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https://github.com/ArduPilot/ardupilot
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Plane: sync with plane4.0
This commit is contained in:
Andrew Tridgell
parent
f40e68011b
commit
c3d1e75221
@ -2633,6 +2633,13 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
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plane.complete_auto_takeoff();
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if (plane.control_mode == &plane.mode_auto) {
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// we reset TECS so that the target height filter is not
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// constrained by the climb and sink rates from the initial
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// takeoff height.
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plane.SpdHgt_Controller->reset();
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}
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return true;
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}
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@ -2977,6 +2984,11 @@ bool QuadPlane::guided_mode_enabled(void)
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if (plane.control_mode != &plane.mode_guided && plane.control_mode != &plane.mode_auto) {
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return false;
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}
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if (plane.control_mode == &plane.mode_auto &&
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plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_LOITER_TURNS) {
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// loiter turns is a fixed wing only operation
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return false;
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}
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return guided_mode != 0;
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}
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@ -1,3 +1,221 @@
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Release 4.0.5, 4th March 2020
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-----------------------------
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This release includes a one important bug fix and some minor
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enhancements. The changes are:
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- fixed bug handling change of RC input source while MAVLink signing
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is active. This could cause a stack overflow and a crash
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- added display of RC output types to aid in debugging DShot outputs
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- modified clocking on H7 boards to produce more accurate clocks for
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DShot
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- switched to new USB VIDs for dual-CDC boards
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- fixed a bug in handling LOITER_TURNS for quadplanes when
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Q_GUIDED_MODE is enabled
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- added a TECS reset at the end of a VTOL takeoff to handle aircraft
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with TECS climb rates below VTOL climb rates
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Happy flying!
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Release 4.0.4, 16th February 2020
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---------------------------------
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This release includes a significant number of changes from 4.0.3. Key
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changes are:
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- re-sync the 4.0 release with Copter-4.0, bringing them in line so
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as to maximise cross-vehicle testing
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- fixed a timing issue in IOMCU that could lead to loss of RC input
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frames and increased latency of output to ESCs on the IOMCU
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- fixed a bug in restoring gains in QAUTOTUNE that could cause the
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aircraft to be unstable on leaving QAUTOTUNE mode
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- fixed stack size of ftp thread
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The Copter-4.0 re-sync brings in quite a few structural changes. The
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main user visible changes are:
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- UAVCAN DNA server no longer needs a microSD card to operate
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- added logging of UAVCAN servos and ESC feedback messages
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- reduced QTUN logging rate to 25Hz
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- reduced memory usage in EKF with multiple lanes
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- Minor OSD improvements
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- added a lot more scripting bindings
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- fixed UAVCAN GPS status when not connected
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- added EK3_MAG_EF_LIM limit for earth frame mag errors
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- added MAVLink FTP support
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- added support for WS2812 LEDs
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Due to the significant number of changes with the re-sync I would
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particularly appreciate as much flight testing as we can get on this
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release.
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Happy flying!
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Release 4.0.3, 21st January 2020
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--------------------------------
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This is a minor release with a few bug fixes and enhancements. The
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changes since beta1 are:
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- fixed 3 missing semaphore waits
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- fixed checking for bouncebuffer allocation on microSD card IO
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- fixed incorrect param count
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- prevent failsafe action from overriding a VTOL land
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- fixed compass calibration failures with auto-rotation detection
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- fixed errors on STM32H7 I2C (affects CubeOrange and Durandal)
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- fixed a race condition in FrSky passthrough telemetry
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- fixed DSM/Spektrum parsing for 22ms protocols
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- added fixed yaw compass calibration method
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- re-generated magnetic field tables
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- ensure SERIAL0_PROTOCOL is mavlink on boot
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The most important fix is for FrSky pass-through telemetry. Pass
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through telemetry support had a race condition which could lead to the
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flight controller generating a fault and rebooting. Until you are
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running a firmware with the fix you should disable FrSky pass-through
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telemetry by changing SERIALn_PROTOCOL from 10 to 0 on the where you
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have SPort enabled.
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Happy flying!
