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Plane: release notes for 4.4.0beta1
This commit is contained in:
Andrew Tridgell
parent
cec42abc66
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bfbfc81720
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Release 4.4.0 beta1
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-------------------
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This is the first beta of plane 4.4.0. It is a big release with lots
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of changes. Many thanks to all the people who have contributed!
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1) New autopilots supported
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- ESP32
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- Flywoo Goku F405S AIO
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- Foxeer H743v1
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- MambaF405-2022B
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- PixPilot-V3
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- PixSurveyA2
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- rFCU H743
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- ThePeach K1/R1
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2) Autopilot specific changes
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- Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
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- Bi-Directional DShot up to 8 channels on MatekH743
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- BlueRobotics Navigator supports baro on I2C bus 6
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- BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
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- CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
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- Foxeer Reaper F745 supports external compasses
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- OmnibusF4 support for BMI270 IMU
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- OmnibusF7V2-bdshot support removed
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- KakuteF7 regains displayport, frees up DMA from unused serial port
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- KakuteH7v2 gets second battery sensor
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- MambaH743v4 supports VTX
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- MatekF405-Wing supports InvensenseV3 IMUs
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- PixPilot-V6 heater enabled
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- Raspberry 64OS startup crash fixed
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- ReaperF745AIO serial protocol defaults fixed
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- SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
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- Skyviper loses many unnecessary features to save flash
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- UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
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- VRBrain-v52 and VRCore-v10 features reduced to save flash
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3) Driver enhancements
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- ARK RTK GPS support
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- BMI088 IMU filtering and timing improved, ignores bad data
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- CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
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- Daiwa winch baud rate obeys SERIALx_BAUD parameter
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- EFI supports fuel pressure and ignition voltage reporting and battery failsafe
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- ICM45686 IMU support
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- ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
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- ICM45686 supports fast sampling
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- MAX31865 temp sensor support
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- MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
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- MMC3416 compass orientation fix
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- MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
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- Multiple USD-D1-CAN radar support
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- NMEA output rate configurable (see NMEA_RATE_MS)
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- NMEA output supports PASHR message (see NMEA_MSG_EN)
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- OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
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- Rockblock satellite modem support
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- Serial baud support for 2Mbps (only some hardware supports this speed)
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- SF45b lidar filtering reduced (allows detecting smaller obstacles
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- SmartAudio 2.0 learns all VTX power levels)
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- UAVCAN ESCs report error count using ESC Telemetry
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- Unicore GPS (e.g. UM982) support
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- VectorNav 100 external AHRS support
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- 5 IMUs supported
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4) EKF related enhancements
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- Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN)
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- External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
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- Magnetic field tables updated
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- 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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- AutoTune of attitude control yaw D gain (set AUTOTUNE_AXES=8)
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- DO_SET_ROI_NONE command turns off ROI
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- JUMP_TAG mission item support
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- Missions can be stored on SD card (see BRD_SD_MISSION)
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- NAV_SCRIPT_TIME command accepts floating point arguments
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- Pause/Resume returns success if mission is already paused or resumed
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- Payload Place support via lua script in quadplanes
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7) Filtering enhancements
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- FFT notch can be run based on filtered data
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- Warn of motor noise at RPM frequency using FFT
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- In-flight FFT can better track low frequency noise
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- In-flight FFT logging improved
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- IMU data can be read and replayed for FFT analysis
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8) Camera and gimbal enhancements
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- BMMCC support included in Servo driver
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- DJI RS2/RS3-Pro gimbal support
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- Dual camera support (see CAM2_TYPE)
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- Gimbal/Mount2 can be moved to retracted or neutral position
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- Gremsy ZIO support
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- IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
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- 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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- RunCam2 4k support
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- ViewPro camera gimbal support
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9) Logging changes
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- BARO msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
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- MCU log msg includes main CPU temp and voltage (was part of POWR message)
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- RCOut banner message always included in Logs
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- SCR message includes memory usage of all running scripts
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- CANS message includes CAN bus tx/rx statistics
