From a843249f11ba18d7b0a8a417ece05f8a10bbfc5b Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 24 Feb 2022 09:51:52 +0900 Subject: [PATCH] Rover: 4.2.0-rc1 release notes --- Rover/release-notes.txt | 96 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 96 insertions(+) diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt index 1e6344c0a4..52146d4ce7 100644 --- a/Rover/release-notes.txt +++ b/Rover/release-notes.txt @@ -1,5 +1,101 @@ Rover Release Notes: ------------------------------------------------------------------ +Rover 4.2.0-rc1 28-Feb-2022 +Changes from 4.1.5 +1) AHRS/EKF improvements + a) EKF startup messages reduced + b) LORD Microstrain CX5/GX5 external AHRS support + c) ModalAI VOXL non-GPS system supported (set VISO_TYPE=3, uses ODOMETRY mavlink msg) +2) Rover specific enhancements + a) AIS support + b) Attitude control gains defaults reduced + - ATC_STR_ANG_P reduced to 2 + - ATC_STR_RAT_MAX reduced to 120 deg/sec + - ATC_STR_ACC_MAX reduced to 120 deg/sec + - ATC_ACCEL_MAX reduced to 1m/s + c) Boats loiter by default at end of mission (see MIS_DONE_BEHAVE parameter) + d) DPTH message supports multiple rangefinders + e) Omni motor saturation improvement (scaling applied evenly to all motors) + f) Pivot turn overshoot reduced (would happen with bad combination of ATC_STR_ACC_MAX and ATC_STR_ANG_P) + g) Speed control improvement when motor hits limits (especially when MOT_SLEWRATE was set to a low number) + h) Speed control PID logging and reporting includes FF + i) Stops maintain zero turn rate (previously steering was straight but trim could lead to turning) + j) Torqeedo motor support +3) Custom build server support (see https://custom.ardupilot.org) +4) Lua scripting improvements + a) ahrs::get_location replaces get_position (get_position still works for now) + b) Auto support for NAV_SCRIPT_TIME commands (Lua within Auto) + c) Frame string support (allows scripting based frame to display custom description after startup) + d) Parameter support (no need to always use SCR_USERx) + e) Script logged to onboard log (can be disabled by setting SCR_DEBUG_OPTS) + f) Set_turn_rate_and_speed control support +5) New autopilots supported + a) AirLink + b) BeastF7v2, BeastH7v2 + c) JHEMCU GSF405A + d) KakuteH7, KakuteH7Mini + e) MambaF405US-I2C + f) MatekF405-TE + g) ModalAI fc-v1 + h) PixC4-Jetson + i) Pixhawk5X + j) QioTekZealotH743 + k) RPI-Zero2W + l) SPRacingH7 Extreme + m) Swan-K1 +6) Safety improvements + a) Dijkstra's avoidance performance improvements including converting to A* + b) Parachute option to leave servo in open position (see CHUTE_OPTIONS parameter) + c) Pre-arm check of IMU heater temp + d) Pre-arm check of rangefinder health + e) Pre-arm check that not in RC/throttle failsafe +7) Sensor driver enhancements + a) ADIS16470, ADIS16507 and BMI270 IMU support + b) AK09918 compass support + c) Battery monitor supports voltage offset (see BATTx_VLT_OFFSET) + d) Benewake TFMiniPlus I2C address defaults correctly + e) Buzzer can be connected to any GPIO on any board + f) Compass calibration (in-flight) uses GSF for better accuracy + g) CRSFv3 support, CSRF telemetry link reports link quality in RSSI + h) Cybot D1 Lidar + i) DroneCan (aka UAVCAN) battery monitors support scaling (see BATTx_CURR_MULT) + j) DroneCan (aka UAVCAN) GPS-for-yaw support + k) Electronic Fuel Injection support incl Lutan EFI + l) FETtecOneWire resyncs if EMI causes lost bytes + m) Hondex underwater sonar custom message support + n) IMU heater params renamed to BRD_HEAT_xxx + o) Lightware SF40C ver 0.9 support removed (ver 1.0 and higher still supported) + p) Maxbotix serial sonar driver support RNGFNDx_SCALING parameter to support for varieties of sensor + q) MPPT solar charge controller support + r) MTK GPS driver removed + s) Ping200x support + t) Proximity sensor min and max range (see PRX_MIN, PRX_MAX) + u) QSPI external flash support + v) uLanding (aka USD1) radar provides average of last few samples + w) Unicore NMEA GPS support for yaw and 3D velocity +8) Other System enhancements + a) Board ID sent in AUTOPILOT_VERSION mavlink message + b) DO_SET_CAM_TRIG_DIST supports instantly triggering camera + c) DJI FPV OSD multi screen and stats support + d) GPIO pin configured by setting SERVOx_FUNCTION to -1 (also see SERVO_GPIO_MASK. BRD_PWM_COUNT removed) + e) GPIO pin support on main outputs on boards with IOMCU + f) GyroFlow logging (see LOG_BITMASK's "VideoStabilization" option) + g) Firmware version logged in VER message + h) Log rate limiting to more easily reduce log sizes (see LOG_FILE_RATEMAX parameter) + i) SD card format via MAVLink + j) Serial port option to disable changes to stream rate (see SERIALx_OPTIONS) + k) Serial port passthrough via USB supports baud rate changes (eases UBlox F9P firmware updates) + l) VIBE logging units to m/s/s +9) Bug fixes + a) Auto mode infinite loop with nav commands that fail to start fixed + b) BLHeli passthrough reliability improvements + c) Compass learning (inflight) fixed to ignore unused compasses (e.g. those with COMPASS_USE = 0) + d) EKF resets due to bad IMU data occur at most once per second + e) GPIO pin fix on CubeOrange, F4BY, mRoControlZeroF7, R9Pilot + f) MAVlink2 serial ports always send MAVLink2 messages (previously waited until other side sent MAVLink2) + g) Omnibusf4pro bi-directional dshot fix + h) Real-Time-Clock (RTC) oldest possible date updated to Jan-2022 +------------------------------------------------------------------ Rover 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022 Changes from 4.1.4 1) Revert SBUS RC frame gap change from 4.1.4