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Copter: 4.0.0-rc1 release notes

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Randy Mackay 2019-10-25 14:35:41 +09:00 committed by Andrew Tridgell
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ArduCopter/ReleaseNotes.txt
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ArduPilot Copter Release Notes: ArduPilot Copter Release Notes:
------------------------------------------------------------------ ------------------------------------------------------------------
Copter 4.0.0-rc1 25-Oct-2019
Changes from 3.6.11
1) Path Planning for Object Avoidance (aka Bendy Ruler and Dijkstra's) replaces "Dodge" avoidance
2) Complex Fence support (aka stay-out zones)
3) Lua scripting support on the flight controller
4) New flight controllers:
a) Hex Cube Orange
b) Holybro Durandal
5) Attitude Control changes:
a) Attitude Control filters on target, Error and D-term (see ATC_RAT_x_FLTT/FLTE/FLTD)
b) Harmonic notch filter
6) Flight mode changes:
a) ZigZag mode (designed for crop spraying)
b) SystemId for "chirping" attitude controllers to determine vehicle response
c) StandBy mode for vehicles with multiple flight controllers
d) SmartRTL provides warnings when buffer is nearly full
e) Follow mode offsets reset to zero when vehicle leaves follow mode
f) Upward facing surface tracking using lidar
g) Circle mode points more accurately towards center
7) Traditional Heli:
a) Swash plate and rotor-speed-control parameter rationalisation
8) Frames:
a) BiCopter support
b) OctoV mixing improvements
9) RC input/output changes:
a) Serial protocols supported on any serial port
b) IBUS R/C input support
c) DO_SET_SERVO and manual passthrough can operate on the same channel
10) Battery improvements:
a) Up to 10 batteries can be monitored
b) "Sum" type consolidates monitoring across batteries
c) Fuel flow battery (for use with gas tanks)
11) Sensor/Accessory changes:
a) Robotis servo support
b) KDECAN ESCs
c) ToshibaCAN ESCs
d) BenewakeTF03 lidar
e) SD Card reliability improvements (if card removed, logging restarts)
f) Yaw from some GPS (including uBlox RTK GPS with moving baseline)
g) WS2812 LEDs (aka NeoPixel LEDs)
h) NTF_BUZZ_VOLUME allows controlling buzzer volume
12) Landing Gear:
a) Retracts automatically after Takeoff in Auto completes
b) Deployed automatically using SRTM database or Lidar
13) UAVCAN improvements:
a) dynamic node allocation
b) SLCAN pass-through
c) support for UAVCAN rangefinders, buzzers, safety switch, safety LED
14) Serial and Telemetry:
a) MAVLink Message-Interval allows reducing telemetry bandwidth requirements
b) SERIALn_OPTIONS for inversion, half-duplex and swap
15) Safety Improvements:
a) Vibration failsafe (switches to vibration resistant estimation and control)
b) Independent WatchDog gets improved logging
c) EKF failsafe triggers slightly more quickly
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Copter 3.6.11 01-Oct-2019 / 3.6.11-rc1 16-Sep-2019 Copter 3.6.11 01-Oct-2019 / 3.6.11-rc1 16-Sep-2019
Changes from 3.6.10 Changes from 3.6.10
1) EKF and IMU improvements: 1) EKF and IMU improvements: