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Plane: prepare for 3.4.0 release
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Andrew Tridgell
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Release 3.4.0, 24th September 2015
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----------------------------------
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The ArduPilot development team is proud to announce the release of
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version 3.4.0 of APM:Plane. This is a major release with a lot of
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changes so please read the notes carefully!
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First release with EKF by default
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This is the also the first release that enables the EKF (Extended
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Kalman Filter) for attitude and position estimation by default. This
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has been in development for a long time, and significantly improves
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flight performance. You can still disable the EKF if you want to using
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the AHRS_EKF_USE parameter, but it is strongly recommended that you
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use the EKF. Note that if an issue is discovered with the EKF in
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flight it will automatically be disabled and the older DCM system will
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be used instead. That should be very rare.
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In order to use the EKF we need to be a bit more careful about the
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setup of the aircraft. That is why in the last release we enabled
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arming and pre-arm checks by default. Please don't disable the arming
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checks, they are there for very good reasons.
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Last release with APM1/APM2 support
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This will be the last major release that supports the old APM1/APM2
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AVR based boards. We have finally run out of flash space and
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memory. In the last few releases we spent quite a bit of time trying
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to squeeze more and more into the small flash space of the APM1/APM2,
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but it had to end someday if ArduPilot is to continue to develop. I am
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open to the idea of someone else volunteering to keep doing
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development of APM1/APM2 so if you have the skills and inclination do
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please get in touch. Otherwise I will only do small point release
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changes for major bugs.
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Even to get this release onto the APM1/APM2 we had to make sacrifices
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in terms of functionality. The APM1/APM2 release is missing quite a
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few features that are on the Pixhawk and other boards. For example:
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- no rangefinder support for landing
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- no terrain following
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- no EKF support
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- no camera control
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- no CLI support
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- no advanced failsafe support
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- no HIL support (sorry!)
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- support for far fewer GPS types
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that is just the most obvious major features that are missing on
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APM1/APM2. There are also numerous other smaller things where we need
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to take shortcuts on the APM1/APM2. Some of these features were
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available on older APM1/APM2 releases but needed to be removed to
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allow us to squeeze the new release onto the board. So if you are
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happy with a previous release on your APM2 and want a feature that is
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in that older release and not in this one then perhaps you shouldn't
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upgrade.
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PID Tuning
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While most people are happy with autotune to tune the PIDs for their
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planes, it is nice also to be able to do fine tuning by hand. This
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release includes new dataflash and mavlink messages to help with that
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tuning. You can now see the individual contributions of the P, I and D
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components of each PID in the logs, allowing you to get a much better
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picture of the performance.
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A simple application of this new tuning is you can easily see if your
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trim is off. If the Pitch I term is constantly contributing a
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signifcant positive factor then you know that ArduPilot is having to
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constantly apply up elevator, which means your plane is nose
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heavy. The same goes for roll, and can also be used to help tune your
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ground steering.
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Vibration Logging
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This release includes a lot more options for diagnosing vibration
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issues. You will notice new VIBRATION messages in MAVLink and VIBE
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messages in the dataflash logs. Those give you a good idea of your
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(unfiltered) vibration levels. For really detailed analysis you can
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setup your LOG_BITMASK to include raw logging, which gives you every
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accel and gyro sample on your Pixhawk. You can then do a FFT on the
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result and plot the distribution of vibration level with
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frequency. That is great for finding the cause of vibration
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issues. Note that you need a very fast microSD card for that to work!
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Rudder Disarm
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This is the first release that allows you to disarm using the rudder
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if you want to. It isn't enabled by default (due to the slight risk of
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accidentially disarming while doing aerobatics). You can enable it
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with the ARMING_RUDDER parameter by setting it to 2. It will only
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allow you to disarm if the autopilot thinks you are not flying at the
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time (thanks to the "is_flying" heuristics from Tom Pittenger).
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More Sensors
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This release includes support for a bunch more sensors. It now supports
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3 different interfaces for the LightWare range of Lidars (serial, I2C
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and analog), and also supports the very nice Septentrio RTK
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dual-frequency GPS (the first dual-frequency GPS we have support
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for). It also supports the new "blue label" Lidar from Pulsed Light
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(both on I2C and PWM).
