diff --git a/ArduPlane/release-notes.txt b/ArduPlane/release-notes.txt index a6e7cf8d18..c344c56796 100644 --- a/ArduPlane/release-notes.txt +++ b/ArduPlane/release-notes.txt @@ -1,3 +1,234 @@ +Release 4.0.7beta1, 2nd October 2020 +------------------------------------ + +This is a minor release with some important bug fixes against 4.0.6. + +The changes are: + + - Fixed F32Lightening board IMU fast sampling issue + + - fixed issue with EKF2 and EKF3 with use of high accuracy GPS modules. This is important for anyone flying with a RTK GPS + + - Fixed KakuteF7 DShot glitch issue + + - Fixes issue with checking for valid RC input in ICE disable channel + + - fixed an interrupt flood issue with any sensor that uses interrupt timing measurement, such as RPM sensors. + + - Modified RM3100 driver to problem all 4 possible I2C addresses + + - Fixed UDP RC input on Linux boards to accept up to 16 RC inputs on UDP + +The most critical fix in the above list is the ISR flood issue. + +ISR Flood Issue +--------------- + +The ISR flood issue happens when a misbehaving external sensor (such +as an RPM sensor for a petrol motor) starts providing pulses faster +than the flight controller can process them. If this happens then the +CPU can be overloaded in the interrupt handling for the sensor and +stop flying the vehicle. The level of interrupt rate needed to cause +this issue is around 500k interrupts per second, so to be safe we have +added a limit of 100k interrupts per second. If a single interrupt +source produces more than 10k interrupts in a single 0.1 second period +then we disable that interrupt source, print a warning to the user and +raise an internal error. + +Happy flying! + +Release 4.0.6, 7th September 2020 +--------------------------------- + +The ArduPilot development team is proud to announce the release of +plane 4.0.6 stable. This is a significant release with a lot of +changes, so please read the change summary below carefully. + + - changed LED scripting API to allow more than 32 LEDs on a pin + - added support for ProfiLED LEDs + - added u-blox GPS moving baseline u-blox auto-configuration + - fixed handling of GPS antenna positions on EKF GPS switch + - changed default USB IDs to new ArduPilot specific IDs + - fixed bug in handling trim for RC control of camera mounts + - added LGR_OPTIONS bits to control landing gear behaviour on takeoff/landing + - improved mavlink streaming output control to better allocate time to each channel + - fixed send of mavlink PARAM_VALUE on set of a readonly parameter + - fixed mag variance reporting in EKF_STATUS_REPORT mavlink message + - fixed time wrap bug in BMP085 barometer driver + - fixed buffer overflow in ST24 RC input driver + - fixed EKF usage of WMM tables when user has specified a specific declination + - fixed bug in AP_Terrain on-disk format + - added script for offline generation of terrain data + - severel improvements to smbus battery drivers + - fixed a race condition in parameter storage on ChibiOS + - fixed use of zero GNSS timestamp in UAVCAN GPS driver + - improved GCS messages during bootloader flash + - fixed CS pin in bootloader that could corrupt FRAM on some boards + - added GPS yaw to MAVLink GPS_RAW_INT message + - added Hott telemetry support + - added FRSky FPort support + - fixed bug in CAN clock and queue handling on H7 based boards + - added support for BRD_ALT_CONFIG for alternative hardware configs on several boards + - added new boards CUAV-Nora, CUAV-X7, MatekH743, R9Pilot, mRoNexus + - improved reporting of internal errors to GCS + - fixed recursion bug in tonealarm player + - fixed flaperon SERVO_AUTO_TRIM behaviour + - added option to compensate forward throttle for battery voltage + - added compensation in VTOL gains for pressure altitude + - switched to new more flexible compass ordering system + - fixed forcing of safety off on IOMCU reset + - increased maximum compass scale factor to 1.4 + - added RTL_CLIMB_MIN parameter for initial climb in RTL + - fixed disable of throttle nudge during a RC failsafe + - added support for a wider range of DLVR airspeed sensors + - fixed RC input processing for out of range RC channels + - added THR_FAILSAFE=2 option for flying BVLOS with only GCS failsafes enabled + - fixed reordering of compasses on boot based on compass priorities + - fixed use of minimum accuracy for GPS data in EKF2 and EKF3, fixing an issue with RTK GPS modules that report overly optimistic accuracy values + - fixed handling of RC_OPTION bit for disabling receiver failsafe handling + - fixed LOITER_TO_ALT with terrain altitude target + - fixed an issue with swapping UAVCAN compasses and calibration + - fixed use of VTOL quadplane missions (where the plane flies as a multi-rotor for auto waypoints) + - fixed legacy parsing of some lightware i2c