mirror of https://github.com/ArduPilot/ardupilot
2980 lines
168 KiB
Plaintext
2980 lines
168 KiB
Plaintext
ArduPilot Copter Release Notes:
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------------------------------------------------------------------
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Copter 4.3.4 01-Mar-2023
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Changes from 4.3.4-rc1
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1) Lua script PWMSource feature disabled (will be back in 4.4.x)
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------------------------------------------------------------------
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Copter 4.3.4-rc1 14-Feb-2023
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Changes from 4.3.3
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1) AutoPilot specific enhancements
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a) CubeOrangePlusBG support
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b) Foxeer ReaperF745 supports external compass
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c) MambaH743v4 supports VTX power
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2) Precision landing option to resume tracking target after pilot repositioning
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3) Bug fixes
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a) Arming check fix for terrain following with rangefinder (failed if terrain db was disabled)
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b) Arming check fix if BARO_FIELD_ELEV set
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c) Compass calibration diagonals set to 1,1,1 if incorrectly set to 0,0,0
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d) FFT notch tune feature disabled (will be re-released in 4.4)
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e) Gimbal's yaw feed-forward set to zero when landed (affects Gremsy gimbals)
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f) IOMCU double reset and safety disable fix
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g) Logging fix for duplicate format messages
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h) OpenDroneId sets emergency status on crash or chute deploy
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i) Peripheral firmware updates using MAVCAN fixed
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j) RC protocol cannot be changed once detected on boards with IOMCU
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k) Surface tracking uses filtered and corrected rangefinder values
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------------------------------------------------------------------
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Copter 4.3.3 20-Jan-2023
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Changes from 4.3.3-rc1
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1) Bug fixes
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a) MAVFTP fix to terminate session error (could cause FTP failures)
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b) IMU fast fifo reset log message max frequency reduced
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------------------------------------------------------------------
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Copter 4.3.3-rc1 09-Jan-2023
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Changes from 4.3.2
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1) Autopilot related changes
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a) AIRLink LTE module enable pin and HEAT_ params added
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b) CUAV Nora/Nora+ bdshot firmware (allows Bi-directional DShot)
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c) CubeOrange, CubeYellow gets fast reset of ICM20602
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d) MambaH743v2 with dual ICM42688 supported
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e) PixPilot-V6
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2) Attitude and Navigation controllers use real-time dt (better handles variable or slow main loop)
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3) MAVFTP speed improvement including faster param download
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4) Bug fixes
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a) Analog rangefinder GPIO pin arming check fixed
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b) Arming check of AHRS/EKF vs GPS location disabled if GPS disabled
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c) CRSF gets RC_OPTIONS for ELRS baudrate to avoid RC failsafes
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d) Null pointer checks avoid watchdog when out of memory
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e) Position Controller limit handling improved to avoid overshooting and hard landings
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f) Position Controller internal error after 70min of flight fixed
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g) PSC_ANGLE_MAX param reduction causing WPNAV_ACCEL to be set too low fixed
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h) Servo gimbal yaw jump to opposite side fixed
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i) Siyi A8 gimbal driver's record video feature fixed
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j) SToRM32 serial gimbal driver actual angle reporting fixed (pitch and yaw angle signs were reversed)
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k) Takeoff in Auto, Guided fixed when target altitude is current altitude
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l) Takeoff in Auto handles baro drift before takeoff
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m) Takeoff twitch due to velocity integrator init bug fixed
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------------------------------------------------------------------
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Copter 4.3.2 23-Dec-2022
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Changes from 4.3.2-rc1
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1) Reverted arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
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------------------------------------------------------------------
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Copter 4.3.2-rc1 10-Dec-2022
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Changes from 4.3.1
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1) Arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
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2) uBlox M10 support
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3) Autopilot specific changes
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a) CubeOrange defaults to using 2nd IMU as primary
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b) SIRF and SBP GPS disabled on BeastF7v2, MatekF405-STD, MAtekF405-Wing, omnibusf4pro
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4) Bug fixes
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a) AutoTune gains loaded correctly during pilot testing
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b) Camera driver's CAM_MIN_INTERVAL fixed if pilot manually triggers extra picture
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c) EKF3 fix when using EK3_RNG_USE_HGT/SPD params and rangefinder provides bad readings
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d) Main loop slowdown after arming fixed (parameter logging was causing delays)
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e) Main loop's fast tasks always run (caused twitches in Loiter on heavily loaded CPUs)
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f) MAVLink commands received on private channels checked for valid target sysid
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g) ModalAI cameras support fixed (ODOMETRY message frame was consumed incorrectly)
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h) Param reset after firmware load fixed on these boards
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- BeastF7v2
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- CubeYellow-bdshot
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- f405-MatekAirspeed
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- FlywooF745Nano
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- KakuteF4Mini
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- KakuteF7-bdshot
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- MatekF405-bdshot
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- MatekF405-STD
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- MatekF405-Wing-bdshot
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- MatekF765-SE
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- MatekF765-Wing-bdshot
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i) Siyi A8 gimbal support fixed
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j) Windows builds move to compiling only 64-bit executables
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------------------------------------------------------------------
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Copter 4.3.1 05-Dec-2022 / 4.3.1-rc1 17-Nov-2022
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Changes from 4.3.0
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1) Autopilot specific enhancements
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a) ARKV6X support
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b) MatekH743 supports 8 bi-directional dshot channels
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c) Pixhawk boards support MS5607 baros
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d) SpeedbyBee F405v3 support
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2) DroneCAN Airspeed sensor support including hygrometer (aka water vapour) readings
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3) EFI support (electronic fuel injection engines)
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4) Pre-arm warning if multiple UARTs with SERIALx_PROTOCOL = RCIN
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5) Siyi gimbal support
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6) Bug fixes
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a) Arm check warning loses duplicate "AHRS" prefix
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b) AtomRCF405NAVI bootloader file name fixed
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c) BRD_SAFETY_MASK fixed on boards with both FMU safety switch and IOMCU
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d) Compass calibration continues even if a single compass's cal fails
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e) Gremsy gimbal driver sends autopilot info at lower rate to save bandwidth
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f) Invensense 42605 and 42609 IMUs use anti-aliasing filter and notch filter
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g) Mode change to AUTOTUNE message shortened
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h) OSD stats screen fix
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i) RC input on serial port uses first UART with SERIALx_PROTOCOL = 23 (was using last)
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j) RunCam caching fix with enablement and setup on 3-pos switch
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k) RTK CAN GPS fix when GPSs conneted to separate CAN ports on autopilot
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l) SkyViper GPS fix
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m) Turtle mode safety fixes (e.g. can only enter Tutle mode with at zero throttle)
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------------------------------------------------------------------
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Copter 4.3.0 31-Oct-2022 / 4.3.0-beta4 24-Oct-2022
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Changes from 4.3.0-beta3
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1) Scripting supports implementing AUX functions
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2) Bug fixes
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a) BMI085 accel scaling fixed
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b) Build with gcc 11.3 fixed (developer only)
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c) EKF3 alt discrepancy if GPS or baro alt changed soon after startup fixed
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d) Harmonic Notch and ESC telem fix when motor outputs are non-contiguous
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e) NMEA GPS's KSXT message parsing fixed (affected position accuracy)
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f) Scripting random number generator fix
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------------------------------------------------------------------
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Copter 4.3.0-beta3 14-Oct-2022
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Changes from 4.3.0-beta2
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1) Pixhawk1-1M, fmuv2, fmuv3 display warning if firmware mismatches board's flash size (1M and 2M)