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- OFCA (optical flow calibration log message) units added
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- Home location not logged to CMD message
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- MOTB message includes throttle output
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10) Scripting enhancements
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- Generator throttle control example added
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- Heap max increased by allowing heap to be split across multiple underlying OS heaps
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- Hexsoon LEDs applet
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- Logging from scripts supports more formats
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- Parameters can be removed or reordered
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- Parameter description support (scripts must be in AP's applet or driver directory)
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- Rangefinder driver support
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- Runcam_on_arm applet starts recording when vehicle is armed
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- Safety switch, E-Stop and motor interlock support
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- Scripts can restart all scripts
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- Script_Controller applet supports inflight switching of active scripts
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11) Custom build server enhancements
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- AIS support for displaying nearby boats can be included
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- Battery, Camera and Compass drivers can be included/excluded
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- EKF3 wind estimation can be included/excluded
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- PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
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- RichenPower generator can be included/excluded
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- RC SRXL protocol can be excluded
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- SIRF GPSs can be included/excluded
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12) Safety related enhancements and fixes
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- "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled)
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- Pre-arm check that low and critical battery failsafe thresholds are different
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- Pre-arm message fixed if 2nd EKF core unhealthy
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- Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
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13) Minor enhancements
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- Boot time reduced by improving parameter conversion efficiency
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- BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
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- Compass calibration auxiliary switch function (set RCx_OPTION=171)
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- Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
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- MAVFTP supports file renaming
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- MAVLink in-progress reply to some requests for calibration from GCS
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14) Bug fixes:
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- ADSB telemetry and callsign fixes
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- Battery pct reported to GCS limited to 0% to 100% range
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- Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
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- DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
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- DisplayPort OSD artificial horizon better matches actual horizon
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- EFI Serial MS bug fix to avoid possible infinite loop
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- EKF3 Replay fix when COMPASS_LEARN=3
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- ESC Telemetry external temp reporting fix
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- Fence upload works even if Auto mode is excluded from firmware
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- FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
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- Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
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- ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
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- IMU detection bug fix to avoid duplicates
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- IMU temp cal fix when using auxiliary IMU
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- Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
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- RADIO_STATUS messages slow-down feature never completely stops messages from being sent
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- 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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- Scripting file system open fix
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- Scripting PWM source deletion crash fix
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- MAVFTP fix for low baudrates (4800 baud and lower)
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- ModalAI VOXL reset handling fix
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- MPU6500 IMU fast sampling rate to 4k (was 1K)
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- NMEA GPGGA output fixed for GPS quality, num sats and hdop
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- Position control reset avoided even with very uneven main loop rate due to high CPU load
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- Terrain offset increased from 15m to 30m (see TERRAIN_OFS_MAX) to reduce chance of "clamping"
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- Throttle notch FFT tuning param fix
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15) Developer specific items
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- DroneCAN replaces UAVCAN
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- FlighAxis simulator rangefinder fixed
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- Scripts in applet and drivers directory checked using linter
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- Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
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- Simulink model and init scripts
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- SITL on hardware support (useful to demo servos moving in response to simulated flight)
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- SITL parameter definitions added (some, not all)
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- Webots 2023a simulator support
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- XPlane support for wider range of aircraft
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16) Plane specific changes
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- new aerobatics scripting system with flexible schedules
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- added plane-3d SITL model
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- added quadlane landing abort AUX switch
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- added TKOFF_GND_PITCH for taildragger takeoff
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- new ACRO_LOCKING=2 mode for quaternion locking with yaw rate controller
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- allow yaw rate autotune in modes other than AUTOTUNE
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- use a cone for QRTL climb close to home
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- added Y4 VTOL config for quadplanes
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- added throttle scaling for vectored yaw
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- added turn corrdination to yaw AUTOTUNE
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- added Q_OPTION for motor tilt when disarmed in fixed wing modes
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Release 4.3.4 1st March 2023
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Release 4.3.4 1st March 2023
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-----------------------------
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-----------------------------
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