mirror of https://github.com/ArduPilot/ardupilot
Rover: 4.4.0-beta1 release notes
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Randy Mackay
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Rover Release Notes:
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------------------------------------------------------------------
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Rover 4.4.0-beta1 19-Apr-2023
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Changes from 4.3.0-beta12
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1) New autopilots supported
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a) ESP32
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b) Flywoo Goku F405S AIO
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c) Foxeer H743v1
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d) MambaF405-2022B
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e) PixPilot-V3
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f) PixSurveyA2
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g) rFCU H743
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h) ThePeach K1/R1
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2) Autopilot specific changes
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a) Bi-Directional DShot support for CubeOrangePlus-bdshot, Matek F405TE/VTOL-bdshot, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
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b) BlueRobotics Navigator supports baro on I2C bus 6
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c) BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
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d) CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
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e) Foxeer Reaper F745 supports external compasses
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f) OmnibusF4 support for BMI270 IMU
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g) OmnibusF7V2-bdshot support removed
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h) KakuteF7 regains displayport, frees up DMA from unused serial port
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i) KakuteH7v2 gets second battery sensor
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j) MambaH743v4 supports VTX
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k) MatekF405-Wing supports InvensenseV3 IMUs
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l) PixPilot-V6 heater enabled
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m) Raspberry 64OS startup crash fixed
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n) ReaperF745AIO serial protocol defaults fixed
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o) SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
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p) Skyviper loses many unnecessary features to save flash
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q) UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
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r) VRBrain-v52 and VRCore-v10 features reduced to save flash
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3) Driver enhancements
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a) ARK RTK GPS support
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b) BMI088 IMU filtering and timing improved, ignores bad data
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c) CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
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d) Daiwa winch baud rate obeys SERIALx_BAUD parameter
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e) EFI supports fuel pressure and ignition voltage reporting and battery failsafe
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f) ICM45686 IMU support
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g) ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
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h) ICM45686 supports fast sampling
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i) MAX31865 temp sensor support
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j) MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
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k) MMC3416 compass orientation fix
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l) MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
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m) Multiple USD-D1-CAN radar support
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n) NMEA output rate configurable (see NMEA_RATE_MS)
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o) NMEA output supports PASHR message (see NMEA_MSG_EN)
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p) OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
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q) Rockblock satellite modem support
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r) Serial baud support for 2Mbps (only some hardware supports this speed)
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s) SF45b lidar filtering reduced (allows detecting smaller obstacles
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t) SmartAudio 2.0 learns all VTX power levels)
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u) UAVCAN ESCs report error count using ESC Telemetry
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v) Unicore GPS (e.g. UM982) support
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w) VectorNav 100 external AHRS support
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x) 5 IMUs supported
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4) EKF related enhancements
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a) External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
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b) Magnetic field tables updated
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c) Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover)
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5) Control and navigation enhancements
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a) DO_SET_ROI_NONE command turns off ROI
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b) JUMP_TAG mission item support
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c) Manual mode steering expo configurable (see MANUAL_STR_EXPO)
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d) Missions can be stored on SD card (see BRD_SD_MISSION)
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e) NAV_SCRIPT_TIME command accepts floating point arguments
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f) Pause/Resume returns success if mission is already paused or resumed
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7) Camera and gimbal enhancements
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a) BMMCC support included in Servo driver
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b) DJI RS2/RS3-Pro gimbal support
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c) Dual camera support (see CAM2_TYPE)
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d) Gimbal/Mount2 can be moved to retracted or neutral position
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e) Gremsy ZIO support
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f) IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
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g) Paramters renamed and rescaled
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i) CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
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ii) CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
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iii) CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL
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iv) CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds
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v) CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values
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h) RunCam2 4k support
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i) ViewPro camera gimbal support
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8) Logging changes
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a) MCU log msg includes main CPU temp and voltage (was part of POWR message)
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b) RCOut banner message always included in Logs
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c) SCR message includes memory usage of all running scripts
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d) CANS message includes CAN bus tx/rx statistics
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e) Home location not logged to CMD message
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9) Scripting enhancements