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2) Scripting support for multi-byte i2c reads
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3) Bug fixes
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a) Airspeed CAN sensor ordering fixed (ordering could change if using multiple airspeed sensors)
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b) BRD_SAFETY_MASK fix for enabling outputs when safety is on
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c) Defaults.parm file processing fixed when a line has >100 characters and/or no new line (developer only)
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d) NMEA serial output precision fixed (was only accurate to 1m, now accurate to 1cm)
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------------------------------------------------------------------
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Copter 4.3.0-beta2 4-Oct-2022
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Changes from 4.3.0-beta1
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1) Autopilot specific fixes and enhancements
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a) AIRLink autopilot supports UART2
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b) CUAV V6X supports CAN battery monitor by default
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c) MatekF405-CAN board uses less memory to fix compass calibration issues
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d) Pixhawk1-1M only supports uBlox and NMEA GPSs to save flash space
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e) SkystarsH7HD-bdshot (allows Bi-directional DShot)
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f) SkystarsH7HD supports VTX power by default
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2) EFI support
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a) Currawong ECU support (added as Electronic Fuel Injection driver)
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b) Scripting support for EFI drivers (allows writing EFI drivers in Lua)
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c) SkyPower and HFE CAN EFI drivers (via scripting)
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3) Safety features
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a) Arming check that SPIN_MIN less than 0.3 and greater than SPIN_ARM
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4) Minor enhancements
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a) Autopilot board names max length increased to 23 characters (was 13)
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b) CAN actuators can report PWM equivalent values (eases debugging)
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c) Log download speed improved for boards with "block" backends
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d) Notch filter slew limit reduces chance of notch freq moving incorrectly
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e) SLCAN disabled when vehicle is armed to reduce CPU load
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5) Bug fixes
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a) DO_JUMP mission command fixed if active command changed before changing to Auto mode
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b) EKF3 altitude error fix when using dual GPSs and affinity enabled
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c) FFT indexing bug fixed
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d) Gimbal mount fix to default mode (see MNTx_DEFLT_MODE parameter)
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e) MSP fix to report arm status to DJI FPV goggles
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f) Notch fix for non-throttle notch (was being incorrectly disabled)
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g) OSD fixes for params, font and resolution
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h) RPM reporting from harmonic notch fixed
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i) "Sending unknown message (50)" warning removed
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j) SBF/GSOF/NOVA GPS auto detction of baud rate fixed
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k) VideoTX fixes for buffer overruns and Tramp video transmitter support
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------------------------------------------------------------------
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Copter 4.3.0-beta1 14-Sep-2022
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Changes from 4.2.3
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1) New autopilot support
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a) AtomRCF405
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b) CubeOrange-SimOnHardWare
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c) DevEBoxH7v2
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d) KakuteH7Mini-Nand
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e) KakuteH7v2
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f) Mamba F405 Mk4
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g) SkystarsH7HD
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h) bi-directional dshot (aka "bdshot") versions for CubeOrange, CubeYellow, KakuteF7, KakuteH7, MatekF405-Wing, Matek F765, PH4-mini, Pixhawk-1M
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2) EKF enhancements and fixes
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a) EK3_GPS_VACC_MAX threshold to control when GPS altitude is used as alt source
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b) EKF ring buffer fix for very slow sensor updates (those that update once every few seconds)
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c) EKF3 source set change captured in Replay logs
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3) Gimbal enhancements
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a) Angle limit params renamed and scaled to degrees (e.g. MNT1_ROLL_MIN, MNT1_PITCH_MIN, etc)
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b) BrushlessPWM driver (set MNT1_TYPE = 7) is unstabilized Servo driver
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c) Dual mount support (see MNT1_, MNT2 params)
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d) Gremsy driver added (set MNT1_TYPE = 6)
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e) MAVLink gimbalv2 support including sending GIMBAL_DEVICE_STATUS_UPDATE (replaces MOUNT_STATUS message)
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f) "Mount Lock" auxiliary switch supports follow and lock modes in RC targetting (aka earth-frame and body-frame)
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g) RC channels to control gimbal set using RCx_OPTION = 212 (Roll), 213 (Pitch) or 214 (Yaw)
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h) RC targetting rotation rate in deg/sec (see MNT1_RC_RATE which replaces MNT_JSTICK_SPD)
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i) Yaw can be disabled on 3-axis gimbals (set MNTx_YAW_MIN = MNTx_YAW_MAX)
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4) Navigation and Flight mode enhancements
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a) Auto mode ATTITUDE_TIME command allows specifying lean angle for specified number of seconds (GPS not required)
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b) Auto mode support of DO_GIMBAL_MANAGER_PITCHYAW command
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c) Auto mode LOITER_TURNS command max radius increased to 2.5km
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d) AutoTune allows higher ANGLE_P gains
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e) Guided mode support DO_CHANGE_SPEED commands
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f) Manual modes throttle mix reduced (improves landing)
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g) Payload touchdown detection reliability improved
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h) Takeoff detection improved to reduce chance of flip before takeoff if GPS moves
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i) TKOFF_SLEW_TIME allows slower takeoffs in Auto, Guided, etc
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5) Notch filter enhancements
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a) Attitude and filter logging at main loop rate
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b) Batch sampler logging both pre and post-filter
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c) FFT frame averaging
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d) In-flight throttle notch parameter learning using averaged FFTs
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e) Triple harmonic notch
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5) RemoteId and SecureBoot enhancements
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a) Remote update of secure boot's public keys (also allows remote unlocking of bootloader)
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6) Safety enhancements
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a) Arming checks of FRAME_CLASS/TYPE made mandatory (even if ARMING_CHECK=0)
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b) crash_dump.bin file saved to SD Card on startup (includes details re cause of software failures)
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c) Dead-reckoning for 30sec on loss of GPS (requires wind estimation be enabled)
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d) Dead-reckoning Lua script (On loss of GPS flies towards home for specified number of seconds)
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e) Disabling Fence clears any active breaches (e.g. FENCE_TYPE = 0 will clear breaches)
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f) "GPS Glitch" message clarified to "GPS Glitch or Compass error"
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g) Pre-arm check that configured AHRS is being used (e.g. checks AHRS_EKF_TYPE not changed since boot)
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h) Pre-arm check that gimbals are healthy (currently only for Gremsy gimbals, others in future release)
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i) Pre-arm check that all motors are setup
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j) Pre-arm check that scripts are running
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k) Pre-arm check that terrain data loaded if RTL_ALT_TYPE set to Terrain
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l) Pre-arm messages are correctly prefixed with "PreArm:" (instead of "Arm:")
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m) RC auxiliary switch option for Arm / Emergency Stop
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n) RC failsafe made pre-arm check (previously only triggered at arming)
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o) RC failsafe option (see FS_OPTIONS) to continue in Guided obeyed even if GCS failsafe disabled
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p) TKOFF_RPM_MIN checks all motors spinning before takeoff
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q) Vibration compensation disabled in manual modes
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7) Scripting enhancements
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a) CAN2 port bindings to allow scripts to communicate on 2nd CAN bus
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b) ESC RPM bindings to allow scripts to report engine RPM
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c) Gimbal bingings to allow scripts to control gimbal
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d) Pre-arm check bindings (allows scripts to check if pre-arm checks have passed)
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e) Semicolon (:) and period (.) supported (e.g both Logger:write() and Logger.write will work)
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8) Sensor driver enhancements
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a) Benewake H30 radar support
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b) BMI270 IMU performance improvements
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c) IRC Tramp VTX suppor
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d) Logging pause-able with auxiliary switch. see RCx_OPTION = 165 (Pause Stream Logging)
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e) Proximity sensor support for up to 3 sensors
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f) Precision Landing consumes LANDING_TARGET MAVLink message's PositionX,Y,Z fields
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g) RichenPower generator maintenance-required messages can be suppressed using GEN_OPTIONS param
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h) TeraRanger Neo rangefinder support
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i) GPS support to provide ellipsoid altitude instead of AMSL (see GPS_DRV_OPTIONS)
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j) W25N01GV 1Gb flash support
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9) Bug fixes
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a) Accel calibration throws away queued commands from GCS (avoids commands being run long after they were sent)
