From 9bc1a537b50714c4660b18f8d2e2d952fc343000 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 1 Apr 2019 17:42:13 +1100 Subject: [PATCH] Plane: update release notes for 3.9.7 --- ArduPlane/release-notes.txt | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/ArduPlane/release-notes.txt b/ArduPlane/release-notes.txt index c393d51420..f5601718e5 100644 --- a/ArduPlane/release-notes.txt +++ b/ArduPlane/release-notes.txt @@ -1,3 +1,21 @@ +Release 3.9.7, 1st April 2019 +----------------------------- + +This is a minor release to fix a single important bug in speed/height +handling. The bug was in the TECS (total energy control system) and +could cause a sustained pitch down due to a transient glitch in +airspeed demand resulting in a large negative pitch integrator. + +The log that found the bug was of a quadplane in CRUISE mode, and +resulted in the aircraft forcing nose down for long enough to crash. + +The fix includes both protections for the pitch integrator and a fix +for the cause of the transient in airspeed demand affecting the TECS +demanded airspeed. + +Happy flying! + + Release 3.9.6, 4th March 2019 -----------------------------