mirror of https://github.com/ArduPilot/ardupilot
304 lines
12 KiB
Plaintext
304 lines
12 KiB
Plaintext
Release 2.50, 19 June 2015
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==========================
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The ardupilot development team has released version 2.50 of
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APM:Rover. This release is mostly a backend improvement to ArduPilot
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but a few new features and bug fixes are included.
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Re-do Accelerometer Calibration
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-------------------------------
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Due to a change in the maximum accelerometer range on the Pixhawk all
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users must re-do their accelerometer calibration for this release.
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Only 3D accel calibration
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-------------------------
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The old "1D" accelerometer calibration method has now been removed, so
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you must use the 3D accelerometer calibration method. The old method
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was removed because a significant number of users had poor experiences.
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Changes in this release are:
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- CLI_ENABLED parameter added so the CLI can now be accessed
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in Rover
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- PID logging for the steering controller. It its now
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possible to graph what the P, I and D are doing as your
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driving the rover around to enable much better tuning of the
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vehicle.
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- Transition from .pde file to .cpp files for improved
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development.
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- GIT Submodules created for PX4Firmware, PX4Nuttx and uavcan
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git repositories for improved development.
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- Followme mode now works for Rover
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- GUIDED mode significantly improved. If you have a GCS which is in
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Followme mode if the user then changes mode with the RC transmitter to
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HOLD or anything else then the Rover will STOP listening to the
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Followme updated guided mode waypoints.
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- When going into GUIDED mode the rover went into RTL - this
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is fixed.
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- Added EKF_STATUS_REPORT MAVLink message
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- 64-bit timestamps in dataflash logs
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- Numerous EKF improvements
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- Added support for 4th Mavlink channel
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- Added support for raw IMU logging
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- updated Piksi RTK GPS driver
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- improved support for GPS data injection (for Piksi RTK GPS)
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- The SITL software in the loop simulation system has been completely
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rewritten for this release. A major change is to make it possible to
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run SITL on native windows without needing a Linux virtual
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machine. (thanks Tridge)
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Release 2.49, March 4th 2015
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----------------------------
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The ardupilot development team has released version 2.49 of
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APM:Rover. This release is a bug fix release with two important bugs
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found by Marco Walther - Thanks Marco!
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The bug fixes in this release are:
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- fixed a sonar problem where objects to the left wouldn't be
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identified - thanks Marco Walther!
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- Fixed the ordering of the AP_Notify call so the main indicator
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light would be correct on startup - thanks Marco Walther!
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Release 2.48, February 20th 2015
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--------------------------------
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The ardupilot development team has released version 2.48 of
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APM:Rover. This release is a bug fix release with some important bugs
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found by the users of ardupilot.
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The changes in this release are:
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- fixed a bug that could cause short term loss of RC control with
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some receiver systems and configurations
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- allowed for shorter sync pulse widths for PPM-SUM receivers on
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APM1 and APM2
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- fix an issue where battery reporting could be intermittent (thanks
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Georgii Staroselskii!)
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- fixed a mission handling bug that could cause a crash if jump
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commands form an infinite loop (thanks to Dellarb for reporting
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this bug)
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- improved support for in-kernel SPI handling on Linux (thanks to John Williams)
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- support UAVCAN based ESCs and GPS modules on Pixhawk (thanks to
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Pavel, Holger and and PX4 dev team)
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- Multiple updates for the NavIO+ cape on RaspberryPi (thanks to
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Emlid)
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- Lots of EKF changes
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- added support for MAVLink packet routing
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- added detection and recovery from faulty gyro and accel sensors
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- added support for BBBMini Linux port
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- increased number of AVR input channels from 8 to 11
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- auto-set system clock based on GPS in Linux ports
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- added SBUS FrSky telemetry support (thanks to Mathias)
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- Added AK8963 MAG support (thanks Staroselskii Georgii)
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- Added support for second battery
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- Auto formatting of SDCard if it cannot be accessed on startup
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- A number of significant performance improvements for the PX4 platform
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The most important bug fix is the one for short term loss of RC
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control. This is a very long standing bug which didn't have a
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noticible impact for most people, but could cause loss of RC control
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for around 1 or 2 seconds for some people in certain circumstances.
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The bug was in the the AP_HAL RCInput API. Each HAL backend has a flag
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that says whether there is a new RC input frame available. That flag
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was cleared by the read() method (typically hal.rcin->read()). Callers
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would check for new input by checking the boolean
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hal.rcin->new_input() function.
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The problem was that read() was called from multiple places. Normally
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this is fine as reads from other than the main radio input loop happen
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before the other reads, but if the timing of the new radio frame
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exactly matched the loop frequency then a read from another place
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could clear the new_input flag and we would not see the new RC input
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frame. If that happened enough times we would go into a short term RC
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failsafe and ignore RC inputs, even in manual mode.
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The fix was very simple - it is the new_input() function itself that
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should clear the flag, not read().
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Many thanks to MarkM for helping us track down this bug by providing
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us with sufficient detail on how to reproduce it. In Marks case his
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OpenLRSng configuration happened to produce exactly the worst case
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timing needed to reproduce the issue. Once Tridge copied his OpenLRS
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settings to his TX/RX he was able to reproduce the problem and it was
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easy to find and fix.
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A number of users have reported occasional glitches in manual control
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where servos pause for short periods in past releases. It is likely
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that some of those issues were caused by this bug. The dev team would
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like to apologise for taking so long to track down this bug!