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b) Airmode throttle mix at zero throttle fix
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c) Cygbot proximity sensor fix to support different orientations (see PRXx_ORIENT)
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d) Loiter fix to avoid potential wobble on 2nd takeoff (was not clearing non-zero attitude target from previous landing)
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e) Lutan EFI message flood reduced
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f) Missions download to GCS corruption avoided by checking serial buffer has space
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g) Payload place fix so vehicle flies to specified Lat,Lon (if provided). Previously it could get stuck
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h) Safety switch disabled if IOMCU is disabled (see BRD_IO_ENABLE=0)
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i) Script restart memory leak fixed
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j) Takeoff vertical velocity limits enforced correctly even if PILOT_TKOFF_ALT set to a significant height
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10) Developer items
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a) Custom controller support
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b) Fast loop task list available in real-time using @SYS/tasks.txt
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c) Parameter defaults sent to GCS with param FTP and recorded in onboard logs
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d) ROS+ArduPilot environment installation script
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e) Sim on Hardware allows simulator to run on autopilot (good for exhibitions)
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f) Timer info available in real-time using @SYS/timers.txt
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------------------------------------------------------------------
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Copter 4.2.3 30-Aug-2022
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Changes from 4.2.3-rc3
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1) OpenDroneId bug fix to consume open-drone-id-system-update message
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------------------------------------------------------------------
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Copter 4.2.3-rc3 20-Aug-2022
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Changes from 4.2.3-rc2
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1) OpenDroneId improvements including reporting if operator location is lost
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2) Firmware ID and CRC check (disabled by default)
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3) Bug Fixes
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a) Auto takeoff with terrain altitude frame fix (could cause climb away if rangefinder became out of range)
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b) Revert Notch filter ordering on loss of RPM source (see 4.2.3-rc1's 3g below) because fix is incomplete
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------------------------------------------------------------------
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Copter 4.2.3-rc2 13-Aug-2022
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Changes from 4.2.3-rc1
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1) BlueRobotics Navigator autopilot filesystem fix
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------------------------------------------------------------------
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Copter 4.2.3-rc1 12-Aug-2022
|
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Changes from 4.2.2
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1) OpenDroneId support (aka RemoteID)
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2) New autopilot support
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a) CubeOrange+
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b) Foxeer Reaper F745
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c) MFE PixSurveyA1
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d) Pixhawk6C and Pixhawk6X
|
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3) Bug Fixes and minor enhancements
|
|
a) Battery monitor health check fixed to check all enabled monitors
|
|
b) ICE Lutan EFI update serial flood fixed
|
|
c) ICM42xxx IMU filter settings improved and allow for faster sample rates
|
|
d) INA2xx batteries may init after startup
|
|
e) KakuteH7 OSD parameter menu enabled
|
|
f) Lua script support to set desired speed in Auto mode
|
|
g) Notch filter ordering bug on loss of RPM source fixed
|
|
h) Payload Place mission command obeys specified altitude type (was always terrain alt)
|
|
i) PreArm check that MOT_PWM_MIN/MAX are non-zero
|
|
j) PreArm check of Rangefinder pin conflict and servo outputs
|
|
k) SCurve logs debug if internal error occurs
|
|
l) WSL2 upload fixed (developer issue only)
|
|
------------------------------------------------------------------
|
|
Copter 4.2.2 18-Jul-2022 / 4.2.2-rc2 04-Jul-2022
|
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No changes from 4.2.2
|
|
------------------------------------------------------------------
|
|
Copter 4.2.2-rc1 21-Jun-2022
|
|
Changes from 4.2.1
|
|
1) MambaH743v4 and MambaF405 MK4 autopilot support
|
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2) Second full harmonic notches available (see INS_HNTC2_ parameters)
|
|
3) UAVCAN memory usage reduced (see CAN_Dn_UC_POOL parameter to control DroneCAN pool size)
|
|
4) VTOL QuikTune lua script added
|
|
5) Watchdog (caused by hardfault) saves crash dump logs to SD card
|
|
6) Bug fixes
|
|
a) Circle mode stops below altitude fence
|
|
b) CRSF protection against watchdog on bad frames
|
|
c) CRSF reset in flight handled
|
|
d) FFT init watchdog fix when ARMING_REQUIRE=0 (not actually possible on Copter)
|
|
e) OSD flight modes menu includes newer flight modes
|
|
f) Param download (via MAVFTP) fixed for params with overlapping names
|
|
g) PWM rangefinder bug fix and added SCALING parameter support
|
|
h) Replay bug fix when EK3_SRCs changed
|
|
i) SERIALx_OPTION fix when "Don't forward mavlink to/from" selected (resolves MAVLink gimbal detection)
|
|
j) TradHeli Autotune fix which could cause incorrect gains to be loaded
|
|
k) VL53L1X rangefinder preserves addresses
|
|
------------------------------------------------------------------
|
|
Copter 4.2.1 07-Jun-2022 / 4.2.1-rc1 28-May-2022
|
|
Changes from 4.2.0
|
|
1) CAN ESCs bus bandwidth efficiency improvements (see CAN_Dx_UC_ESC_OF parameter)
|
|
2) DShot timing improvements to support for ESC variants
|
|
3) LOITER_TURNS command radius max increased from 255m to 2550m (but only 10m accuracy when over 255)
|
|
4) Luftan EFI measures fuel consumption (see EFI_COEF1, EFI_COEF2)
|
|
5) Bug fixes
|
|
a) CAN ESCs work on boards with no safety switch (e.g. MatekH743)
|
|
b) Inflight Compass calibration checks GSF yaw estimate is good
|
|
c) LOITER_TURNS command's Turns field limited to 255 (previously would wrap to lower number)
|
|
d) NeoPixel colour fix
|
|
e) Precision Landing maintains yaw during retries
|
|
------------------------------------------------------------------
|
|
Copter 4.2.0 23-May-2022 / 4.2.0-rc4 14-May-2022
|
|
Changes from 4.2.0-rc3
|
|
1) FlyingMoon F407 and F427 autopilots supported
|
|
2) Vibration failsafe disabled in manual modes
|
|
3) Bug fixes
|
|
a) Log file list with over 500 logs fixed
|
|
b) Loiter mode ignores ATC_SLEW_YAW parameter
|
|
c) RSSI when using IOMCU pin 103 fixed
|
|
d) TradHeli internal error during takeoff fixed
|
|
------------------------------------------------------------------
|
|
Copter 4.2.0-rc3 07-May-2022
|
|
Changes from 4.2.0-rc2
|
|
1) Bug fixes
|
|
a) Blended Z axis accel calculation fix when not using first IMU
|
|
b) Custom compass orientation for DroneCAN compasses
|
|
------------------------------------------------------------------
|
|
Copter 4.2.0-rc2 29-Apr-2022
|
|
Changes from 4.2.0-rc1
|
|
1) Minor Enhancements
|
|
a) Button, Relay and RPM GPIO pin conflict pre-arm check improved
|
|
b) DShot uses narrower bitwidths for more accurate timing (allows BLHeli BlueJay to work)
|
|
c) iFlight Chimera default parameters file added
|
|
d) INS_NOTCH parameters renamed to INS_HNTC2
|
|
e) Matek F765-Wing-bdshot firmware added
|
|
f) Matek H743 supports ICM42688
|
|
g) QiotekZealot H743 supports ICM4xxxx
|
|
h) Scripting heap size increased to 100k on F7/H7
|
|
i) SPRacingH7 improvements including external flash performance improvements
|
|
2) Bug fixes
|
|
a) BMI088 IMU FIFO overruns fixed
|
|
b) DO_SET_SERVO with SERVOn_FUNCTION=0 fixed, added pre-arm check of servo functions configured on disabled channels
|
|
c) Log file descriptor init fixed (issues only seen on Linux autopilots)
|
|
d) Log list cope with gaps, performance improvement to reduce impact on EKF and some ESCs
|
|
e) Proximity sensor fix when using MAVLink lidars in non-forward orientations
|
|
f) RPM sensor fix to avoid "failed to attach pin" spam to GCS
|
|
g) STM32 DMA fatal exceptions disabled (caused watch dogs reboots with zero information)
|
|
h) SysID mode bug fix (was not restoring body-frame feedforward setting upon exit)
|
|
i) Tradheli autotune fix when max frequency is exceeded
|
|
------------------------------------------------------------------
|
|
Copter 4.2.0-rc1 10-Apr-2022
|
|
Changes from 4.2.0-beta3
|
|
1) Minor Enhancements
|
|
a) Log and monitor threads stack size increased
|
|
b) SPro H7 Extreme QSPI support improved
|
|
2) Bug fixes
|
|
a) EKF3 accel bias fixed when an IMU is disabled
|
|
b) MatekH743 buzzer fixed by reverting to 16 bit timer
|
|
c) STM32 H7 flash storage bug fixed that caused re-init on overflow
|
|
d) @SYS file logging fixed
|
|
e) Timer bug fixed that could cause a watchdog on boards using flash storage
|
|
f) UART driver incorrect lock class fixed
|
|
------------------------------------------------------------------
|
|
Copter 4.2.0-beta3 30-Mar-2022
|
|
Changes from 4.2.0-beta2
|
|
1) Minor Enhancements
|
|
a) BATT_OPTIONS supports sending resting voltage (corrected for internal resistance) to the ground station
|
|
b) KakuteH7-bdshot support
|
|
c) MatekH743 uses a 32 bit timer to resolve occasional 68ms timing glitch
|
|
d) RC input protocol text message sent to GCS (helps pilot awareness during RC handover)
|
|
e) Autotune code changes to reduce flash size (no functional impact)
|
|
2) Bug fixes
|
|
a) Battery remaining percentage fixed when using Sum battery
|
|
b) DShot reversal bug with IOMCU based boards (see SERVO_BLH_RVMASK)
|
|
c) GPS blending fix that could have resulted in the wrong GPS being used for a short time
|
|
d) Param conversion bug (impacted airspeed enable)
|
|
e) RC handover between IOMCU RC input and a secondary RC input on a serial port fixed
|
|
f) Terrain reference adjustment ensures alt-above-terrain is zero at takeoff (see TERRAIN_OFS_MAX)
|
|
g) QioTek Zealot H743 SLCAN port and relays fixed
|
|
------------------------------------------------------------------
|
|
Copter 4.2.0-beta2 10-Mar-2022
|
|
Changes from 4.2.0-beta1
|
|
1) Auto and Guided mode changes
|
|
a) Delay removed when waypoints are very close together
|
|
b) Pause and continue support (GCS changes are still pending)
|
|
c) Takeoff and landing use position controller with slower reposition speed (also affects RTL, Land modes)
|
|
d) Waypoint navigation will make use of maximum waypoint radius to maximize speed through corners
|
|
2) Follow mode supports FOLLOW_TARGET message (sent by QGC ground station)
|
|
3) Bug fixes
|
|
a) Arming checks ignore SERVOx_MIN, MAX if setup as GPIO pin
|
|
b) BeastH7v2 BMI270 baro support
|
|
c) DShot prescaler fix (ESCs were not initialising correctly)
|
|
d) EKF3 variance constraint fix used to prevent "ill-conditioning"
|
|
e) POWR log message MCU voltage fix (min and max voltage were swapped)
|
|
f) SPRacingH7 firmware install fix
|
|
------------------------------------------------------------------
|
|
Copter 4.2.0-beta1 28-Feb-2022
|
|
Changes from 4.1.5
|
|
1) AHRS/EKF improvements
|
|
a) EKF startup messages reduced
|
|
b) GPS<->Opticalflow automatic switching improved (see ahrs-source-gps-optflow.lua script)
|
|
c) LORD Microstrain CX5/GX5 external AHRS support
|
|
d) ModalAI VOXL non-GPS system supported (set VISO_TYPE=3, uses ODOMETRY mavlink msg)
|
|
2) Control and flight mode enhancements
|
|
a) Acro max rate params renamed and improved (see ACRO_RP_RATE, ACRO_Y_RATE, PILOT_Y_RATE, PILOT_Y_EXPO)
|
|
b) Airmode NOT enabled when arming with switch (see ACRO_OPTIONS and "ArmDisarm with AirMode" RCx_OPTION)
|
|
c) Auto and Guided support pausing (uses DO_PAUSE_CONTINUE mavlink command)
|
|
d) Auto supports up to 100 DO_JUMP commands on high memory boards
|
|
e) Autotune reporting improved (less spam, prints final tune)
|
|
f) FLIGHT_OPTIONS to release gripper on thrust loss
|
|
g) ForceFlying auxiliary switch allows pilot to disable land-detector
|
|
h) Guided mode acceleration target support
|
|
i) Guided mode logging of targets improved (GUID msg split into GUIP, GUIA)
|
|
j) Harmonic notch filter on more than four motors
|
|
k) Land mode pilot controlled repositioning max speed reduced (also affects RTL and Auto)
|
|
l) Precision landing improvements esp when using PLAND_EST_TYPE = 1/KalmanFilter
|
|
m) RTL's safe altitude (RTL_ALT) increased 85km (was 325m)
|
|
n) Simple mode heading reset via auxiliary switch
|
|
o) Sport mode deprecated
|
|
p) SURFTRAK_MODE allows disabling surface tracking in Loiter, AltHold, etc
|
|
q) Turtle mode (allows righting a copter while on the ground)
|
|
3) Custom build server support (see https://custom.ardupilot.org)
|
|
4) Lua scripting improvements
|
|
a) ahrs::get_location replaces get_position (get_position still works for now)
|
|
b) Auto support for NAV_SCRIPT_TIME commands (Lua within Auto)
|
|
c) Frame string support (allows scripting based frame to display custom description after startup)
|
|
d) Parameter support (no need to always use SCR_USERx)
|
|
e) Servo output control by channel number (previously was only possibly by specifying the SERVOn_FUNCTION value)
|
|
f) Script logged to onboard log (can be disabled by setting SCR_DEBUG_OPTS)
|
|
5) New autopilots supported
|
|
a) AirLink
|
|
b) BeastF7v2, BeastH7v2
|
|
c) JHEMCU GSF405A
|
|
d) KakuteH7, KakuteH7Mini
|
|
e) MambaF405US-I2C
|
|
f) MatekF405-TE
|
|
g) ModalAI fc-v1
|
|
h) PixC4-Jetson
|
|
i) Pixhawk5X
|
|
j) QioTekZealotH743
|
|
k) RPI-Zero2W
|
|
l) SPRacingH7 Extreme
|
|
m) Swan-K1
|
|
6) Safety improvements
|
|
a) Dijkstra's avoidance performance improvements including converting to A*
|
|
b) Motor PWM range always uses MOT_PWM_MIN/MAX (if these are not set, they are defaulted to RC3_MIN/MAX values)
|
|
c) Parachute option to leave servo in open position (see CHUTE_OPTIONS parameter)
|
|
d) Parachute released arming check added
|
|
e) Pre-arm check of IMU heater temp
|
|
f) Pre-arm check of rangefinder health
|
|
g) Pre-arm check of throttle position skipped if PILOT_THR_BHV is "Feedback from mid stick"
|
|
7) Sensor driver enhancements
|
|
a) ADIS16470, ADIS16507 and BMI270 IMU support
|
|
b) Airspeed sensor support (reporting only, not used for estimation or control)
|
|
c) AK09918 compass support
|
|
d) Battery monitor supports voltage offset (see BATTx_VLT_OFFSET)
|
|
e) Benewake TFMiniPlus I2C address defaults correctly
|
|
f) Buzzer can be connected to any GPIO on any board
|
|
g) Compass calibration (in-flight) uses GSF for better accuracy
|
|
h) CRSFv3 support, CSRF telemetry link reports link quality in RSSI
|
|
i) Cybot D1 Lidar
|
|
j) DroneCan (aka UAVCAN) battery monitors support scaling (see BATTx_CURR_MULT)
|
|
k) DroneCan (aka UAVCAN) GPS-for-yaw support
|
|
l) Electronic Fuel Injection support incl Lutan EFI
|
|
m) FETtecOneWire resyncs if EMI causes lost bytes
|
|
n) IMU heater params renamed to BRD_HEAT_xxx
|
|
o) Landing gear enable parameter added (see LGR_ENABLE)
|
|
p) Lightware SF40C ver 0.9 support removed (ver 1.0 and higher still supported)
|
|
q) Maxbotix serial sonar driver support RNGFNDx_SCALING parameter to support for varieties of sensor
|
|
r) MPPT solar charge controller support
|
|
s) MTK GPS driver removed
|
|
t) Optical flow in-flight calibration
|
|
u) Ping200x support
|
|
v) Proximity sensor min and max range (see PRX_MIN, PRX_MAX)
|
|
w) QSPI external flash support
|
|
x) uLanding (aka USD1) radar provides average of last few samples
|
|
y) Unicore NMEA GPS support for yaw and 3D velocity
|
|
8) TradHeli enhancements
|
|
a) Attitude control default gains improved
|
|
- ATC_RAT_RLL_FF, _I, _IMAX, _ILMI, _FLTT
|
|
- ATC_RAT_PIT_FF, _I, _IMAX, _ILMI, _FLTT
|
|
- ATC_RAT_YAW_IMAX, _FLTT
|
|
b) AutoTune mode
|
|
c) Collective setup (users will be forced to setup new collective parameters)
|
|
d) Rotor Speed Controller Internal Governor improvements (users required to retune governor)
|
|
e) Rotor Speed Controller Cooldown timer added for ICE and turbine engines
|
|
f) _VFF params renamed to _FF
|
|
9) Other System enhancements
|
|
a) Board ID sent in AUTOPILOT_VERSION mavlink message
|
|
b) Compass calibration stick gestures removed
|
|
c) DO_SET_CAM_TRIG_DIST supports instantly triggering camera
|
|
d) DJI FPV OSD multi screen and stats support
|
|
e) GPIO pins configured by setting SERVOx_FUNCTION to -1 (also see SERVO_GPIO_MASK. BRD_PWM_COUNT removed)
|
|
f) GPIO pin support on main outputs on boards with IOMCU
|
|
g) GyroFlow logging (see LOG_BITMASK's "VideoStabilization" option)
|
|
h) Firmware version logged in VER message
|
|
i) SD card format via MAVLink
|
|
j) Serial port option to disable changes to stream rate (see SERIALx_OPTIONS)
|
|
k) VIBE logging units to m/s/s
|
|
10) Bug fixes
|
|
a) Auto and Guided mode takeoff alt fixed if taking off from below home or frame set to absolute (aka AMSL)
|
|
b) Auto mode CONDITION_YAW command completion fix
|
|
c) Auto mode infinite loop with nav commands that fail to start fixed
|
|
d) AutoTune disables ATC_RAT_xxx_SMAX during twitch (SMAX may limit gains to reduce oscillation)
|
|
e) BLHeli passthrough reliability improvements
|
|
f) Compass learning (inflight) fixed to ignore unused compasses (e.g. those with COMPASS_USE = 0)
|
|
g) EKF optical flow terrain alt reset fixed (large changes in rangefinder alt might never be fused)
|
|
h) EKF resets due to bad IMU data occur at most once per second
|
|
i) GPIO pin fix on CubeOrange, F4BY, mRoControlZeroF7, R9Pilot
|
|
j) Guided mode yaw rate timeout fix (vehicle could keep yawing even if companion computer stopped sending target)
|
|
k) MAVlink2 serial ports always send MAVLink2 messages (previously waited until other side sent MAVLink2)
|
|
l) Motor Test, Turtle mode respect emergency stop switch
|
|
m) Omnibusf4pro bi-directional dshot fix
|
|
n) PosHold braking fix if SCHED_LOOP_RATE set to non-default value
|
|
o) Precision landing in RTL activates even if pilot had earlier deactivated by repositioning in Land
|
|
p) Real-Time-Clock (RTC) oldest possible date updated to Jan-2022
|
|
q) Tricopter, Coax copter fin trim fix when using DShot/BLheli
|
|
------------------------------------------------------------------
|
|
Copter 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022
|
|
Changes from 4.1.4
|
|
1) Bug fixes
|
|
a) attitude control I-term always reset when landed (previously only reset after spool down)
|
|
b) revert SBUS RC frame gap change from 4.1.4
|
|
------------------------------------------------------------------
|
|
Copter 4.1.4 08-Feb-2022 / 4.1.4-rc1 27-Jan-2022
|
|
Changes from 4.1.3
|
|
1) Benewake CAN Lidar support
|
|
2) CAN GPS default lag dropped to 0.1 seconds (was 0.22 seconds)
|
|
3) Bug fixes
|
|
a) Compass custom orientation is never overwritten during calibration
|
|
b) EKF logging gaps fixed (some messages were occasionally being skipped)
|
|
c) Guided mode cornering improvements
|
|
d) IMU logging fix for IREG message (records IMU register changes)
|
|
e) LOITER_TO_ALT mission command's climb rate fixed (could climb or descend too quickly)
|
|
f) Position controller init fix to avoid twitch on vehicles with high vibrations
|
|
g) Position controller init fix to better handle high speed entry to flight mode
|
|
h) Position controller prioritises reducing cross track error
|
|
i) Position controller relax fix
|
|
j) SBUS RC frame gap increased to better handle some new receivers
|
|
k) SERVOx_FUNCTION protection to avoid memory overwrite if set too high
|
|
l) SD card init triggering watchdog fixed
|
|
m) Spline path max lateral acceleration reduced (vehicle stays on path better but may be slower)
|
|
n) Takeoff bug fix if taking off below home or frame specified as MSL
|
|
------------------------------------------------------------------
|
|
Copter 4.1.3 31-Dec-2021 / 4.1.3-rc2 21-Dec-2021
|
|
Changes from 4.1.3-rc1
|
|
1) Suport for IIM-42652, ICM-40605 and ICM-20608-D IMUs
|
|
2) Bug fixes
|
|
a) Autotune twitches at no more than ATC_RATE_R/P/Y_MAX param value
|
|
b) SmartAudio high CPU load fix (previously it could starve other threads of CPU)
|
|
c) Debug pins disabled by default to prevent rare inflight reset due to electrostatic discharge
|
|
d) EKF3 reset causing bad accel biases fixed
|
|
e) RC protocol detection fix that forced PH4-mini users to powerup autopilot before transmitter
|
|
------------------------------------------------------------------
|
|
Copter 4.1.3-rc1 18-Dec-2021
|
|
Changes from 4.1.2
|
|
1) Enhancements:
|
|
a) CUAV-X7 servo voltage detection support
|
|
2) Bug fixes
|
|
a) Main loop delay fix for boards with 16 bit timers (affects KakuteF4, MatekH743, MatekF405, MatekF765, SpeedybeeF4)
|
|
b) MOT_MIX_MAX constrained between 0.1 and 4.0 (would previously reset to 0.5 if set too high or low)
|
|
c) Polygon Fence upload fix when replacing fence with one that has fewer points
|
|
d) TradHeli fix for missions which continue after a Land command
|
|
------------------------------------------------------------------
|
|
Copter 4.1.2 07-Dec-2021 / 4.1.2-rc1 22-Nov-2021
|
|
Changes from 4.1.1
|
|
1) CAN_Dn_UC_OPTION param added to help resolve DroneCAN DNA conflicts
|
|
2) Durandal with alternative ICM-20602 IMU
|
|
3) OBAL autopilot support (Open Board Architecture for Linux)
|
|
4) FETtec One ESC protocol support
|
|
5) Bug Fixes
|
|
a) ADSB vertical velocity reporting fix
|
|
b) APM/LOGS directory creation fixed on some boards
|
|
c) AutoTune fix to disable SMAX limits that could interfere with tune
|
|
d) EKF3 fix to switch to non-zero primary core when disarmed
|
|
e) Notch filter update rate fix
|
|
f) Surface tracking fix if rangefinder glitches
|
|
g) TradHeli rename of H_COLL_HOVER to H_COL_HOVER
|
|
------------------------------------------------------------------
|
|
Copter 4.1.1 10-Nov-2021 / 4.1.1-rc1 16-Oct-2021
|
|
Changes from 4.1.0
|
|
1) EK3_PRIMARY allows selection of which EKF core/IMU to use on startup
|
|
2) ESC telemetry sent during compassmot
|
|
3) TradHeli landing detector improvement
|
|
4) Bug Fixes
|
|
a) Auto/Guided mode fix to EXTENDED_SYS_STATE message's "landed state" field after takeoff
|
|
b) MAVFTP init fix (could cause slow parameter download)
|
|
c) Scripting fix when logging strings
|
|
d) Serial flow control fix (affected at least Lightware LW20 serial lidar)
|
|
e) QiotekZealotF427 IMU (ICM42605) orientation fixed
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0 08-Oct-2021 / 4.1.0-rc4 01-Oct-2021
|
|
Changes from 4.1.0-rc3
|
|
1) Position controller PSC/Z logging changed to PSCN/E/D and includes "desired"
|
|
2) Bug Fixes
|
|
a) Position Controller init fix (could cause unexpected movement after entering Guided)
|
|
b) Serial8 parameter description fixed
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-rc3 27-Sep-2021
|
|
Changes from 4.1.0-rc2
|
|
1) Enhancements
|
|
a) Guided mode supports yaw control during takeoff
|
|
b) MatekH743 supports icm42605 IMU
|
|
2) Bug Fixes
|
|
a) CSRF fix to avoid intermittent loss of telemetry
|
|
b) EKF3 fix to init of wind speed variance
|
|
c) Guided mode fix to yaw change after takeoff completes
|
|
d) Guided mode uses GUID_OPTIONS to ignore pilot yaw during takeoff
|
|
e) Lightware SF45b jumpy readings fixed by using lower update rate
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-rc2 15-Sep-2021
|
|
Changes from 4.1.0-rc1
|
|
1) Enhancements
|
|
a) Guided mode supports using SCurves and OA for position control
|
|
2) Bug Fixes
|
|
a) Serial port auto detection of flow control fix
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-rc1 10-Sep-2021
|
|
Changes from 4.1.0-beta8
|
|
1) Enhancements
|
|
a) Log download speeds improved on F765 and F777 based boards (USB buffers increased)
|
|
b) Serial port DMA contention heuristics improved (reduces chance of delays writing to serial devices)
|
|
c) WPNAV_SPEED param changes take immediate effect in Auto
|
|
2) Bug Fixes
|
|
a) Airmode fix if throttle held at zero for long time
|
|
b) Auto mode SCurve jerk time calculation fix (prevents jerk from being set too high)
|
|
c) CRSF frame timeout increased to reduce RC failsafes
|
|
d) Declination automatic lookup rounding fix (caused inaccurate declination in some parts of world)
|
|
e) DShot (bi-directional) support on Pixhawk4, CUAVv5, CUAVv5-Nano
|
|
f) IMU semaphore fix to avoid occasional corruption
|
|
g) QioTek Zealot F427 GPIO pin fix
|
|
h) Replay/DAL RMGH log message format fix
|
|
i) Rangefinder initial buffer size and baudrate fix (affected Aintein US-D1 radar)
|
|
j) Surface tracking fix to reduce lag and overshoot
|
|
k) WPNAV_SPEED change with ch6 tuning knob feature gets divide-by-zero protection
|
|
l) WPNAV_SPEED_DN handles negative values
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta8 28-Aug-2021
|
|
Changes from 4.1.0-beta7
|
|
1) Enhancements
|
|
a) Flywoo F745 Goku Nano support
|
|
b) MatekF765-Wing support
|
|
c) Scripting support for getting circle mode radius and setting rate
|
|
d) Scripting support for new Guided mode controls including acceleration control
|
|
2) Bug Fixes
|
|
a) ATC_RATE_Y_MAX applies to all modes including Loiter
|
|
b) ChibiOS scheduling slip workaround to avoid occasional 60ms delays found on MatekH7
|
|
c) EKF2 divide-by-zero protection when using optical flow (issue only found in simulator)
|
|
d) External AHRS (e.g. VectorNav driver) init fix
|
|
e) KakuteF4Mini SBUS fix
|
|
f) Pixhawk4 blue and red LEDs swapped
|
|
g) Position control fixes to limit initial desired accel (horizontal and vertical) which could lead to an excessive climb or descent