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For the uBlox GPS, we now have a lot more configurability of the
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driver, with the ability to set the GNSS mode for different
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constellations. Also in the uBlox driver we support logging of the raw
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carrier phase and pseudo range data, which allows for post-flight RTK
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analysis with raw-capable receivers for really accurate photo
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missions.
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Better Linux support
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This release includes a lot of improvements to the Linux based
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autopilot boards, including the NavIO+, the PXF and ERLE boards and
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the BBBMini and the new RasPilot board. If you like the idea of flying
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with Linux then please try it out!
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On-board compass calibrator
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We also have a new on-board compass calibrator, which also adds calibration
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for soft iron effects, allowing for much more accurate compass
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calibration. Support for starting the compass calibration in the
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various ground stations is still under development, but it looks like
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this will be a big improvement to compass calibration.
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Lots of other changes!
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The above list is just a taste of the changes that have gone into this
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release. Thousands of small changes have gone into this release with
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dozens of people contributing. Many thanks to everyone who helped!
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Other key changes include:
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- fixed return point on geofence breach
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- enable messages for MAVLink gimbal support
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- use 64 bit timestamps in dataflash logs
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- added realtime PID tuning messages and PID logging
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- fixed a failure case for the px4 failsafe mixer
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- added DSM binding support on Pixhawk
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- added ALTITUDE_WAIT mission command
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- added vibration level logging
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- ignore low voltage failsafe while disarmed
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- added delta velocity and delta angle logging
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- fix LOITER_TO_ALT to verify headings towards waypoints within the loiter radius
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- allow rudder disarm based on ARMING_RUDDER parameter
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- fix default behaviour of flaps
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- prevent mode switch changes changing WP tracking
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- make TRAINING mode obey stall prevention roll limits
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- disable TRIM_RC_AT_START by default
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- fixed parameter documentation spelling errors
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- send MISSION_ITEM_REACHED messages on waypoint completion
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- fixed airspeed handling in SITL simulators
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- enable EKF by default on plane
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- Improve gyro bias learning rate for plane and rover
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- Allow switching primary GPS instance with 1 sat difference
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- added NSH over MAVLink support
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- added support for mpu9250 on pixhawk and pixhawk2
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- Add support for logging ublox RXM-RAWX messages
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- lots of updates to improve support for Linux based boards
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- added ORGN message in dataflash
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- added support for new "blue label" Lidar
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- switched to real hdop in uBlox driver
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- improved auto-config of uBlox
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- raise accel discrepancy arming threshold to 0.75
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- improved support for tcp and udp connections on Linux
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- switched to delta-velocity and delta-angles in DCM
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- improved detection of which accel to use in EKF
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- improved auto-detections of flow control on pixhawk UARTs
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- Failsafe actions are not executed if already on final approach or land.
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- Option to trigger GCS failsafe only in AUTO mode.
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- added climb/descend parameter to CONTINUE_AND_CHANGE_ALT
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- added HDOP to uavcan GPS driver
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- improved sending of autopilot version
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- prevent motor startup with bad throttle trim on reboot
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- log zero rangefinder distance when unhealthy
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- added PRU firmware files for BeagleBoneBlack port
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- fix for recent STORM32 gimbal support
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- changed sending of STATUSTEXT severity to use correct values
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- added new RSSI library with PWM input support
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- fixed MAVLink heading report for UAVCAN GPS
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- support LightWare I2C rangefinder on Linux
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- improved staging of parameters and formats on startup to dataflash
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- added new on-board compass calibrator
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- improved RCOutput code for NavIO port
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- added support for Septentrio GPS receiver
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- support DO_MOUNT_CONTROl via command-long interface
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- added CAM_RELAY_ON parameter
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- moved SKIP_GYRO_CAL functionality to INS_GYR_CAL
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- added detection of bad lidar settings for landing
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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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Release 3.3.0, 20th May 2015
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Release 3.3.0, 20th May 2015
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----------------------------
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----------------------------
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