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Copter: AC3.3-rc2 release notes

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Randy Mackay 2015-05-01 22:01:27 +09:00
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ArduCopter/ReleaseNotes.txt
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APM:Copter Release Notes:
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Copter 3.3-rc2 02-May-2015
Changes from 3.3-rc1
1) AutoTune reliability fixes (improved filtering to reduce noise interference)
2) Optical flow improvements:
a) Range Finder pre-arm check - lift vehicle between 50cm ~ 2m before arming. Can be disabled by setting ARMING_CHECK to "Skip Params/Sonar"
b) Vehicle altitude limited to range finder altitude when optical flow is enabled
3) AltHold & Take-off changes:
a) feed-forward controller and jerk limiting should result in slightly snappier performance and smoother take-offs
b) vehicle climbs automatically to PILOT_TKOFF_ALT alt when taking off in Loiter, AltHold, PosHold, Sport (disabled by default, pilot's throttle input overrides takeoff)
c) PILOT_THR_FILT allows enforcing smoother throttle response in manual flight modes (defaults to 0 = off)
d) TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick
e) GCS can initiate takeoff even in Loiter, AltHold, PosHold and sport by issuing NAV_TAKEOFF mavlink command
4) Stop flight mode - vehicle simply stops and does not respond to user input
5) Aux channel features:
a) Emergency Stop - stops all motors immediately and disarms in 5 seconds
b) Motor Interlock - opposite of Emergency Stop, must be on to allow motors to spin motors, must be off to arm
6) Air pressure gain scaling (of roll, pitch, yaw) should mostly remove need to re-tune when flying at very different altitudes
7) landing detector simplified to only check vehicle is not accelerating & motors have hit their lower limit
8) Loiter tuning params to remove "freight train" stops:
raising WPNAV_LOIT_MAXA makes vehicle start and stop faster
raising WPNAV_LOIT_MINA makes vehicle stop more quickly when sticks centered
9) Other items:
a) faster EKF startup
b) Camera control messages sent via MAVLink to smart cameras. Allow control of camera zoom for upcoming IntelEdison/Sony QX1 camera control board
c) Lost Copter Alarm can be triggered by holding throttle down, roll right, pitch back
10) Bug fixes:
a) Home position set to latest arm position (it was being set to previous disarm location or first GPS lock position)
b) bug fix to mission Jump to command zero
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Copter 3.3-rc1 11-Apr-2015
Changes from 3.2.1
1) Only support fast CPUs boards (Pixhawk, VRBrain, etc) and drop support for APM1, APM2 (sorry!)