|
|
h) TradHeli takeoff in Guided fix
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta7 14-Aug-2021
|
|
Changes from 4.1.0-beta6
|
|
1) Enhancements
|
|
a) Attitude and altitude control changes to support higher lean angles
|
|
b) Flywoo F745 supports external I2C compasses
|
|
c) GPS-for-yaw arming check added
|
|
d) GPS_DRV_OPTIONS allows forcing UBlox GPS to 115200 baud
|
|
e) Guided mode accepts higher speed and accel targets (no longer limited by WPNAV_ parameters)
|
|
f) Lua scripts can be placed in root of ROMFS (only relevant for developers)
|
|
g) PSC_VELXY_FILT renamed to _FLTE, PSC_VELXY_D_FILT renamed to _FLTD
|
|
2) Bug Fixes
|
|
a) Beacon driver protected from requests for data for non-existant beacons
|
|
b) CAN threading fix to resolve potential lockup when lua scripts use CAN
|
|
c) EKF3 GSF can be invoked multiple times with source switching (no longer limited by EK3_GSF_RST_MAX)
|
|
d) EKF3 IMU offset fix (vehicle's reported position was slightly incorrect if INS_POS_XYZ params set)
|
|
e) Guided mode terrain following init fix (might fly at incorrect alt on second use)
|
|
f) Guided mode yaw rate target timeout fix (vehicle could keep spinning even after targets stopped arriving)
|
|
g) OSD overwrite and nullptr check fix
|
|
h) Proximity Avoidance auxiliary switch also disables avoidance using upward facing lidar
|
|
i) Proximity sensor pre-arm check disabled if avoidance using proximity sensors is disabled
|
|
j) RCOut banner displayed at very end of startup procedure to avoid invalid output
|
|
k) Tricopter tail servo alway uses regular PWM (fixes use with BLHeli motors)
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta6 23-Jul-2021
|
|
Changes from 4.1.0-beta5
|
|
1) Enhancements
|
|
a) ACRO_Y_EXPO supports negative numbers (-0.5 to +1)
|
|
b) GPS-for-yaw enhancements including using position and yaw from different GPSs
|
|
c) Guided mode acceleration control
|
|
d) Long distance travel supported (thousands of km) including double precision EKF and moving origin
|
|
2) Bug Fixes
|
|
a) Auto and Guided mode terrain following fixed (could impact terrain if terrain was very steep. see WPNAV_TER_MARGIN)
|
|
b) BendyRuler avoidance fixed (was slow and jerky)
|
|
c) BLHeli fix that could cause failure to boot
|
|
d) Crosstrack reporting fixed
|
|
e) CRSF message spamming and firmware string length fixed
|
|
f) Display re-enabled on 1MB boards
|
|
g) DShot always sends 0 when disarmed (protects against motors spin while disarmed due to misconfiguration)
|
|
h) DShot fix that could cause main loop jitter
|
|
i) DShot buzzer tone disabled during motor test to remove bad interation
|
|
j) Guided mode accepts position targets at high rate
|
|
k) Longitude wrap fix (allows autonomous flights as longitude wraps between -180 and 180 deg)
|
|
l) Log created on forced arm
|
|
m) MatekF405-bdshot NeoPixel LEDs re-enabled on PWM5
|
|
n) Precision landing init fix (if pilot took control, subsequent landings might not trying to land on target)
|
|
o) Serial port performance improvements using FIFO on H7 boards
|
|
p) TradHeli ground check of yaw fixed (yaw servo was not moving when landed)
|
|
q) Throw mode waits for throttle up to improve reliability
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta5 30-Jun-2021
|
|
Changes from 4.1.0-beta4
|
|
1) Enhancements
|
|
a) Arming check of distance from EKF origin increased to 250km horizontally (was 50km), 50km vertically (was 500m)
|
|
b) Position control accuracy improved at very long distances (aka "Loiter bucketing")
|
|
c) Pre-arm check of FLTMODE_CH and RCx_OPTION conflict
|
|
d) QioTekZealotH743 autopilot support
|
|
e) Scripting support for set home and get EKF origin
|
|
2) Bug fixes
|
|
a) Autonomous mode (Auto, RTL, etc) stopping point calculation fixed (could cause alt drop entering RTL)
|
|
b) Auto mode Internal Error fixed when origin and destination are very close
|
|
c) Auto mode Terrain following less bouncy and RNGFND_FILT param added for configurable filtering
|
|
d) EKF alt estimate more robust when using GPS-for-yaw
|
|
e) EKF origin altitudes consistent across cores even if user takes off with no GPS lock
|
|
f) Logging start does not affect EKF (EKF could become unhealthy due to timing delays)
|
|
g) Loiter rocking while landing fixed
|
|
h) Loiter speed fixed with low LOIT_ACC_MAX values
|
|
i) Loiter aggressive deceleration fixed (occured if vehicle was previously switched out of Loiter during decleration)
|
|
j) Longitude wrap fixed (allows flying across international date line)
|
|
k) MOT_THST_EXPO limits fixed to allow values between -1 and +1 (was 0.25 to +1)
|
|
l) Position jump fixed during GPS glitch and GPS/Non-GPS transitions
|
|
m) Proximity sensor status (used for object avoidance) fixed when using only upward facing lidar
|
|
n) Vibration failsafe fixed
|
|
o) 6DOF copter fixed
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta4 14-Jun-2021
|
|
Changes from 4.1.0-beta3
|
|
1) Minor enhancements (or changes)
|
|
a) CSRF telemetry improvements to power setting and pass param requests more quickly
|
|
b) CUAV X7/Nora supports ICM42688P IMU
|
|
c) Pix32v5 USB product string fixed and IMU heater enabled
|
|
d) RunCam Hybrid supported (see RUNCAM_TYPE parameter)
|
|
e) VisualOdom feature removed from 1MB boards
|
|
2) Bug fixes
|
|
a) BLHeli Auto only affects telemetry passthrough to ease setup
|
|
b) Circular complex fence radius not truncated
|
|
c) CubeOrange serial1/2 DMA fixed
|
|
d) EKF ground effect compensation fixed
|
|
e) ESC telemetry fixes including motor index on boards with I/O mcu
|
|
f) I/O MCU reset fix if user had disabled safety switch (recovery from reset would leave motors not spinning)
|
|
g) MSP temperature scaling fixed
|
|
h) Pilot yaw rate input during arming ignored
|
|
i) PreArm check of roll/pitch and yaw angle difference fixed
|
|
j) Serial port info file (@SYS/uarts.txt) easier to understand
|
|
k) Scheduler fix of premature run of tasks every 163 seconds
|
|
l) Visual odometry yaw alignment fixed
|
|
m) WPNAV_RADIUS never less than 5cm
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta3 24-May-2021
|
|
Changes from 4.1.0-beta2
|
|
1) Dshot bug fix for autopilots with I/O boards (CubeBlack, CubeOrange, etc)
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta2 19-May-2021
|
|
Changes from 4.1.0-beta1
|
|
1) Attitude control and Navigation
|
|
a) Auto mode Spline command fix when using terrain altitudes
|
|
b) Drift after takeoff fix if GPS position has moved
|
|
c) Feed forward angular velocity calculation fix
|
|
d) Guided mode option (GUID_OPTIONS) to configure how SET_ATTITUDE_TARGET's thrust field is interpreted
|
|
e) Improved position control during loss of yaw control by using thrust vector with heading
|
|
f) Standby mode disables hover learning
|
|
2) BLHeli improvements and fixes
|
|
a) Bi-directional ESC telemetry fixes
|
|
b) Bi-directional dshot 1200 supported
|
|
c) Control of digital with non-digital outputs fixed
|
|
d) Support dshot commands for LED, buzzer and direction control
|
|
e) Passthru reliability improved
|
|
3) New autopilot boards
|
|
a) PixC4-Pi and PixC4-Jetson
|
|
4) Avoidance fixes
|
|
a) OBSTACLE_DISTANCE_3D boundary cleared after 0.75 seconds, allows easier multi-camera support
|
|
b) Simple avoidance logging re-enabled
|
|
5) Other enhancements
|
|
a) Auxiliary function logging shows how it was invoked (switch, button or scripting)
|
|
b) External IST8308 compass supported on CubeBlack
|
|
c) FLOW_TYPE parameter hides/displays other FLOW_ parameters
|
|
d) FrSky telem reports failsafe, terrain alt health and fence status
|
|
e) Harmonic notch support for CAN ESCs (KDECAN, PiccoloCAN, ToshibaCAN, UAVCAN)
|
|
f) OSD gets fence icon
|
|
g) RunCam OSD and camera control
|
|
h) Septentrio GPSs support GPS_SBAS_MOD parameter
|
|
6) Bug fixes
|
|
a) Barometer averaging fixes for BMP380, BMP280, LPS2XH, SPL06 drivers
|
|
b) EKF3 fix to reset yaw after GPS-for-yaw recovers
|
|
c) KDECAN output range, motor order and pre-arm check messages fixed
|
|
d) Logging memory leak when finding last log fixed
|
|
e) Pixhawk4 mini safety switch fix
|
|
f) SD card slowdown with early mounts fixed
|
|
------------------------------------------------------------------
|
|
Copter 4.1.0-beta1 14-Apr-2021
|
|
Changes from 4.0.7
|
|
1) EKF changes:
|
|
a) EKF3 is default estimator (EKF2 is available as an option)
|
|
b) External AHRS/IMU support (e.g. VectorNav)
|
|
c) Gaussian Sum Filter (GSF) allows emergency yaw correction using GPS
|
|
d) GPS-for-yaw (dual F9 UBlox, Septentrio, NMEA GPS can provide yaw)
|
|
e) Lane switching logic improvements
|
|
f) Sensor affinity (improves sensor failure redundancy)
|
|
g) Source switching for GPS/Non-GPS transitions (see EK3_SRCx_ parameters)
|
|
h) Yaw estimation and reliability improvements
|
|
i) Wind speed estimation and barometer interference compensation
|
|
2) Control and Navigation improvements:
|
|
a) Acro "air mode" support (see ACRO_OPTIONS)
|
|
b) Auto mode arming and takeoff (see AUTO_OPTIONS)
|
|
c) Circle options to face direction of travel and/or init at circle center (see CIRCLE_OPTIONS)
|
|
d) DO_LAND_START command support for landing sequences
|
|
e) Horizontal Velocity controller gets feed forward and logging
|
|
f) Position controller update to remove hard-coded Alt Hold velocity derivative and other enhancements
|
|
g) Rate PID slew limiting to to detect and suppress oscillations
|
|
h) SCurves for waypoint navigation
|
|
i) Yaw imbalance check
|
|
3) TradHeli improvements:
|
|
a) Conventional and compound helicopter SITL dynamic models improved
|
|
b) Intermeshing rotor and coaxial rotor support added to Dual heli frame
|
|
4) 6DoF frame support
|
|
5) Object avoidance:
|
|
a) BendyRuler hesitancy improvements
|
|
b) Intel Realsense 435/455 camera support (companion computer required)
|
|
c) Obstacle database now 3D
|
|
d) Obstacle filtering improvements
|
|
e) Obstacles ignored in cylinder around home (see OA_DB_ALT_MIN)
|
|
f) Obstacles ignored near ground (see PRX_IGN_GND)
|
|
g) Vertical BendyRuler
|
|
h) Simple avoidance backs away from obstacles (see AVOID_BACKUP_SPD parameter)
|
|
i) Simple avoidance accel limited (see AVOID_ACCEL_MAX parameter)
|
|
j) Simple avoidance enabled above min altitude (see AVOID_ALT_MIN)
|
|
k) Simultaneous Dijkstra and BendyRuler path planning
|
|
6) Compass enhancements
|
|
a) Custom orientations
|
|
b) In-flight learning improvements (see COMPASS_LEARN = 3)
|
|
c) Large vehicle calibration support (e.g. point vehicle north and push button in MP)
|
|
7) Intel RealSense T265 support (see VISO_TYPE = 2, companion computer required)
|
|
a) Position and velocity from external sources accepted at up to 50hz
|
|
b) Resets from external sources accepted
|
|
8) New autopilot boards
|
|
a) FlywooF745
|
|
b) iFlight BeastF7 and BeastH7
|
|
c) MambaF405v2
|
|
d) QioTekZealotF427
|
|
9) IMU improvements:
|
|
a) temperature calibration
|
|
b) faster gyro sampling on high performance autopilots (F7 and faster, see INS_GYRO_RATE)
|
|
10) New drivers
|
|
a) AllyStar NMEA GPS
|
|
b) BMM150 as external compass
|
|
c) CRSF and SRXL2 RC protocols
|
|
d) Dshot (bi-directional) for RPM telemetry
|
|
e) GY-US32-v2 lidar
|
|
f) HC-SR04 lidar
|
|
g) Intelligent Energy hydrogen fuel cell
|
|
h) Lightware SF45b lidar
|
|
i) MSP protocol support (and DJI DPV systems)
|
|
j) RichenPower generator
|
|
k) Rotoye smart battery
|
|
l) RunCam Split 4 and RunCam hybrid support
|
|
m) Smart Audio
|
|
n) SMBus batteries up to 12 cells
|
|
o) USD1 CAN radar
|
|
11) Harmonic Notch Improvements
|
|
a) Bi-directional dshot support
|
|
b) Double notch support (see INS_HNTCH_OPTS = 1)
|
|
c) In-flight FFT (see INS_HNTCH_MODE = 4, FFT_* params)
|
|
d) In-flight learning of throttle notch using in-flight FFT
|
|
e) Notch per motor support using ESC telemetry and notch-per-peak with FFT (INS_HNTCH_OPTS = 2)
|
|
f) Notch slewing and increased update rate to avoid "shot" noise
|
|
g) RPM status driven from harmonic notch input
|
|
12) Scripting enhancements:
|
|
a) Button, Proximity, RPM sensor support
|
|
b) DO_ mission commands can be triggered from scripts
|
|
c) I2C sensor driver support (i.e. allows writing sensor drivers in Lua)
|
|
d) Logging (i.e. allows Lua scripts to write to onboard logs)
|
|
e) Mission item read support
|
|
f) Motor drivers support allowing custom frame types and 6DOF
|
|
g) Pre-arm checks (i.e. allows writing custom pre-arm checks in Lua)
|
|
h) ROMFS support (allows writing scripts to ROMFS instead of SD Card)
|
|
i) Serial port support (allows reading/writing to serial port from Lua)
|
|
j) ToshibaCAN ESC usage time read support
|
|
13) Other enhancements:
|
|
a) Baro parameters start with BARO_ (was GND_)
|
|
b) Barometers get device id for easier identification
|
|
c) ChibiOS upgrade to 20.3
|
|
d) CRSF passthrough for Yaapu widget
|
|
e) DShot rates increased (see SERVO_DSHOT_RATE)
|
|
f) Filesystem/MAVFTP expansion including @SYS for performance monitoring
|
|
g) GCS failsafe timeout configurable
|
|
h) MAV_CMD_DO_REPOSITION support
|
|
i) MAVFTP performance improvements
|
|
j) Serial option to disable forwarding of mavlink to/from a port
|
|
k) Serial ports may use shared DMA for better performance
|
|
l) Spektrum VTX control
|
|
m) Spektrum SRXL2 listen-only device support
|
|
n) Vibration logged for all IMUs