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a) EFI Skypower driver gets improved telem messages and bug fixes
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b) Generator throttle control example added
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c) Heap max increased by allowing heap to be split across multiple underlying OS heaps
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d) Hexsoon LEDs applet
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e) Linter code checks for AP drivers and applets
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f) Logging from scripts supports more formats
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g) Parameters can be removed or reordered
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h) Parameter description support (scripts must be in AP's applet or driver directory)
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i) Rangefinder driver support
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j) Runcam_on_arm applet starts recording when vehicle is armed
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k) Safety switch, E-Stop and motor interlock support
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l) Scripts can restart all scripts
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m) Script_Controller applet supports inflight switching of active scripts
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n) Skipcheck keywords supports skipping argument range checks
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10) Custom build server enhancements
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a) Battery, Camera and Compass drivers can be included/excluded
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b) EKF3 wind estimation can be included/excluded
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c) PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
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d) Preclanding can be included/excluded
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e) RichenPower generator can be included/excluded
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f) RC SRXL protocol can be excluded
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g) SIRF GPSs can be included/excluded
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11) Safety related enhancements and fixes
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a) Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting
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b) Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks)
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c) GCS failsafe timeout is configurable (see FS_GCS_TIMEOUT)
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d) Pre-arm check that low and critical battery failsafe thresholds are different
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e) Pre-arm message fixed if 2nd EKF core unhealthy
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f) Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
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g) RC failsafe timeout configurable (see RC_FS_TIMEOUT)
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12) Minor enhancements
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a) Boot time reduced by improving parameter conversion efficiency
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b) BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
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c) Compass calibration auxiliary switch function (set RCx_OPTION=171)
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d) Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
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e) Frame type sent to GCS defaults to multicopter to ease first time setup
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f) Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier)
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g) MAVFTP supports file renaming
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h) MAVLink in-progress reply to some requests for calibration from GCS
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13) Bug fixes:
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a) ADSB telemetry and callsign fixes
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b) Battery pct reported to GCS limited to 0% to 100% range
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c) Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
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d) DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
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e) DisplayPort OSD artificial horizon better matches actual horizon
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f) EFI Serial MS bug fix to avoid possible infinite loop
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g) EKF3 Replay fix when COMPASS_LEARN=3
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h) ESC Telemetry external temp reporting fix
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i) Fence upload works even if Auto mode is excluded from firmware
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j) FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
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k) Guided mode slow yaw fix
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l) Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
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m) ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
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n) IMU detection bug fix to avoid duplicates
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o) IMU temp cal fix when using auxiliary IMU
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p) Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
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q) RADIO_STATUS messages slow-down feature never completely stops messages from being sent
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r) SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc. Avoids momentary divide-by-zero
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s) Scripting file system open fix
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t) Scripting PWM source deletion crash fix
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u) MAVFTP fix for low baudrates (4800 baud and lower)
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v) ModalAI VOXL reset handling fix
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w) MPU6500 IMU fast sampling rate to 4k (was 1K)
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x) NMEA GPGGA output fixed for GPS quality, num sats and hdop
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y) Position control reset avoided even with very uneven main loop rate due to high CPU load
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z) SingleCopter and CoaxCopter fix to fin centering when using DShot
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aa) SystemID mode fix to write PID log messages
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ab) Terrain offset increased from 15m to 30m (see TERRAIN_OFS_MAX)to reduce chance of "clamping"
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ac) Throttle notch FFT tuning param fix
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ad) VTX protects against pitmode changes when not enabled or vehicle disarmed
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14) Developer specific items
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a) DroneCAN replaces UAVCAN
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b) FlighAxis simulator rangefinder fixed
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c) Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
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d) Simulink model and init scripts
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e) SITL on hardware support (useful to demo servos moving in response to simulated flight)
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f) SITL parameter definitions added (some, not all)
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g) Webots 2023a simulator support
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h) XPlane support for wider range of aircraft
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------------------------------------------------------------------
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Rover 4.3.0-beta11/beta12 27-Mar-2023
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Changes from 4.3.0-beta10
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1) Bi-directional DShot fix for possible motor stop approx 72min after startup
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