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Release 4.0.2, 30th December 2019
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---------------------------------
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This is a minor release with a few bug fixes and enhancements. Changes
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are:
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- fixed voltage scaling on CUAVv5Nano
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- fixed 10Hz NMEA output
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- fixed range check on RC channel selection
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- scale UART RX size with baudrate
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- default fast sampling enabled on first IMU for all capable boards
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- fixed bootloader flash alignment bug
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- fixed PWM 5 and 6 for MatekF765-Wing
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- support RM3100 compass on I2C
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- fixed error on AHRS level trim in preflight calibration
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- fixed handling of SB without BUSY on I2Cv1 devices
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- update bootloaders to be more robust to unexpected data
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- added new COMPASS_SCALE parameters and estimator to fix issue with
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compass in Here2 GPS
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- fixed issue with millis wrap on boards with 16 bit system timer
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(MatekF405, MatekF765, speedybeef4 and KakuteF4)
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- fixed i2c internal masks for several boards
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- fixed scaling of Blheli32 RPM conversion
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- changed to WFQ FrSky telemetry scheduler
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- enable LED pin on MatekF765
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- added params for Durandal battery monitor pins to param docs
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- updated bootloaders to reduce change of line noise stopping boot
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- fixed DMA error causing memory corruption in ChibiOS I2C driver
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- fixed param conversion from plane 3.9.x to plane 4.0.x for rangefinders
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- cope with UAVCAN GPS that doesn't provide AUX messages (Here2 GPS)
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- send temperatures for IMUs on mavlink
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- fixed I2C clock speed error on STM32H7
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- fixed CR/LF output error for NMEA output
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Happy flying!
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Release 4.0.1, 22nd November 2019
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---------------------------------
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This is a minor release with a few bug fixes and enhancements. Changes
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are:
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- Added Q_ASSIST_ALT parameter which offers a way for VTOL assistance
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at low altitudes
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- fixed channels 5 and 6 on the MatekF765-Wing
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- fixed a bug with sending data on a full UART in mavlink parameter
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download
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- fixed use of UAVCAN primary GPS with UART secondary GPS
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- fixed failover between rangefinders of same orientation
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- added RC option for TAKEOFF mode
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- fixed logging of current on secondary battery monitors
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- fixed register checking on DPS280 for mRoControlZeroF7
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- added clock panel to OSD
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- fixed B/E led brightness on Pixhawk4
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- support RTCM injection to UAVCAN GPS for RTK support
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- fixed an RC failsafe bug that could cause the geofence to disable
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- fixed a bug in the SDP33 airspeed driver
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Happy flying!
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Release 4.0.1beta1, 17th November 2019
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--------------------------------------
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This is a minor release with a few bug fixes and enhancements for the
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4.0 stable version.
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Changes are:
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- Added Q_ASSIST_ALT parameter which offers a way for VTOL assistance
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at low altitudes
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- fixed channels 5 and 6 on the MatekF765-Wing
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- fixed a bug with sending data on a full UART in mavlink parameter
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download
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- added TECS_LAND_PMIN for constraining pitch minimum during landing
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- fixed use of UAVCAN primary GPS with UART secondary GPS
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- fixed failover between rangefinders of same orientation
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- added RC option for TAKEOFF mode
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- fixed logging of current on secondary battery monitors
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- fixed register checking on DPS280 for mRoControlZeroF7
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- added clock panel to OSD
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- fixed B/E led brightness on Pixhawk4
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- support RTCM injection to UAVCAN GPS for RTK support
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Happy flying!
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Release 4.0.0, 28th October 2019
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--------------------------------
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The final release of stable 4.0.0 has just one change from beta4,
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which is to fix a bug in the new TAKEOFF flight mode.
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Many thanks to everyone who has been testing the 4.0 release, and
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special thanks to Henry for his fantastic work in bringing the wiki up
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to date for this release!
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Happy flying!
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Release 4.0.0beta4, 19th October 2019
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------------------------------------
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@ -6,13 +6,16 @@
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#include "ap_version.h"
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#define THISFIRMWARE "ArduPlane V4.1.0dev"
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#define THISFIRMWARE "ArduPlane V4.0.5"
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// the following line is parsed by the autotest scripts
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#define FIRMWARE_VERSION 4,1,0,FIRMWARE_VERSION_TYPE_DEV
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#define FIRMWARE_VERSION 4,0,5,FIRMWARE_VERSION_TYPE_OFFICIAL
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#define FW_MAJOR 4
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#define FW_MINOR 1
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#define FW_PATCH 0
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#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
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#define FW_MINOR 0
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#define FW_PATCH 5
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#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
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