|
|
o) @SYS/tasks.txt, dma.txt, uart.txt for near real-time inspection of system performance
|
|
14) Bug fixes:
|
|
a) CAN GPS ordering fix (previously order could switch meaning GPS_POS_ params were used on the wrong GPS)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.8 12-Oct-2021 (TradHeli only release)
|
|
Changes from 4.0.7
|
|
1) TradHeli landing detector fix
|
|
2) Proximity sensor distance validity checked before pushing to object database
|
|
------------------------------------------------------------------
|
|
Copter 4.0.7 22-Feb-2021
|
|
Changes from 4.0.7-rc1
|
|
1) fixed build on Durandal board
|
|
2) multiple fixes for mRo boards: ControlZero*, PixracerPro
|
|
------------------------------------------------------------------
|
|
Copter 4.0.7rc1 6-Feb-2021
|
|
Changes from 4.0.6
|
|
1) added automatic backup/restore of parameters in case of FRAM corruption for F7/H7 boards with 32k FRAM parameter storage
|
|
2) fixed a bug in EKF2/EKF3 that could cause memory corruption if external naviagtion sources (such as vision based position and velocity data) is supplied before the EKF has initialised
|
|
3) fixed a problem with low accuracy data from UAVCAN GPS modules when GPS blending is enabled
|
|
4) fixed an arming check failure with u-blox M9 based GPS modules
|
|
5) fixed a race condition in SmartRTL which could cause a LAND mode to be triggered
|
|
------------------------------------------------------------------
|
|
Copter 4.0.6 25-Jan-2021 / 4.0.6-rc2 16-Jan-2021
|
|
Changes from 4.0.6-rc1
|
|
1) Add support for keeping a backup of storage for last 100 boots
|
|
2) Bug fixes:
|
|
a) Fix support for BLHeli_S passthru
|
|
------------------------------------------------------------------
|
|
Copter 4.0.6-rc1 23-Dec-2020
|
|
Changes from 4.0.5
|
|
1) Bug fixes:
|
|
a) Fix vertical flyaways when rangefinder stops providing data and the user has configured EK*_ALT_SOURCE=1
|
|
b) Correct units on raw accel data
|
|
c) Fport RSSI value fix
|
|
d) Correct compilation when Advanced Failsafe compile time option is enabled
|
|
e) Correct time wrap in RAW_IMU mavlink message
|
|
f) PixracerPro - Fix analog volt pin assignments
|
|
g) fix landing detector for tradheli in acro mode
|
|
2) Small enhancements:
|
|
a) Parameter documentation enhancements and corrections
|
|
b) Improve harmonic notch filter parameter documentation
|
|
c) Report prearm check status in the MAV_SYS_STATUS_PREARM_CHECK flag of the SYS_STATUS mavlink message
|
|
d) Smooth I term reset over 0.5 seconds
|
|
3) TradHeli enhancements:
|
|
a) Differential Collective Pitch (DCP) trim support for Dual Heli
|
|
b) Incorporate hover collective learning
|
|
c) Option for pitch, roll and yaw I term to be based on takeoff/landing
|
|
------------------------------------------------------------------
|
|
Copter 4.0.5 27-Oct-2020 / 4.0.5-rc2 08-Oct-2020
|
|
Changes from 4.0.5-rc1
|
|
1) Bug fixes:
|
|
a) Serial/UART DMA race condition that could cause watdog reset fixed (Critical fix)
|
|
b) SBUS output when no RC input fixed (Critical fix)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.5-rc1 02-Oct-2020
|
|
Changes from 4.0.4
|
|
1) Bug fixes:
|
|
a) Acro expo calculation fix (fixes sluggish behaviour)
|
|
b) F32Lightening board IMU fast sampling fix
|
|
c) GPS minimum accuracy added to protect EKF from unrealistic values
|
|
d) KakuteF7/mini DShot glitch fix
|
|
e) RC input gets additional protection against out-of-range inputs (<RCx_MIN or >RCx_MAX)
|
|
f) RC_OPTION = 4 fix on boards with IOMCU (Pixhawk, etc). This allows ignoring SBUS failsafes
|
|
2) Small enhancements:
|
|
a) Linux boards accept up to 16 RC inputs when using UDP
|
|
b) Protect against two many interrupts from RPM sensor, etc
|
|
c) RM3100 compass support for probing all four I2C addresses
|
|
d) Durandal telem3 port enabled
|
|
------------------------------------------------------------------
|
|
Copter 4.0.4 16-Sep-2020
|
|
Changes from 4.0.4-rc4
|
|
1) Matek H743, 765-Wing and F405-Wing get DPS310 Baro support
|
|
------------------------------------------------------------------
|
|
Copter 4.0.4-rc4 28-Aug-2020
|
|
Changes from 4.0.4-rc3
|
|
1) Bug fixes:
|
|
a) Compass startup reordering based on compass priorities fix
|
|
b) TradHeli servo test fix
|
|
c) Precision landing logging fix
|
|
d) Mavlink commands ignored after reboot request
|
|
------------------------------------------------------------------
|
|
Copter 4.0.4-rc3 30-Jul-2020
|
|
Changes from 4.0.4-rc2
|
|
1) Bug Fixes and minor enhancements:
|
|
a) Compass ids from missing compasses reset after compass cal
|
|
b) LIS3MDL compass enabled on all boards
|
|
c) Lightware I2C lidar fix when out-of-range
|
|
d) Parameter erase fix for revo-mini and other boards that store to flash
|
|
------------------------------------------------------------------
|
|
Copter 4.0.4-rc2 16-Jun-2020
|
|
Changes from 4.0.4-rc1
|
|
1) Bug Fixes:
|
|
a) Watchdog monitor memory increased (may have caused watchdog reset)
|
|
b) Compass ordering fix when COMPASS_PRIOx_ID is 0
|
|
c) Hex CubeOrange 2nd current sensor pin correction
|
|
d) Hott telemetry fix
|
|
e) Lightware I2C driver fix when out-of-range
|
|
f) MatekF765-Wing voltage and scaling fixed
|
|
g) MatekH743 baro on I2C2 bus
|
|
h) Proximity (360 lidar) ignore zone fix
|
|
2) Flight controller support:
|
|
a) Bitcraze Crazyflie 2.1
|
|
b) CUAV Nora V1.2
|
|
c) Holybro Pix32v5
|
|
d) mRo Pixracer Pro
|
|
3) Minor enhancements:
|
|
a) Benewake RangeFinder parameter descriptions clarified
|
|
b) Pre-arm check of attitude ignores DCM if multiple EKF cores present
|
|
------------------------------------------------------------------
|
|
Copter 4.0.4-rc1 26-May-2020
|
|
Changes from 4.0.3
|
|
1) Bug Fixes:
|
|
a) I/O CPU fix so safety remains off after inflight reboot (Critical fix)
|
|
b) Acro mode yaw expo supports values under 0.5 (see ACRO_Y_EXPO param)
|
|
c) Auto mode Loiter-Turn commands points towards center
|
|
d) Change-Speed commands applied smoothly
|
|
e) Compass scaling factor threshhold increased
|
|
f) EKF compass variance reporting to GCS made consistent with onboard logs
|
|
g) Gimbal control using RC input ignores RCx_TRIM param
|
|
h) Holybro Durandal buzzer fix
|
|
i) Parameter reset fix caused by Eeprom race condition
|
|
j) Read-only parameter write failure msg only sent once to GCS
|
|
k) Compass declination can be overriden with COMPASS_DEC param (and EKF stops using world magnetic tables)
|
|
l) Terrain database (SRTM) file fix (will cause all terrain to be reloaded after upgrade)
|
|
2) Bootloader update to reduce chance of param resets during firmware load
|
|
3) Compass ordering and prioritisation improvements
|
|
4) Flight controller support:
|
|
a) CUAV-Nora
|
|
b) CUAV-X7
|
|
c) MatekSys H743
|
|
e) mRo Nexus
|
|
d) R9Pilot
|
|
5) GPS moving baseline (aka Yaw from GPS) for UBlox F9 GPSs
|
|
6) Graupner Hott telemetry support
|
|
7) Landing detector filter improvement improves detection on hard surfaces
|
|
8) Object Avoidances Fixes and improvements:
|
|
a) BendyRuler runs more slowly to reduce CPU load and reduce timeouts
|
|
b) Dijkstra's avoidance works with more fence points
|
|
c) Proximity drivers (i.e. 360deg lidar) simplified to reduce CPU load
|
|
9) ProfiLED LEDs support
|
|
10) Smart Battery improvements:
|
|
a) Cycle count added
|
|
b) NeoDesign battery support
|
|
c) SUI battery support
|
|
11) Other enhancements:
|
|
a) Betaflight X frame type support
|
|
b) Landing gear auto deploy/retract configurable using LGR_OPTIONS param
|
|
c) MOT_PWM_MIN/MAX pre-arm check (checks fail if only one has been set)
|
|
d) Solo gimbal and camera control improvements
|
|
e) USB IDs updated to new ArduPilot specific IDs
|
|
------------------------------------------------------------------
|
|
Copter 4.0.3 28-Feb-2020 / 4.0.3-rc1 20-Feb-2020
|
|
Changes from 4.0.2
|
|
1) Bug Fixes:
|
|
a) "RCInput: decoding" message watchdog reset when using MAVLink signing (Critical Fix)
|
|
b) HeliQuad yaw control fix
|
|
c) Do-Set-Servo commands can affect sprayer, gripper outputs
|
|
d) BLHeli passthrough fix for H7 boards (CubeOrange, Holybro Durandal)
|
|
2) USB IDs updated for "composite" devices (fixes GCS<->autopilot connection issues for boards which present 2 USB ports)
|
|
3) RCOut banner helps confirm correct setup for pwm, oneshot, dshot
|
|
4) ZigZag mode supports arming, takeoff and landing
|
|
------------------------------------------------------------------
|
|
Copter 4.0.2 11-Feb-2020
|
|
Changes from 4.0.2-rc4
|
|
1) MAVFTP stack size increased to 3k (fixes reboot when using MAVFTP)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.2 11-Feb-2020 / 4.0.2-rc4 05-Feb-2020
|
|
Changes from 4.0.2-rc3
|
|
1) Bug Fixes:
|
|
a) Spektrum receivers decoding fix for Pixracer
|
|
b) Current Alt frame always relative to home (RTL could return at wrong alt)
|
|
c) Circle mode pitch control direction fixed
|
|
d) EKF only uses world magnetic tables if COMPASS_SCALE is set
|
|
e) Logging reliability improvements especially for FRAM logs
|
|
f) RangeFinders using PWM interface use RNGFNDx_OFFSET param (attempt2)
|
|
g) SpeedyBeeF5 probes all I2C ports for external baro
|
|
2) Rangefinder fallback support (both must have same _ORIENT)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.2-rc3 01-Feb-2020
|
|
Changes from 4.0.2-rc2
|
|
1) Bug Fixes:
|
|
a) AutoTune fix to restore original gains when AutoTune completes
|
|
------------------------------------------------------------------
|
|
Copter 4.0.2-rc2 31-Jan-2020
|
|
Changes from 4.0.1
|
|
1) Bug Fixes:
|
|
b) IO CPU timing fix which reduces ESC sync issues
|
|
c) PX4Flow driver probes all I2C ports on Hex Cubes
|
|
d) RangeFinders using PWM interface (like Garmin LidarLite) use RNGFNDx_OFFSET param
|
|
e) RC override fix when RC_OVERRIDE_TIME=-1 (allows disabling timeout when using joystick)
|
|
f) TradHeli attitude control parameter description fixes (does not affect flight)
|
|
g) cygwin compiler fix (affects developers only)
|
|
2) Minor enhancements:
|
|
a) GCS failsafe warning lights and tones
|
|
b) Circle mode pitch control direction swapped
|
|
------------------------------------------------------------------
|
|
Copter 4.0.1 25-Jan-2020 / 4.0.1-rc3 19-Jan-2020
|
|
Changes from 4.0.1-rc2
|
|
1) Bug Fixes:
|
|
a) Semaphore fixes for Logging, Filesystem and UAVCAN Dyanmic Node Allocation
|
|
b) RangeFinder parameter fix (4th rangefinder was using 1st rangefinder's params)
|
|
c) TradHeli STB_COL_x parameter description fixed
|
|
2) Minor Enhancements:
|
|
a) Autorotate flight mode renamed to Heli_Autorotate
|
|
b) Solo default parameters updated
|
|
c) "Prepared log system" initialisation message removed
|
|
------------------------------------------------------------------
|
|
Copter 4.0.1-rc2 10-Jan-2020
|
|
Changes from 4.0.1-rc1
|
|
1) FrSky telemetry status text handling fix (Critical Fix)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.1-rc1 10-Jan-2020
|
|
Changes from 4.0.0
|
|
1) Circle mode allows pilot control of radius and rotation speed
|
|
2) CAN servo feedback logged
|
|
3) Magnetic declination tables updated
|
|
4) Serial0 protocol forced to MAVLink (avoids accidental disabling of USB port)
|
|
5) Bug Fixes:
|
|
a) TradHeli RSC RC passthrough fixed
|
|
b) CubeOrange and Durandal I2C timing fixed (was running slow)
|
|
c) Compass calibration auto orientation skips "pitch 7" which could cause cal to fail
|
|
d) Durandal's fourth I2C port fixed
|
|
e) Linux boards with CAN support fixed
|
|
f) Neopixel added to SERVOx_FUNCTION param description
|
|
g) NMEA Output fixed (was sending an extra CR)
|
|
h) Optflow messages sent even if EKF has no height estimate
|
|
i) SkyViper build fixed
|
|
j) Spektrum/DSM 22ms RC input fixed
|
|
k) "UC Node Down" message removed (was unnecessarily scary)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.0 29-Dec-2019 / 4.0.0-rc6 28-Dec-2019
|
|
Changes from 4.0.0-rc5
|
|
1) Compiler updated to gcc 6.3.1 (2nd attempt)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.0-rc5 23-Dec-2019
|
|
Changes from 4.0.0-rc4
|
|
1) RM3100 compass enabled on all boards
|
|
2) GCS failsafe disabled by default (see FS_GCS_ENABLE parameter)
|
|
3) Bug Fixes
|
|
a) Bootloader fix for H7 boards (could brick CubeOrange, CUAV V5 Nano, etc)
|
|
b) OmnibusF4pro GPS fix
|
|
c) MatekF405-Wing missing serial ports restored
|
|
d) MatekF765-Wing RTSCTS parameter defaults set correctly
|
|
e) CUAV V5 Nano battery monitor param defaults improved
|
|
------------------------------------------------------------------
|
|
Copter 4.0.0-rc4 20-Dec-2019
|
|
Changes from 4.0.0-rc3
|
|
1) Compiler updated to gcc 6.3.1
|
|
2) Solo default parameters updated
|
|
3) Bug Fix to RCMAP channel number sanity check
|
|
------------------------------------------------------------------
|
|
Copter 4.0.0-rc3 16-Dec-2019
|
|
Changes from 4.0.0-rc2
|
|
1) Flight mode and control improvements:
|
|
a) Auto mode Takeoff getting stuck fixed (very rare)
|
|
b) AutoTune protection against ESC sync loss at beginning of a twitch
|
|
c) SystemID mode parameters hidden by default (set SID_AXIS to non-zero to see all)
|
|
d) Takeoff from slanted surfaces improved by reducing I-term build-up in attitude controllers
|
|
2) Lua Script related enhancements:
|
|
a) MAV FTP support to ease uploading and downloading Lua scripts
|
|
