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Plane: update release notes for 4.0.7beta1
This commit is contained in:
Andrew Tridgell
parent
e471b23f58
commit
9f3afe5434
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Release 4.0.7beta1, 2nd October 2020
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------------------------------------
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This is a minor release with some important bug fixes against 4.0.6.
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The changes are:
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- Fixed F32Lightening board IMU fast sampling issue
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- fixed issue with EKF2 and EKF3 with use of high accuracy GPS modules. This is important for anyone flying with a RTK GPS
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- Fixed KakuteF7 DShot glitch issue
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- Fixes issue with checking for valid RC input in ICE disable channel
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- fixed an interrupt flood issue with any sensor that uses interrupt timing measurement, such as RPM sensors.
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- Modified RM3100 driver to problem all 4 possible I2C addresses
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- Fixed UDP RC input on Linux boards to accept up to 16 RC inputs on UDP
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The most critical fix in the above list is the ISR flood issue.
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ISR Flood Issue
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---------------
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The ISR flood issue happens when a misbehaving external sensor (such
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as an RPM sensor for a petrol motor) starts providing pulses faster
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than the flight controller can process them. If this happens then the
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CPU can be overloaded in the interrupt handling for the sensor and
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stop flying the vehicle. The level of interrupt rate needed to cause
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this issue is around 500k interrupts per second, so to be safe we have
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added a limit of 100k interrupts per second. If a single interrupt
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source produces more than 10k interrupts in a single 0.1 second period
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then we disable that interrupt source, print a warning to the user and
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raise an internal error.
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Happy flying!
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Release 4.0.6, 7th September 2020
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---------------------------------
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The ArduPilot development team is proud to announce the release of
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plane 4.0.6 stable. This is a significant release with a lot of
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changes, so please read the change summary below carefully.
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- changed LED scripting API to allow more than 32 LEDs on a pin
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- added support for ProfiLED LEDs
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- added u-blox GPS moving baseline u-blox auto-configuration
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- fixed handling of GPS antenna positions on EKF GPS switch
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- changed default USB IDs to new ArduPilot specific IDs
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- fixed bug in handling trim for RC control of camera mounts
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- added LGR_OPTIONS bits to control landing gear behaviour on takeoff/landing
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- improved mavlink streaming output control to better allocate time to each channel
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- fixed send of mavlink PARAM_VALUE on set of a readonly parameter
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- fixed mag variance reporting in EKF_STATUS_REPORT mavlink message
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- fixed time wrap bug in BMP085 barometer driver
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- fixed buffer overflow in ST24 RC input driver
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- fixed EKF usage of WMM tables when user has specified a specific declination
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- fixed bug in AP_Terrain on-disk format
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- added script for offline generation of terrain data
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- severel improvements to smbus battery drivers
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- fixed a race condition in parameter storage on ChibiOS
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- fixed use of zero GNSS timestamp in UAVCAN GPS driver
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- improved GCS messages during bootloader flash
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- fixed CS pin in bootloader that could corrupt FRAM on some boards
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- added GPS yaw to MAVLink GPS_RAW_INT message
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- added Hott telemetry support
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- added FRSky FPort support
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- fixed bug in CAN clock and queue handling on H7 based boards
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- added support for BRD_ALT_CONFIG for alternative hardware configs on several boards
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- added new boards CUAV-Nora, CUAV-X7, MatekH743, R9Pilot, mRoNexus
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- improved reporting of internal errors to GCS
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- fixed recursion bug in tonealarm player
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- fixed flaperon SERVO_AUTO_TRIM behaviour
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- added option to compensate forward throttle for battery voltage
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- added compensation in VTOL gains for pressure altitude
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- switched to new more flexible compass ordering system
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- fixed forcing of safety off on IOMCU reset
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- increased maximum compass scale factor to 1.4
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- added RTL_CLIMB_MIN parameter for initial climb in RTL
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- fixed disable of throttle nudge during a RC failsafe
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- added support for a wider range of DLVR airspeed sensors
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- fixed RC input processing for out of range RC channels
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- added THR_FAILSAFE=2 option for flying BVLOS with only GCS failsafes enabled
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- fixed reordering of compasses on boot based on compass priorities
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- 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
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- fixed handling of RC_OPTION bit for disabling receiver failsafe handling
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- fixed LOITER_TO_ALT with terrain altitude target
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- fixed an issue with swapping UAVCAN compasses and calibration
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- fixed use of VTOL quadplane missions (where the plane flies as a multi-rotor for auto waypoints)
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- fixed legacy parsing of some lightware i2c lidars when beyond max range
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- fixed RTL_AUTOLAND with MIS_RESTART=1
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- enable more compasses on low flash boards
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- HAL erase storage fix for flash storage boards
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- prevent jump to circle mode in TAKEOFF if flying for less than 10s
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- fixed handling of out of range on LightwareI2C Lidar
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- fixed init of HoTT telemetry
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- added support for mRo Pixracer Pro, Holybro Pix32v5
