mirror of https://github.com/ArduPilot/ardupilot
Plane: updated release notes
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Andrew Tridgell
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Release 3.5.0beta1, 9th January 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 3.5.0beta1 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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The biggest changes in this release are:
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- switch to new EKF2 kalman filter for attitude and position estimation
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- added support for parachutes
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- added support for QuadPlanes
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- support for 3 new flight boards, the QualComm Flight, the BHAT and
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the PXFmini
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- support for arming on moving platforms
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New Kalman Filter
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The 3.4 release series was the first where APM:Plane used a Kalman
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Filter by default for attitude and position estimation. It works very
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well, but Paul Riseborough has been working hard recently on a new
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EKF variant which fixes many issues seen with the old estimator. The
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key improvements are:
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- support for separate filters on each IMU for multi-IMU boards
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(such as the Pixhawk), giving a high degree of redundency
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- much better handling of gyro drift estimation, especially on
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startup
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- much faster recovery from attitude estimation errors
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After extensive testing of the new EKF code we decided to make it the
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default for this release. You can still use the old EKF if you want to
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by setting AHRS_EKF_TYPE to 1, although it is recommended that the new
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EKF be used for all aircraft.
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Parachute Support
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This is the first release with support for parachute landings on
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plane. The configuration and use of a parachute is the same as the
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existing copter parachute support. See
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http://copter.ardupilot.com/wiki/parachute/
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Note that parachute support is considered experimental in planes.
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QuadPlane Support
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This release includes support for hybrid plane/multi-rotors called
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QuadPlanes. More details are available in this blog post:
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http://diydrones.com/profiles/blogs/quadplane-support-in-apm-plane-3-5-0
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Support for 3 new Flight Boards
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The porting of ArduPilot to more flight boards continues, with support
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for 3 new flight boards in this release. They are:
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- the BHAT board
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- the PXFmini
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- the QualComm Flight
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More information about the list of supported boards is available here:
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http://dev.ardupilot.com/wiki/supported-autopilot-controller-boards/
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Startup on a moving platform
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One of the benefits of the new EKF2 estimator is that it allows for
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rapid estimation of gyro offset without doing a gyro calibration on
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startup. This makes it possible to startup and arm on a moving
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platform by setting the INS_GYR_CAL parameter to zero (to disable gyro
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calibration on boot). This should be a big help when flying off boats.
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That is just a taste of all of the improvements in this release. In
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total the release includes over 1500 patches. Some of the other more
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significant changes include:
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- RPM logging
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- new waf build system
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- new async accel calibrator
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- SITL support for quadplanes
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- improved land approach logic
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- better rangefinder power control
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- ADSB adapter support
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- dataflash over mavlink support
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- settable main loop rate
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- hideable parameters
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- improved crash detection logic
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- added optional smooth speed weighting for landing
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- improved logging for dual-GPS setups
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- improvements to multiple RTK GPS drivers
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- numerous HAL_Linux improvements
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- improved logging of CAM messages
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- added support for IMU heaters in HAL_Linux
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- support for RCInput over UDP in HAL_Linux
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- improved EKF startup checks for GPS accuracy
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- added raw IMU logging for all platforms
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- added BRD_CAN_ENABLE parameter
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- support FlightGear visualisation in SITL
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- configurable RGB LED brightness
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Many thanks to everyone who contributed to this release! The
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development team is growing at a fast pace, with 57 people
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contributing changes over this release cycle.
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I'd like to make special mention of Tom Pittenger and Michael du
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Breuil who have been doing extensive testing of the plane development
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code, and also contributing a great deal of their own
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improvements. Thanks!
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Release 3.4.0, 24th September 2015
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----------------------------------
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