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The other main change was also related to RC input. Some receivers use
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a PPM-SUM sync pulse width shorter than what the APM1/APM2 code was
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setup to handle. The OpenLRSng default sync pulse width is 3000
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microseconds, but the APM1/APM2 code was written for a mininum sync
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pulse width of 4000 microseconds. For this release we have changed the
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APM1/APM2 driver to accept a sync pulse width down to 2700
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microseconds.
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Auto format of SD Card
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======================
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From time to time the SD cards in the PX4 autopilots get corrupted.
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This isn't a surprise considering what we do to them. Your all
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familiar with the windows "please unmount or eject your SDCard before
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removing" process. Well we don't do that. In fact normal operation
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is to just pull the power on the SDCard - whilst its being written
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too!! Not to metion the horrible vibration rich environment the
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SDCard exists in. If the autopilot is setup in the internal innards
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of your plane/copter/rover this can be a nightmare to get to. To
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resolve that problem Tridge has added code at startup so when
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ArduPilot tries to mount to SDCard to access it - if that fails it
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will then try to format the SDCard and if successful mount the card
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and proceed. If the format fails then you will get the usual SOS
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Audio that makes most of us want to find the buzzer and rip its heart
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out.
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I mention this in case anyone has precious logs saved on the SDCard or
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they are using the SDCard out of their phone with their wedding
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photo's on it. Probably best not to do that and assume any data on
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the SDCard can be deleted.
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We are also looking to add a parameter to control whether the card is
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auto formatted on startup or not but it isn't in there yet.
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Release 2.47, November 15th 2014
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--------------------------------
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The ardupilot development team is proud to announce the release of
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version 2.47 of APM:Rover. This is a minor bug fix release. The most
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important change in this release is the fixing of the skid steering
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support but there have been a number of fixes in other areas as well.
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Full changes list for this release:
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- add support for controlling safety switch on Pixhawk from ground station
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- prevent reports of failed AHRS during initialisation
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- fixed skid steering that was broken in the last release
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- report gyro unhealthy if gyro calibration failed
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- fixed dual sonar support in CLI sonar test
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- fixed Nuttx crash on Pixhawk with bad I2C cables
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- added GPS_SBAS_MODE parameter - turns on/off satellite based augemtation system for GPS
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- added GPS_MIN_ELEV parameter - specifiy the elevation mask for GPS satellites
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- added RELAY_DEFAULT parameter to control default of relay on startup
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- fixed bug in FRAM storage on Pixhawk that could cause parameters changes not to be saved
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- better handling of compass errors in the EKF (Extended Kalman Filter)
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- improved support for linux based autopilots
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- added support for PulsedLight LIDAR as a range finder
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Many thanks to everyone who contributed to this release, especially
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Tom Coyle and Linus Penzlien for their excellent testing and feedback.
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Happy driving!
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Release 2.46, August 26th 2014
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------------------------------
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The ardupilot development team is proud to announce the release of
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version 2.46 of APM:Rover. This is a major release with a lot of new
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features and bug fixes.
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This release is based on a lot of development and testing that
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happened prior to the AVC competition where APM based vehicles
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performed very well.
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Full changes list for this release:
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- added support for higher baudrates on telemetry ports, to make it
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easier to use high rate telemetry to companion boards. Rates of up
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to 1.5MBit are now supported to companion boards.
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- new Rangefinder code with support for a wider range of rangefinder
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types including a range of Lidars (thanks to Allyson Kreft)
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- added logging of power status on Pixhawk
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- added PIVOT_TURN_ANGLE parameter for pivot based turns on skid
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steering rovers
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- lots of improvements to the EKF support for Rover, thanks to Paul
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Riseborough and testing from Tom Coyle. Using the EKF can greatly
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improve navigation accuracy for fast rovers. Enable with
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AHRS_EKF_USE=1.
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- improved support for dual GPS on Pixhawk. Using a 2nd GPS can
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greatly improve performance when in an area with an obstructed
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view of the sky
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- support for up to 14 RC channels on Pihxawk
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- added BRAKING_PERCENT and BRAKING_SPEEDERR parameters for better
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breaking support when cornering
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- added support for FrSky telemetry via SERIAL2_PROTOCOL parameter
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(thanks to Matthias Badaire)
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- added support for Linux based autopilots, initially with the PXF
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BeagleBoneBlack cape and the Erle robotics board. Support for more
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boards is expected in future releases. Thanks to Victor, Sid and
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Anuj for their great work on the Linux port.
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- added StorageManager library, which expands available FRAM storage
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on Pixhawk to 16 kByte. This allows for 724 waypoints, 50 rally
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points and 84 fence points on Pixhawk.
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- improved reporting of magnetometer and barometer errors to the GCS
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- fixed a bug in automatic flow control detection for serial ports
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in Pixhawk
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- fixed use of FMU servo pins as digital inputs on Pixhawk
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- imported latest updates for VRBrain boards (thanks to Emile
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Castelnuovo and Luca Micheletti)
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- updates to the Piksi GPS support (thanks to Niels Joubert)
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- improved gyro estimate in DCM (thanks to Jon Challinger)
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- improved position projection in DCM in wind (thanks to Przemek
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Lekston)
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- several updates to AP_NavEKF for more robust handling of errors
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(thanks to Paul Riseborough)
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- lots of small code cleanups thanks to Daniel Frenzel
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- initial support for NavIO board from Mikhail Avkhimenia
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- fixed logging of RCOU for up to 12 channels (thanks to Emile
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Castelnuovo)
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- code cleanups from Silvia Nunezrivero
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- improved parameter download speed on radio links with no flow
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control
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Many thanks to everyone who contributed to this release, especially
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Tom Coyle and Linus Penzlien for their excellent testing and feedback.
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Happy driving!
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