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- added arming check for terrain data healthy if needed
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- increased monitor thread size to 768
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- fixed IMU fast sampling on F35Lightning board
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The key changes to existing behaviour to watch out for in this update
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are:
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USB IDs
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-------
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ArduPilot has now switched to it's own USB IDs for all boards. For
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most users this won't cause any change, except they may notice the
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drop down list of devices in MissionPlanner will have the ArduPilot
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flight controllers labelled more usefully as "ArduPilot" instead of
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just "STM32". If you hit issues on windows please try reinstalling the
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device drivers from this URL:
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https://firmware.ardupilot.org/Tools/MissionPlanner/driver.msi
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Terrain
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-------
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A bug fix in the format ArduPilot uses to store terrain data means
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that your flight controller will need to re-download the terrain data
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onto the sdcard via your GCS. If you fly without a GCS and you use
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terrain data then please re-download the terrain data you need by
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setting up a mission when you have internet access and allowing your
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flight controller to request terrain data from your GCS.
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Pressure Altitude Compensation
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------------------------------
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This release adds in the missing hook for the VTOL motor controller on
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a quadplane to compensate the VTOL gains using your pressure
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altitude. For most people this will not have a noticible effect, but
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some users that have tuned their aircraft for high locations may
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notice a tuning change.
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Compass Ordering
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----------------
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The new compass ordering system in this release gives a lot more
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flexibility and should preseve existing configurations and
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calibrations. If you hit issues then please have a look at the new
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compass ordering user interface in recent beta releases of
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MissionPlanner.
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THR_FAILSAFE=2
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--------------
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For people flying before visual range (with appropriate
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authorisations) there is a new option which allows for safer
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operation. By setting THR_FAILSAFE=2 you can setup the R/C failsafe so
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that R/C input will stop being used when one of the receiver failsafe
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conditions is met, while not triggering any failsafe actions. This is
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a significant improvement over setting THR_FAILSAFE=0 as it prevents
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the receiver inputs being used for stick mixing and other inputs that
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would be inappropriate when in receiver failsafe.
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Many thanks to everyone who contributed to and tested this release!
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Happy flying!
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Release 4.0.6beta5, 25th August 2020
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------------------------------------
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This should be the final beta for 4.0.6. Several important fixes are
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included:
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- fixed disable of throttle nudge during a RC failsafe
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- added support for a wider range of DLVR airspeed sensors
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- fixed RC input processing for out of range RC channels
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- added THR_FAILSAFE=2 option for flying BVLOS with only GCS
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failsafes enabled
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- fixed reordering of compasses on boot based on compass priorities
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- fixed use of minimum accuracy for GPS data in EKF2 and EKF3, fixing
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an issue with RTK GPS modules that report overly optimistic
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accuracy values
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- fixed handling of RC_OPTION bit for disabling receiver failsafe
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handling
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- fixed LOITER_TO_ALT with terrain altitude target
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Happy flying!
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Release 4.0.6beta4, 27th July 2020
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----------------------------------
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This is a minor change over beta3
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- fixed an issue with swapping UAVCAN compasses and calibration
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- fixed use of VTOL quadplane missions (where the plane flies as a
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multi-rotor for auto waypoints)
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- fixed legacy parsing of some lightware i2c lidars when beyond max
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range
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Happy flying!
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Release 4.0.6beta3, 7th July 2020
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----------------------------------
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This is a minor change over beta2
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- fixed RTL_AUTOLAND with MIS_RESTART=1
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- enable more compasses on low flash boards
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- HAL erase storage fix for flash storage boards
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Happy flying!
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Release 4.0.6beta2, 23rd June 2020
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----------------------------------
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This is a minor change over beta1
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- prevent jump to circle mode in TAKEOFF if flying for less than 10s
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- fixed handling of out of range on LightwareI2C Lidar
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- fixed init of HoTT telemetry
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- added support for mRo Pixracer Pro, Holybro Pix32v5
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- added arming check for terrain data healthy if needed
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- fixed compass ordering bug
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- increased monitor thread size to 768
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Happy flying!
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Release 4.0.6beta1, 23rd May 2020
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---------------------------------
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