b) NeoPixel/WS2812 LED control from Lua scripts
|
|
c) Pre-arm check that Lua scripting feature has enough memory
|
|
3) TradHeli enhancements:
|
|
a) Autonomous autorotation (compile time option, not available in stable firmware)
|
|
b) CCW Direct Drive Fixed Pitch tail support (see H_TAIL_TYPE parameter)
|
|
c) Parameter description improvements
|
|
d) STAB_COL_1/2/3 param range changed to 0 to 100 (was 0 to 1000)
|
|
4) Lightware SF40c driver for latest sensors with "streaming" protocol
|
|
5) Board/Frame specfic fixes:
|
|
a) Hex CubeOrange IMU heater control gain tuning improvement
|
|
b) Holybro Durandal IMUs ordering fix so EKx_IMU_MASK bits are intuitive
|
|
c) Holybro Pixhawk4 B/E LED fix (was flickering)
|
|
d) MatekF765 PWM outputs 5 and 6 now functional
|
|
e) MatekF765, MatekF405 time wrap CRITICAL fix for vehicles flying more than 72min
|
|
f) MatekF765 LED fixes
|
|
g) mRobotics ControlZeroF7 I2C bus numbering fix
|
|
h) Solo default params updated for 4.0.0
|
|
i) Bootloaders for boards using STM32H7 CPUs
|
|
j) Bootloader protection against line noise that could cause the board to get stuck during bootup
|
|
k) LED timing fix for FMUv5 boards with LEDs on one of first four auxiliary PWM outputs
|
|
6) Minor Enhancements and Bug Fixes
|
|
a) I2C storm High level protection
|
|
b) Internal errors (like I2C storms) reported to GCS by setting Heartbeat status to Critical
|
|
c) Dataflash Logging CTUN.TAlt and SAlt scaling fixed
|
|
d) DO_DIGICAM_CONTROL messages are sent using Mavlink1/2 as specified by SERIALx_PROTOCOL
|
|
e) DO_SET_SPEED sanity check fixed to protect against negative speeds
|
|
f) FrSky telemetry scheduling improvement (fixes issue in which GPS data would not be sent)
|
|
g) GPS auto configuration fix for non-Ublox-F9 (F9 config was interfering with other Ublox GPSs)
|
|
h) Landing gear DEPLOY message fix (could be displayed multiple times or when gear not configured)
|
|
i) Pre-arm check of position estimate when arming in Loiter even if arming is "forced"
|
|
j) Pre-arm check that Terrain database has enough memory
|
|
k) RangeFinder parameter conversion fix (some parameters were not upgraded from 3.6.x to 4.0.0)
|
|
l) RangeFinder TYPE parameter descriptions clarified for LidarLite and Benewake Lidars
|
|
m) Serial parameters hidden if they do not exist on the particular board
|
|
n) UAVCAN GPS fix for GPSs that don't provide "Aux" message (like the Here2)
|
|
o) NMEA Output bug fix (output was stopping after 90 seconds)
|
|
------------------------------------------------------------------
|
|
Copter 4.0.0-rc2 04-Nov-2019
|
|
Changes from 4.0.0-rc1
|
|
1) Failsafe changes:
|
|
a) GCS failsafe triggers when telemetry connection is lost (previously only triggered when using joystick)
|
|
b) FS_OPTION parameter allows continue-in-auto and continue-in-pilot-modes for RC/Radio and GCS failsafe
|
|
2) Dynamic Notch Filter supports filter range based on BLHeli ESC feedback
|
|
3) Improved protection against high roll/pitch gains affecting altitude control
|
|
4) Bug Fixes:
|
|
a) Altitude control param conversion fix (PSC_ACCZ_FILT converted to PSC_ACCZ_FLTE)
|
|
b) BLHeli fix to RPM calcs and telemetry (aka 0x8000 error)
|
|
c) ChibiOS SPI timeout fix (non-critical)
|
|
d) Fence upload is less strict about altitude types (fences don't have altitudes)
|
|
e) Motor loss detection bug fix (would sometimes think the wrong motor had failed)
|
|
f) Pre-arm message fix to reports AHRS/EKF issue (was blank)
|
|
g) Sparky2 autopilot firmware available
|
|
h) Startup message "AK09916: Unable to get bus semaphore" removed (was not an error)
|
|
i) Yaw control fix for fast descent and after large attitude disturbances
|
|
------------------------------------------------------------------
|
|
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) Removed the parameter H_LAND_COL_MIN and functionality now uses H_COL_MID. CAUTION: ensure H_COL_MID is set to collective blade pitch that produces zero thrust
|
|
b) Incorporated a rotor speed governor in rotor speed control (RSC)
|
|
c) Moved all RSC parameters to the RSC library
|
|
d) Converted throttle curve parameters to percent
|
|
e) Converted RSC_CRITICAL, RSC_IDLE, and RSC_SETPOINT to percent
|
|
f) Created swashplate library that has presaved swashplate types for use with Heli_Single and Heli_Dual frames
|
|
g) Motor interlock with passthrough settable through RC option feature
|
|
h) Removed collective too high pre-arm check
|
|
i) Added virtual flybar for Acro flight mode
|
|
j) Fixed H_SV_MAN minimum and maximum settings for Heli_Dual
|
|
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
|
|
------------------------------------------------------------------
|
|
Copter 3.6.12 13-Dec-2019 / 3.6.12-rc1 06-Dec-2019
|
|
Changes from 3.6.11
|
|
1) More ChibiOS fixes for I2C storm
|
|
2) COMPASS_SCALE param to allow manual correction of compass scaling
|
|
------------------------------------------------------------------
|
|
Copter 3.6.11 01-Oct-2019 / 3.6.11-rc1 16-Sep-2019
|
|
Changes from 3.6.10
|
|
1) EKF and IMU improvements:
|
|
a) IMU3 enabled by default if present
|
|
b) IMU3 fast sampling enabled by default on Cube autopilots
|
|
c) EKF protection against large baro spikes causing attitude error
|
|
d) EKF origin fixes (consistent across cores, set externally only when not using GPS)
|
|
e) EKF logging of 3rd core
|
|
2) Minor enhancements:
|
|
a) Land mode supports heading requests (ie. ROI)
|
|
b) Support Hexa-H frame
|
|
c) MatekF405-STD binaries created
|
|
d) Benewake TFminiPlus lidar support
|
|
3) Bug Fixes
|
|
a) Barometer health checks include sanity check of temperature
|
|
b) Lightware serial driver handles invalid distances
|
|
c) IO firmware fix involving delayed writes to serial ports (ChibiOS only)
|
|
d) CAN Compass fis to for unintialised device IDs
|
|
e) mRo x2.1-777 USB ID fix
|
|
f) ChibiOS fix for I2C storm
|
|
------------------------------------------------------------------
|
|
Copter 3.6.10 29-Jul-2019 / 3.6.10-rc2 2-Jul-2019
|
|
Changes from 3.6.10-rc1
|
|
1) mRobotics ControlZeroF7 board support
|
|
2) Motor Test fixed by removing delay that triggered CPU Watch Dog
|
|
------------------------------------------------------------------
|
|
Copter 3.6.10-rc1 08-Jul-2019
|
|
Changes from 3.6.9
|
|
1) EKF improvements:
|
|
a) learns biases even for inactive IMUs
|
|
b) EKF uses earth magnetic field model to reduce in-flight compass errors
|
|
c) EKF switches to first healthy IMU when disarmed
|
|
d) IMU fix for dropped samples during high CPU usage
|
|
e) Optical flow fusion start fix when some gyros disabled
|
|
2) Ublox F9 GPS support
|
|
3) Integrated CPU Watch Dog for STM boards including logging of reset reason
|
|
4) ChibiOS I/O firmware for ChibiOS builds to support Spektrum binding
|
|
5) Auxiliary switch changes always logged
|
|
6) CUAVv5 Nano LED fix
|
|
7) Solo Gimbal fix when some gyros disabled
|
|
------------------------------------------------------------------
|
|
Copter 3.6.9 27-May-2019 / 3.6.9-rc1/rc2 30-Apr-2019
|
|
Changes from 3.6.8
|
|
1) CX-OF flow sensor enabled on all boards
|
|
2) CUAVv5 Nano board support added
|
|
3) RangeFinders supported on all I2C ports
|
|
4) Compass maximum acceptable offsets increased
|
|
5) Septentrio GPS driver loses logging of camera feedback which could cause lag
|
|
6) Bug Fixes:
|
|
a) Acro mode leveling fix for when ACRO_TRAINER was 1
|
|
b) Tradheli collective position pre-arm check removed
|
|
c) Fallback to microSD for storage fixed
|
|
d) GPS blending memory access fix that could lead to unhealthy GPS
|
|
e) fixed POWR flags for 2nd power module on fmuv3 boards
|
|
7) bootloader binary update for many boards
|
|
------------------------------------------------------------------
|
|
Copter 3.6.8 26-Apr-2019 / 3.6.8-rc1 24-Apr-2019
|
|
Changes from 3.6.7
|
|
1) Safety fixes
|
|
a) Prevent loss of active IMU from causing loss of attitude control
|
|
b) Added startup check for Hex CubeBlack sensor failure
|
|
c) don't reset INS_ENABLE_MASK based on found IMUs
|
|
------------------------------------------------------------------
|
|
Copter 3.6.7 06-Mar-2019 / 3.6.7-rc1 28-Feb-2019
|
|
Changes from 3.6.6
|
|
1) Bug fixes and minor enhancements
|
|
a) Matek405-Wing compass fix (thread initialisation fix)
|
|
b) Landing flips reduced by reducing I-term build-up
|
|
c) Land mission command slows down less aggressively
|
|
d) Lightware LW20 lidar more reliably switches to serial mode
|
|
------------------------------------------------------------------
|
|
Copter 3.6.6 15-Feb-2019 / Copter 3.6.6-rc2 09-Feb-2019
|
|
Changes from 3.6.6-rc1
|
|
1) Bug fixes
|
|
a) EKF compass switching fix for vehicles with 3 compasses
|
|
b) CAN fixed on Pixhawk4 and PH4-mini
|
|
c) Mini-pix uart telem1 and telem2 reversed
|
|
d) Divide-by-zero protection if _FILT_HZ params set to zero
|
|
e) Guided_NoGPS skips GPS pre-arm check
|
|
------------------------------------------------------------------
|
|
Copter 3.6.6-rc1 02-Feb-2019
|
|
Changes from 3.6.5
|
|
1) AP_RSSI fixes and minor enhancements
|
|
a) RSSI pwm input driver for ChibiOS
|
|
b) add V5 Nano to RSSI_ANA_PIN parameter description
|
|
2) Bug fixes and minor enhancements
|
|
a) TradHeli roll trim ramp time fix
|
|
b) First Spline waypoint no longer skipped
|
|
c) RC override (from GCS Joystick) disable fix (command to disable overrides could be interpreted as real input)
|
|
------------------------------------------------------------------
|
|
Copter 3.6.5 24-Jan-2019 / 3.6.5-rc3 21-Jan-2019
|
|
Changes from 3.6.5-rc2
|
|
1) Bug fixes:
|
|
a) Pixhawk4 SBUS input and Serial6 pin mapping conflict resolved
|
|
------------------------------------------------------------------
|
|
Copter 3.6.5-rc2 15-Jan-2019
|
|
Changes from 3.6.5-rc1
|
|
1) Bug fixes and minor enhancements
|
|
a) RC DSM sync bug fix (channel 8 could temporarily become zero, ChibiOS only)
|
|
b) Pixhawk board LED fix (ChibiOS only)
|
|
------------------------------------------------------------------
|
|
Copter 3.6.5-rc1 11-Jan-2019
|
|
Changes from 3.6.4
|
|
1) Bug fixes and minor enhancements
|
|
a) SD Card reliability improvement (BRD_SD_SLOWDOWN param) and allow re-inserting card after boot
|
|
b) Mode and Auxiliary switch range check to protect during FrSky SBUS failsafe recovery
|
|
c) Follow mode reports target distance and heading to ground station
|
|
d) Pixhawk4-mini safety switch and LED fix
|
|
e) Bebop2 build fix
|
|
2) RC protocol decoding for SRXL, SUMD and ST24 extended to all boards including pixracer and ChibiOS-only boards
|
|
3) DrotekP3 Pro support
|
|
4) Cube Purple support
|
|
------------------------------------------------------------------
|
|
Copter 3.6.4 27-Dec-2018 / 3.6.4-rc1 20-Dec-2018
|
|
Changes from 3.6.3
|
|
1) Bug fixes and minor enhancements
|
|
a) Detect and clear stuck I2C bus when using ChibiOS
|
|
b) Pixhawk4 fix for battery monitor voltage scaling
|
|
c) TradHeli Dual (aka Chinook) fix for scaling of second swashplate movement
|
|
d) Omnibus F7 IMU orientation fix
|
|
e) Gimbal fix to avoid extreme movement if pilot's transmitter is off at startup
|
|
f) Follow mode fix to obey FOLL_SYSID parameter (controls which vehicle to follow)
|
|
2) Cheerson CX-OF optical flow sensor support
|
|
------------------------------------------------------------------
|
|
Copter 3.6.3 04-Dec-2018 / 3.6.3-rc1 01-Dec-2018
|
|
Changes from 3.6.2
|
|
1) Bug fixes and minor enhancements
|
|
a) Pixhawk4 RC input fix
|
|
b) TradHeli parameter default fixes for Loiter and PosHold
|
|
c) Onboard OSD fix for MatekSys 405
|
|
d) Solo power off button delay time increased
|
|
------------------------------------------------------------------
|
|
Copter 3.6.2 24-Nov-2018 / 3.6.2-rc4 22-Nov-2018
|
|
Changes from 3.6.2-rc3
|
|
1) Bug fixes and minor changes:
|
|
a) Benewake TFmini short range scaling fix
|
|
b) Fix alt drop after quick switch from RTL to stabilize to RTL
|
|
c) Winch removed from build by default
|
|
------------------------------------------------------------------
|
|
Copter 3.6.2-rc3 19-Nov-2018
|
|
Changes from 3.6.2-rc2
|
|
1) Bug fixes:
|
|
a) Benewake TFmini and TF02 driver reliability fix
|
|
b) Spektrum RC parsing fix when more than 7 channels
|
|
2) remove bootloader from px4-v2 builds (reduces firmware size)
|
|
------------------------------------------------------------------
|
|
Copter 3.6.2-rc1/rc2 15-Nov-2018
|
|
Changes from 3.6.1
|
|
1) Bug fixes:
|
|
a) Benewake TFmini and TF02 driver checksum fix (was missing many sensor readings)
|
|
b) Range finders report healthy to GCS when out-of-range
|
|
c) RPM sensor reliability fix by initialising analog input pin
|
|
------------------------------------------------------------------
|
|
Copter 3.6.1 10-Nov-2018 / 3.6.1-rc1 06-Nov-2018
|
|
Changes from 3.6.0
|
|
1) Garmin LidarLite V3HP support
|
|
2) VFR HUD messages send relative altitude if DEV_OPTIONS = 2. Useful for older OSDs and GCSs
|
|
3) Bug fixes:
|
|
a) Battery failsafe voltage parameter conversion fix
|
|
b) Safety switch startup fix (was occasionally not initialised properly)
|
|
c) Benewake TFmini and TF02 driver discards distances over 327m (avoids reporting 655m when can't read distance)
|
|
d) Dataflash erase only availabled when disarmed (avoids crash if user attempted to erase logs while flying)
|
|
4) ChibiOS fixes and enhancements:
|
|
a) Pixracer LEDs colours fixed
|
|
