mirror of https://github.com/ArduPilot/ardupilot
Rover: 4.2.0-rc1 release notes
This commit is contained in:
Randy Mackay
parent
0846a950bb
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Rover Release Notes:
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------------------------------------------------------------------
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Rover 4.2.0-rc1 28-Feb-2022
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Changes from 4.1.5
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1) AHRS/EKF improvements
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a) EKF startup messages reduced
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b) LORD Microstrain CX5/GX5 external AHRS support
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c) ModalAI VOXL non-GPS system supported (set VISO_TYPE=3, uses ODOMETRY mavlink msg)
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2) Rover specific enhancements
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a) AIS support
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b) Attitude control gains defaults reduced
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- ATC_STR_ANG_P reduced to 2
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- ATC_STR_RAT_MAX reduced to 120 deg/sec
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- ATC_STR_ACC_MAX reduced to 120 deg/sec
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- ATC_ACCEL_MAX reduced to 1m/s
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c) Boats loiter by default at end of mission (see MIS_DONE_BEHAVE parameter)
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d) DPTH message supports multiple rangefinders
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e) Omni motor saturation improvement (scaling applied evenly to all motors)
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f) Pivot turn overshoot reduced (would happen with bad combination of ATC_STR_ACC_MAX and ATC_STR_ANG_P)
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g) Speed control improvement when motor hits limits (especially when MOT_SLEWRATE was set to a low number)
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h) Speed control PID logging and reporting includes FF
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i) Stops maintain zero turn rate (previously steering was straight but trim could lead to turning)
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j) Torqeedo motor support
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3) Custom build server support (see https://custom.ardupilot.org)
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4) Lua scripting improvements
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a) ahrs::get_location replaces get_position (get_position still works for now)
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b) Auto support for NAV_SCRIPT_TIME commands (Lua within Auto)
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c) Frame string support (allows scripting based frame to display custom description after startup)
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d) Parameter support (no need to always use SCR_USERx)
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e) Script logged to onboard log (can be disabled by setting SCR_DEBUG_OPTS)
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f) Set_turn_rate_and_speed control support
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5) New autopilots supported
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a) AirLink
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b) BeastF7v2, BeastH7v2
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c) JHEMCU GSF405A
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d) KakuteH7, KakuteH7Mini
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e) MambaF405US-I2C
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f) MatekF405-TE
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g) ModalAI fc-v1
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h) PixC4-Jetson
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i) Pixhawk5X
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j) QioTekZealotH743
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k) RPI-Zero2W
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l) SPRacingH7 Extreme
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m) Swan-K1
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6) Safety improvements
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a) Dijkstra's avoidance performance improvements including converting to A*
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b) Parachute option to leave servo in open position (see CHUTE_OPTIONS parameter)
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c) Pre-arm check of IMU heater temp
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d) Pre-arm check of rangefinder health
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e) Pre-arm check that not in RC/throttle failsafe
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7) Sensor driver enhancements
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a) ADIS16470, ADIS16507 and BMI270 IMU support
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b) AK09918 compass support
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c) Battery monitor supports voltage offset (see BATTx_VLT_OFFSET)
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d) Benewake TFMiniPlus I2C address defaults correctly
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e) Buzzer can be connected to any GPIO on any board
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f) Compass calibration (in-flight) uses GSF for better accuracy
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g) CRSFv3 support, CSRF telemetry link reports link quality in RSSI
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h) Cybot D1 Lidar
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i) DroneCan (aka UAVCAN) battery monitors support scaling (see BATTx_CURR_MULT)
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j) DroneCan (aka UAVCAN) GPS-for-yaw support
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k) Electronic Fuel Injection support incl Lutan EFI
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l) FETtecOneWire resyncs if EMI causes lost bytes
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m) Hondex underwater sonar custom message support
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n) IMU heater params renamed to BRD_HEAT_xxx
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o) Lightware SF40C ver 0.9 support removed (ver 1.0 and higher still supported)
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p) Maxbotix serial sonar driver support RNGFNDx_SCALING parameter to support for varieties of sensor
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q) MPPT solar charge controller support
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r) MTK GPS driver removed
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s) Ping200x support
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t) Proximity sensor min and max range (see PRX_MIN, PRX_MAX)
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u) QSPI external flash support
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v) uLanding (aka USD1) radar provides average of last few samples
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w) Unicore NMEA GPS support for yaw and 3D velocity
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8) Other System enhancements
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a) Board ID sent in AUTOPILOT_VERSION mavlink message
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b) DO_SET_CAM_TRIG_DIST supports instantly triggering camera
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c) DJI FPV OSD multi screen and stats support
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d) GPIO pin configured by setting SERVOx_FUNCTION to -1 (also see SERVO_GPIO_MASK. BRD_PWM_COUNT removed)
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e) GPIO pin support on main outputs on boards with IOMCU
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f) GyroFlow logging (see LOG_BITMASK's "VideoStabilization" option)
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g) Firmware version logged in VER message
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h) Log rate limiting to more easily reduce log sizes (see LOG_FILE_RATEMAX parameter)
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i) SD card format via MAVLink
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j) Serial port option to disable changes to stream rate (see SERIALx_OPTIONS)
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k) Serial port passthrough via USB supports baud rate changes (eases UBlox F9P firmware updates)
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l) VIBE logging units to m/s/s
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9) Bug fixes
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a) Auto mode infinite loop with nav commands that fail to start fixed
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b) BLHeli passthrough reliability improvements
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c) Compass learning (inflight) fixed to ignore unused compasses (e.g. those with COMPASS_USE = 0)
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d) EKF resets due to bad IMU data occur at most once per second
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e) GPIO pin fix on CubeOrange, F4BY, mRoControlZeroF7, R9Pilot
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f) MAVlink2 serial ports always send MAVLink2 messages (previously waited until other side sent MAVLink2)
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g) Omnibusf4pro bi-directional dshot fix
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h) Real-Time-Clock (RTC) oldest possible date updated to Jan-2022
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------------------------------------------------------------------
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Rover 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022
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Changes from 4.1.4
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1) Revert SBUS RC frame gap change from 4.1.4
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