mirror of https://github.com/ArduPilot/ardupilot
Rover: Creating Stable release 3.1.0
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Grant Morphett
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Release 3.1.0, 22 December 2016
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===============================
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The ArduPilot development team is proud to announce the release of
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version 3.1.0 of APM:Rover. This is a major release with a lot of
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changes so please read the notes carefully!
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A huge thanks to ALL the ArduPilot developers. The Rover code
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benefits tremendously from all the hard work that goes into the Copter
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and Plane vehicle code. Most of the code changes in this
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release were not specifically for Rover however because of the
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fantastic architecture of the ArduPilot code Rover automatically get's
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those enhancements anyway.
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Note that the documentation hasn't yet caught up with all the changes
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in this release. We are still working on that, but meanwhile if you
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see a feature that interests you and it isn't documented yet then
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please ask.
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The PX4-v2 build has had CANBUS support removed due to firmware size
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issues. If Rover users want CANBUS support you will need to install
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the PX4-v3 build located in the firmware folder here:
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http://firmware.ap.ardupilot.org/Rover/stable/PX4/
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EKF1 has been removed as EKF2 has been the long term default and is
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working extremely well and this has allowed room for EKF3.
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EKF3 is included in this release but it is not the default. Should
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you want to experiment with it set the following parameters:
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AHRS_EKF_TYPE=3
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EK3_ENABLE=1
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but note it is still experimental and you must fully understand the
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implications.
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New GUIDED Command
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------------------
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Rover now accepts a new message MAV_CMD_NAV_SET_YAW_SPEED which has an
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angle in centidegrees and a speed scale and the rover will drive based
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on these inputs.
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The ArduPilot team would like to thank EnRoute for the sponsoring of
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this feature
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http://enroute.co.jp/
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COMMAND_INT and ROI Commands
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----------------------------
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COMMAND_INT support has been added to Rover. This has allowed the
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implementation of SET_POSITION_TARGET_GLOBAL_INT,
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SET_POSITION_TARGET_LOCAL_NED and DO_SET_ROI as a COMMAND_INT
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The ArduPilot team would like to thank EnRoute for the sponsoring of
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this feature
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http://enroute.co.jp/
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Reverse
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-------
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Its now possible in a mission to tell the rover to drive in
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Reverse. If using Mission Planner insert a new Waypoint using "Add
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Below" button on the Flight Plan screen and select from the Command
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drop down list you will see a new command "DO_SET_REVERSE". It takes 1
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parameter - 0 for forward, 1 for reverse. Its that simple. Please give
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it a try and report back any success or issues found or any questions
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as well.
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The ArduPilot team would like to thank the Institute for Intelligent
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Systems Research at Deakin University
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(http://www.deakin.edu.au/research/iisri16) for the sponsoring of the
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reverse functionality.
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Loiter
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------
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This changes brings the LOITER commands in line with other ArduPilot
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vehicles so both NAV_LOITER_UNLIM and NAV_LOITER_TIME are supported and are
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actively loitering. This means for instance if you have set a boat to
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loiter at a particular position and the water current pushes the boat off
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that position once the boat has drifted further then the WP_RADIUS
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parameter distance setting from the position the motor(s) will be
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engaged and the boat will return to the loiter position.
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The ArduPilot team would like to thanko MarineTech for sponsoring this
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enhancement.
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http://www.marinetech.fr
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Note: if you currently use Param1 of a NAV_WAYPOINT to loiter at a
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waypoint this functionality has not changed and is NOT actively loitering.
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Crash Check
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-----------
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Rover can now detect a crash in most circumstances - thanks Pierre
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Kancir. It is enabled by default and will change the vehicle into HOLD
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mode if a crash is detected. FS_CRASH_CHECK is the parameter used to
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control what action to take on a crash detection and it supports
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0:Disabled, 1:HOLD, 2:HoldAndDisarm
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Pixhawk2 heated IMU support
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---------------------------
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This release adds support for the IMU heater in the Pixhawk2,
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allowing for more stable IMU temperatures. The Pixhawk2 is
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automatically detected and the heater enabled at boot, with the target
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IMU temperature controllable via BRD_IMU_TARGTEMP.
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Using an IMU heater should improve IMU stability in environments with
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significant temperature changes.
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PH2SLIM Support
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---------------
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This release adds support for the PH2SLIM variant of the Pixhawk2,
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which is a Pixhawk2 cube without the isolated sensor top board. This
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makes for a very compact autopilot for small aircraft. To enable
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PH2SLIM support set the BRD_TYPE parameter to 6 using a GCS connected
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on USB.
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AP_Module Support
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-----------------
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This is the first release of ArduPilot with loadable module support
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for Linux based boards. The AP_Module system allows for externally
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compiled modules to access sensor data from ArduPilot controlled
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sensors. The initial AP_Module support is aimed at vendors integrating
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high-rate digital image stabilisation using IMU data, but it is
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expected this will be expanded to other use cases in future releases.
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Major VRBrain Support Update
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----------------------------
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This release includes a major merge of support for the VRBrain family
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of autopilots. Many thanks to the great work by Luke Mike in putting
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together this merge!
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Much Faster Boot Time
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---------------------
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Boot times on Pixhawk are now much faster due to a restructuring of
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the driver startup code, with slow starting drivers not started unless
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they are enabled with the appropriate parameters. The restructuring
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also allows for support of a wide variety of board types, including
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the PH2SLIM above.
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This release includes many other updates right across the flight
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stack, including several new features. Some of the changes include:
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- log all rally points on startup
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- the armed state is now logged
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- support added for MAV_CMD_ACCELCAL_VEHICLE_POS
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- support MAVLink based external GPS device
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- support LED_CONTROL MAVLink message
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- support PLAY_TUNE MAVLink message
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- added AP_Button support for remote button input reporting
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- support 16 channel SERVO_OUTPUT_RAW in MAVLink2
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- added MAVLink reporting of logging subsystem health
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- added BRD_SAFETY_MASK to allow for channel movement for selected channels with safety on
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- lots of HAL_Linux improvements to bus and thread handling
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- added IMU heater support on Pixhawk2
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- allow for faster accel bias learning in EKF2
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- added AP_Module support for loadable modules
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- merged support for wide range of VRBrain boards
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- added support for PH2SLIM and PHMINI boards with BRD_TYPE
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- greatly reduced boot time on Pixhawk and similar boards
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- fixed magic check for signing key in MAVLink2
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- fixed averaging of gyros for EKF2 gyro bias estimate
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- added support for ParametersG2
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- support added for the GPS_INPUT mavlink message
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Release 3.0.1, 17 June 2016
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===========================
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The ArduPilot development team is proud to announce the release of
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@ -2,8 +2,8 @@
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#include "ap_version.h"
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#define THISFIRMWARE "APM:Rover v3.1.0beta6"
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#define FIRMWARE_VERSION 3,1,0,FIRMWARE_VERSION_TYPE_BETA
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#define THISFIRMWARE "APM:Rover v3.1.0"
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#define FIRMWARE_VERSION 3,1,0,FIRMWARE_VERSION_TYPE_OFFICIAL
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#ifndef GIT_VERSION
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#define FIRMWARE_STRING THISFIRMWARE
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