondary
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changes in a short form. Please ask for details if there is a change
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you see listed that you want some more information on.
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Arming Changes
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--------------
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This is the first release of APM:Plane where ARMING_CHECK and
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ARMING_REQUIRE both default to enabled. That means when you upgrade if
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you didn't previously have arming enabled you will need to learn about
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arming your plane.
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Please see this page for more information on arming:
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http://plane.ardupilot.com/wiki/arming-your-plane/
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I know many users will be tempted to disable the arming checks, but
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please don't do that without careful thought. The arming checks are an
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important part of ensuring the aircraft is ready to fly, and a common
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cause of flight problems is to takeoff before ArduPilot is ready.
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Re-do Accelerometer Calibration
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-------------------------------
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Due to a change in the maximum accelerometer range on the Pixhawk all
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users must re-do their accelerometer calibration for this release. If
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you don't then your plane will fail to arm with a message saying that
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you have not calibrated the accelerometers.
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Only 3D accel calibration
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-------------------------
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The old "1D" accelerometer calibration method has now been removed, so
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you must use the 3D accelerometer calibration method. The old method
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was removed because a significant number of users had poor flights due
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to scaling and offset errors on their accelerometers when they used
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the 1D method. My apologies for people with very large aircraft who
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find the 3D method difficult.
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Note that you can do the accelerometer calibration with the autopilot
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outside the aircraft which can make things easier for large aircraft.
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Auto-disarm
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-----------
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After an auto-landing the autopilot will now by default disarm after
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LAND_DISARMDELAY seconds (with a default of 20 seconds). This feature
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is to prevent the motor from spinning up unexpectedly on the ground
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after a landing.
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HIL_MODE parameter
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------------------
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It is now possible to configure your autopilot for hardware in the
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loop simulation without loading a special firmware. Just set the
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parameter HIL_MODE to 1 and this will enable HIL for any
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autopilot. This is designed to make it easier for users to try HIL
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without having to find a HIL firmware.
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SITL on Windows
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---------------
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The SITL software in the loop simulation system has been completely
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rewritten for this release. A major change is to make it possible to
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run SITL on native windows without needing a Linux virtual
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machine. There should be a release of MissionPlanner for Windows soon
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which will make it easy to launch a SITL instance.
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The SITL changes also include new backends, including the CRRCSim
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flight simulator. This gives us a much wider range of aircraft we can
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use for SITL. See http://dev.ardupilot.com/wiki/simulation-2/ for more
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information.
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Throttle control on takeoff
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---------------------------
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A number of users had problems with pitch control on auto-takeoff, and
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with the aircraft exceeding its target speed during takeoff. The
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auto-takeoff code has now been changed to use the normal TECS throttle
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control which should solve this problem.
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Rudder only support
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-------------------
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There is a new RUDDER_ONLY parameter for aircraft without ailerons,
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where roll is controlled by the rudder. Please see the documentation
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for more information on flying with a rudder only aircraft:
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http://plane.ardupilot.com/wiki/arduplane-parameters/#rudder_only_aircraft_arduplanerudder_only
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APM1/APM2 Support
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-----------------
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We have managed to keep support for the APM1 and APM2 in this release,
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but in order to fit it in the limited flash space we had to disable
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some more features when building for those boards. For this release
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the AP_Mount code for controlling camera mounts is disabled on
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APM1/APM2.
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At some point soon it will become impractical to keep supporting the
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APM1/APM2 for planes. Please consider moving to a 32 bit autopilot
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soon if you are still using an APM1 or APM2.
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New INS code
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------------
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There have been a lot of changes to the gyro and accelerometer
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handling for this release. The accelerometer range on the Pixhawk has
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been changed to 16g from 8g to prevent clipping on high vibration
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aircraft, and the sampling rate on the lsm303d has been increased to
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1600Hz.
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An important bug has also been fixed which caused aliasing in the
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sampling process from the accelerometers. That bug could cause
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attitude errors in high vibration environments.
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Numerous Landing Changes
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------------------------
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Once again there have been a lot of improvements to the automatic
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landing support. Perhaps most important is the introduction of a
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smooth transition from landing approach to the flare, which reduces
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the tendency to pitch up too much on flare.
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There is also a new parameter TECS_LAND_PMAX which controls the
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maximum pitch during landing. This defaults to 10 degrees, but for
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many aircraft a smaller value may be appropriate. Reduce it to 5
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degrees if you find you still get too much pitch up during the flare.
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Other secondary changes in this release include:
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- a new SerialManager library which gives much more flexible management of serial port assignment
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- changed the default FS_LONG_TIMEOUT to 5 seconds
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@ -61,7 +197,15 @@ Changes in this release:
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- support CRRCSim FDM backend in SITL
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- new general purpose replay parsing code
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- switched to 16g accel range in Pixhawk
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- added FENCE_AUTOENABLE=2 for disabling just fence floor
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- added POS dataflash log message
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- changed GUIDED behaviour to match copter
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- added support for a 4th MAVLink channel
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- support setting AHRS_TRIM in preflight calibration
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- fixed a PX4 mixer out of range error
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Best wishes to all APM:Plane users from the dev team, and happy
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flying!
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Release 3.2.2, February 10th 2015
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