lidars when beyond max range + - fixed RTL_AUTOLAND with MIS_RESTART=1 + - enable more compasses on low flash boards + - HAL erase storage fix for flash storage boards + - prevent jump to circle mode in TAKEOFF if flying for less than 10s + - fixed handling of out of range on LightwareI2C Lidar + - fixed init of HoTT telemetry + - added support for mRo Pixracer Pro, Holybro Pix32v5 + - added arming check for terrain data healthy if needed + - increased monitor thread size to 768 + - fixed IMU fast sampling on F35Lightning board + +The key changes to existing behaviour to watch out for in this update +are: + +USB IDs +------- + +ArduPilot has now switched to it's own USB IDs for all boards. For +most users this won't cause any change, except they may notice the +drop down list of devices in MissionPlanner will have the ArduPilot +flight controllers labelled more usefully as "ArduPilot" instead of +just "STM32". If you hit issues on windows please try reinstalling the +device drivers from this URL: +https://firmware.ardupilot.org/Tools/MissionPlanner/driver.msi + +Terrain +------- + +A bug fix in the format ArduPilot uses to store terrain data means +that your flight controller will need to re-download the terrain data +onto the sdcard via your GCS. If you fly without a GCS and you use +terrain data then please re-download the terrain data you need by +setting up a mission when you have internet access and allowing your +flight controller to request terrain data from your GCS. + +Pressure Altitude Compensation +------------------------------ + +This release adds in the missing hook for the VTOL motor controller on +a quadplane to compensate the VTOL gains using your pressure +altitude. For most people this will not have a noticible effect, but +some users that have tuned their aircraft for high locations may +notice a tuning change. + +Compass Ordering +---------------- + +The new compass ordering system in this release gives a lot more +flexibility and should preseve existing configurations and +calibrations. If you hit issues then please have a look at the new +compass ordering user interface in recent beta releases of +MissionPlanner. + +THR_FAILSAFE=2 +-------------- + +For people flying before visual range (with appropriate +authorisations) there is a new option which allows for safer +operation. By setting THR_FAILSAFE=2 you can setup the R/C failsafe so +that R/C input will stop being used when one of the receiver failsafe +conditions is met, while not triggering any failsafe actions. This is +a significant improvement over setting THR_FAILSAFE=0 as it prevents +the receiver inputs being used for stick mixing and other inputs that +would be inappropriate when in receiver failsafe. + +Many thanks to everyone who contributed to and tested this release! + +Happy flying! + +Release 4.0.6beta5, 25th August 2020 +------------------------------------ + +This should be the final beta for 4.0.6. Several important fixes are +included: + + - fixed disable of throttle nudge during a RC failsafe + + - added support for a wider range of DLVR airspeed sensors + + - fixed RC input processing for out of range RC channels + + - added THR_FAILSAFE=2 option for flying BVLOS with only GCS + failsafes enabled + + - fixed reordering of compasses on boot based on compass priorities + + - fixed use of minimum accuracy for GPS data in EKF2 and EKF3, fixing + an issue with RTK GPS modules that report overly optimistic + accuracy values + + - fixed handling of RC_OPTION bit for disabling receiver failsafe + handling + + - fixed LOITER_TO_ALT with terrain altitude target + +Happy flying! + +Release 4.0.6beta4, 27th July 2020 +---------------------------------- + +This is a minor change over beta3 + + - fixed an issue with swapping UAVCAN compasses and calibration + + - fixed use of VTOL quadplane missions (where the plane flies as a + multi-rotor for auto waypoints) + + - fixed legacy parsing of some lightware i2c lidars when beyond max + range + +Happy flying! + + +Release 4.0.6beta3, 7th July 2020 +---------------------------------- + +This is a minor change over beta2 + + - fixed RTL_AUTOLAND with MIS_RESTART=1 + - enable more compasses on low flash boards + - HAL erase storage fix for flash storage boards + +Happy flying! + +Release 4.0.6beta2, 23rd June 2020 +---------------------------------- + +This is a minor change over beta1 + + - prevent jump to circle mode in TAKEOFF if flying for less than 10s + - fixed handling of out of range on LightwareI2C Lidar + - fixed init of HoTT telemetry + - added support for mRo Pixracer Pro, Holybro Pix32v5 + - added arming check for terrain data healthy if needed + - fixed compass ordering bug + - increased monitor thread size to 768 + +Happy flying! + Release 4.0.6beta1, 23rd May 2020 ---------------------------------