b) Terrain support fixed on Pixracer, MindPx-v2, Radiolink mini-pix
|
|
c) RC input processing fix to avoid memory corruption in some rare cases
|
|
d) FuriousFPV F-35 Lightning board support
|
|
e) SpeedyBee F4 board support
|
|
f) Bootloaders for OmnibusF4v6, mRoX2.1-777, Radiolink mini-pix
|
|
g) Revo-mini support for external barometer
|
|
h) Pins numbers made consistent across boards (setup of some features now more consistent across boards)
|
|
i) enable safety switch on Pixhawk family f7 boards
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0 26-Oct-2018
|
|
Changes from 3.6.0-rc12
|
|
1) Bug Fixes:
|
|
a) Object avoidance fix when using 360 Lidar (mini fence was not including first distance)
|
|
b) Flowhold mode descending fix
|
|
2) ChibiOS related fixes:
|
|
a) Kakutef7 support pin mapping fixes
|
|
b) PixRacer LED fix
|
|
c) I2C Lidar driver fix to avoid freeze at startup if sensor not connected
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc12 05-Oct-2018
|
|
Changes from 3.6.0-rc11
|
|
1) Bug Fixes:
|
|
a) DSHot ESC driver race condition fix (could result in board freezing up)
|
|
b) EKF fix to rounding off home altitude (could result in slightly inaccurate home altitude)
|
|
c) Pixracer safety switch fix (BRD_SAFETYOPTION parameter was handled incorrectly)
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc11 01-Oct-2018
|
|
Changes from 3.6.0-rc10
|
|
1) Bug Fixes:
|
|
a) PosHold fix to initialise desired accelerations
|
|
b) Automatic compass orientation fix to account for equivalent rotations
|
|
c) ChibiOS fix to RSSI voltage reading
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc10 15-Sep-2018
|
|
Changes from 3.6.0-rc9
|
|
1) Arming/disarming from transmitter can be disabled with ARMING_RUDDER parameter
|
|
2) ChibiOS fixes:
|
|
a) UART baud rate rounding fix (allow 921600 baud to work)
|
|
b) ADC fix to allow more simultaneous channels
|
|
3) Bug Fixes:
|
|
a) Lean angle limit (to maintain altitude) always allows at least 10deg of lean
|
|
b) Attitude Control and PID initialisation fix to reduce twitches when switching modes
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc9 08-Sep-2018
|
|
Changes from 3.6.0-rc8
|
|
1) Landing gear can be operated using AIRFRAME_CONFIGURATION mavlink messages
|
|
2) Support playing tunes received via MAVLink (i.e. from GCS)
|
|
3) Bug Fixes:
|
|
a) Twitch reduced when entering Loiter at high speed
|
|
b) Safety switch state fix when Pixhawk/Cube I/O board reset in flight
|
|
c) External display fix to allow plugging into either I2C port
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc8 28-Aug-2018
|
|
Changes from 3.6.0-rc7
|
|
1) TeraRanger Tower EVO lidar support added
|
|
2) PCA9685 and NCA5623 LED support added (replacements for Toshiba LED that is becoming end-of-life)
|
|
3) Missions can start with DO_ commands (first NAV command must still be takeoff)
|
|
4) ChibiOS fixes:
|
|
a) DShot and BLHeli stability improvements
|
|
b) added OmnibusNanoV6 bootloader
|
|
5) Bug fixes:
|
|
a) AP_Stat only saves values to eeprom if they change (reduces CPU impact)
|
|
b) boost throttle respects safety switch
|
|
c) TradHeli reduce chance of tip-over when landed in Loiter
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc7 01-Aug-2018
|
|
Changes from 3.6.0-rc6
|
|
1) Compass rotation detection during calibration (see COMPASS_AUTO_ROT param)
|
|
2) Tone alarm system consistent on all boards and support for playing tones from GCS
|
|
3) OnBoard OSD improvements including showing dir to home (ChibiOS only)
|
|
4) External compass support and microSD improvements for many ChibiOS-only boards including Kakute F4, Mateksys F405-Wing, Airbot F4, Crazyflie2, MindPXv2, Mini-PIX, Omnibus F7
|
|
5) Bug fixes:
|
|
a) Battery monitor parameter fix to support BLHeli ESCs
|
|
b) Ch12 auxiliary function fixed
|
|
c) compassmot fix
|
|
d) Pixracer external compass fix
|
|
e) Pre-arm failure regarding RCx_TRIM removed for non critical channels
|
|
f) SBUS failsafe fix when receiver configured to "hold"
|
|
g) UART flow control fixes (ChibiOS only)
|
|
h) VL53L0X lidar fix
|
|
6) Minor enhancements:
|
|
a) Compass device IDs (i.e. COMPASS_DEVID) set to zero if no compass detected
|
|
b) Fence action "Always Land" option added
|
|
c) Motor test maximum time extended to 10min
|
|
d) Receiver RSSI pwm input on AUX5,6
|
|
e) USB Serial port protocol default set to Mavlink2
|
|
7) TradHeli fixes:
|
|
a) "Channel already assigned" message fixed
|
|
b) External gyro output method PWM based
|
|
c) Swash servo output properly accounts for servo trim
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc6 16-Jul-2018
|
|
Changes from 3.6.0-rc5
|
|
1) ChibiOS small enhancement and fixes:
|
|
a) KakuteF4 UART order fix
|
|
b) mRobotics bootloader and autobuild of binaries for AUAV2.1 and Pixracer
|
|
c) Mateksys F405-Wing uart reorder to better match labels on board
|
|
2) Improve telemetry/GPS detection by only clearing UART when baud rate changes
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc5 07-Jul-2018
|
|
Changes from 3.6.0-rc4
|
|
1) Support new boards CubeBlack and HolyBro Pixhawk4-mini
|
|
2) ChibiOS small enhancement and fixes:
|
|
a) make board serial number match NuttX
|
|
b) relay fix for Pixhawk boards by defaulting BRD_PWM_COUNT to 4 (same as NuttX)
|
|
c) MatekF405-Wing default compass orientation fix
|
|
d) Pixhawk4 default compass orientation fix
|
|
e) Omnibus F4 Pro I2C fix
|
|
3) Bug fixes:
|
|
a) Telemetry baud rate fix
|
|
b) RC failsafe fix to RTL in all modes except Auto when FS_THR_ENABLE is continue-with-mission
|
|
c) waypoint navigation related safety check that PSC_POS_XY_P is non-zero
|
|
d) aerofc-v1 update bootloader utility fix
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc4 05-Jul-2018
|
|
Changes from 3.6.0-rc3
|
|
1) add support for Cube Black and Cube Orange
|
|
2) Built-in OSD improvements including home direction fix, altitude fix
|
|
3) Bug fixes:
|
|
a) ESC Telemetry current scaling fix
|
|
b) LED pre-arm GPS colour fix if glitch occurs
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc3 02-Jul-2018
|
|
Changes from 3.6.0-rc2
|
|
1) ChibiOS:
|
|
a) airbotf4, matekF405, matekF405-wing, omnibusf4pro, mini-pix, omnibusf7v2, revo-mini, sparky2 binaries built on firmware.ardupilot.org
|
|
b) STM32F7 support including the CUAV v5 Autopilot and the PixHawk 4 (aka fmuv5)
|
|
c) fixed dataflash logfile dates
|
|
d) bootloader included in firmware for easier uploading
|
|
e) additional UART added to fmuv4 and fmuv5 (STM32 F7 boards)
|
|
f) ChibiOS version written to dataflash log files
|
|
2) TradHeli
|
|
a) fix collective jump on rotor shutdown in AltHold and Loiter
|
|
b) fix interlock pre-arm check
|
|
3) Follow uses relative altitudes (FOLL_ALT_TYPE param allows specifying relative or absolute alts)
|
|
4) Auxiliary switch de-bounced to avoid false positives
|
|
5) Bug fixes and minor enhancements:
|
|
a) ESC calibration fix
|
|
b) ESC_TELEMETRY messages sent to ground station
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc2 01-Jun-2018
|
|
Changes from 3.6.0-rc1
|
|
1) ChibiOS support for Holybro Kakute F4
|
|
2) Range finders:
|
|
a) Benewake TFmini and TF02 support
|
|
b) WASP200 laser range finder support
|
|
3) D-Shot and ESC telemetry support
|
|
4) Vision-position-estimate support for use with ROS
|
|
5) Bug fixes and minor enhancements:
|
|
a) TradHeli swash plate servo trim fixes
|
|
b) SmartRTL gives pilot yaw control
|
|
c) marvelmind reliability improvements
|
|
d) CoaxCopter and SingleCopter output fixes
|
|
e) Maxbotics I2C sonar health fix
|
|
6) Safety fixes/improvements:
|
|
a) GPS/EKF failsafe disabled in Acro/Stabilize modes
|
|
b) interlock switch arming check fixed
|
|
c) Auxiliary switch de-bouncing
|
|
d) pre-arm check for GPS/AHRS difference changed to 2D (to avoid false positives)
|
|
e) startup crash fixed when VL53L0X lidar configured but not connected
|
|
------------------------------------------------------------------
|
|
Copter 3.6.0-rc1 19-Apr-2018
|
|
Changes from 3.5.5
|
|
1) ChibiOS support including F4BY, OpenPilot Revo Mini, TauLabs Sparky2 boards
|
|
2) Flight mode changes:
|
|
a) New Loiter with faster roll and pitch response, braking
|
|
b) SmartRTL (returns home using outgoing path)
|
|
c) Follow mode (allows following without relying on ground station commands)
|
|
d) FlowHold (position hold with optical flow without lidar)
|
|
3) Battery failsafe allows two stages of actions and monitoring of multiple batteries
|
|
4) New sensors/drivers:
|
|
a) Marvelmind for Non-GPS navigation
|
|
b) RPLidarA2/A3 for object avoidance
|
|
c) Winch for lowering packages without landing
|
|
d) Septentrio GPS driver robustness improved
|
|
5) New frames:
|
|
a) dodeca-hexa copter (12 motors on 6 arms)
|
|
b) Variable pitch quadcopter support (aka HeliQuad)
|
|
c) multicopters with vertical boosting motor (see MOT_BOOST_SCALE parameter)
|
|
6) Miscellaneous changes and enhancements:
|
|
a) Auxiliary switch to enable/disable RC overrides from ground station joystick
|
|
b) Barometer temperature calibration learning (see TCAL_ENABLED parameter)
|
|
c) Camera triggering by distance only in Auto mode if CAM_AUTO_ONLY set to 1
|
|
d) Compass noise rejection using COMPASS_FLTR_RNG parameter
|
|
e) Compass interference compensation for up to 4 motors (see COMPASS_PMOT parameters)
|
|
f) Command Line Interface (aka CLI) removed to reduce firmware size
|
|
g) Flight mode channel can be changed using FLTMODE_CH parameter
|
|
h) IMU notch filter to ignore specific frequencies (use INS_NOTCH_ENABLE parameter)
|
|
i) LAND_ALT_LOW parameter allows setting altitude at which vehicle slows to LAND_SPEED in Land and RTL modes
|
|
j) Mission cleared automatically on each reboot if MIS_OPTIONS parameter set to 1
|
|
k) Object avoidance configurable to "stick" to barriers (previously would always slide past)
|
|
l) PILOT_SPEED_UP, PILOT_SPEED_DN allow different max climb and descent rates in AltHold, Loiter, PosHold
|
|
m) Safety switch configurable (i.e. only allow arming but not disarming via switch)
|
|
n) Servo output rate configurable (see SERVO_RATE parameter)
|
|
o) Vehicle rotation rate limits (see ATC_RATE_P/R/Y_MAX parameters)
|
|
p) SI units in parameters, mavlink messages and dataflash logs
|
|
7) TradHeli improvements:
|
|
a) H3-135/140 swashplate support
|
|
b) Reversed collective option for leading/trailing edge control
|
|
c) AltHold angle limiter fix
|
|
d) Five point spline-smoothed throttle curve
|
|
8) parameter and log message name changes:
|
|
a) ACCEL_Z_ renamed to PSC_ACCZ_
|
|
b) ACC_ parameters renamed to PSC_ACC
|
|
c) POS_ parameters renamed to PSC_POS
|
|
d) VEL_ parameters renamed to PSC_VEL
|
|
e) FS_BATT_ renamed to BATT_FS_
|
|
f) BATT_AMP_PERVOLT renamed to BATT_AMP_PERVLT
|
|
g) PILOT_VELZ_MAX to PILOT_SPEED_UP (and PILOT_SPEED_DN)
|
|
h) RC_FEEL_RP replaced with ATC_INPUT_TC (functionality is same, scaling is different)
|
|
i) WPNAV_LOIT_ params renamed to LOIT_
|
|
j) NTUN dataflash message renamed to PSC
|
|
------------------------------------------------------------------
|
|
Copter 3.5.7 17-Jul-2018 / 3.5.7-rc1 12-Jul-2018
|
|
Changes from 3.5.6
|
|
1) Bug fix to ESC calibration safety switch issue
|
|
------------------------------------------------------------------
|
|
Copter 3.5.6 11-Jul-2018 / 3.5.6-rc1 07-Jul-2018
|
|
Changes from 3.5.5
|
|
1) Safety switch fix to refuse presses once armed (BRD_SAFETYOPTION controls behaviour)
|
|
------------------------------------------------------------------
|
|
Copter 3.5.5 31-Jan-2018 / 3.5.5-rc1 24-Jan-2018
|
|
Changes from 3.5.4
|
|
1) ICM20948 compass orientation fix
|
|
2) LIS3MDL compass support on Pixracer
|
|
3) support for easy embedding of defaults in firmware binary
|
|
4) do-mount-control control command sets copter yaw when using 2-axis gimbal
|
|
5) TradHeli fix for direct drive variable pitch tail rotors
|
|
------------------------------------------------------------------
|
|
Copter 3.5.4 23-Nov-2017 / 3.5.4-rc2 17-Nov-2017
|
|
Changes from 3.5.3
|
|
1) Compass improvements / bug fixes:
|
|
a) probe for LIS3MDL on I2C address 0x1e
|
|
b) bug fix pixracer compass detection
|
|
------------------------------------------------------------------
|
|
Copter 3.5.4-rc1 08-Nov-2017
|
|
Changes from 3.5.3
|
|
1) Compass improvements:
|
|
a) support added for QMC5883L, LIS3MDL, IST8310
|
|
b) COMPASS_TYPEMASK parameter allows enabling/disabling individual compass drivers
|
|
2) LightWare and MaxBotix range finders supported on both I2C buses
|
|
3) Serial port 5 can be used for telemetry or sensors (previously was only for NuttX console)
|
|
4) px4pro flight controller supported
|
|
5) TradHeli fixes:
|
|
a) motor runup check applies to all flight modes (previously only loiter, poshold, althold)
|
|
b) swashplate behaviour changes when on ground in acro, stabilize and althold
|
|
c) servo test function fixed
|
|
d) direct drive fixed pitch tail fix
|
|
e) Z-axis Accel P gain default lowered to 0.3
|
|
6) EKF origin set using SET_GPS_GLOBAL_ORIGIN mavlink message instead of SET_HOME_POSITION
|
|
7) Intel Aero supports 921600 baud rate between main flight controller and companion computer
|
|
8) Bug fix to I2C race condition on Pixhawk that could occasionally cause I2C device to not be detected
|
|
------------------------------------------------------------------
|
|
Copter 3.5.3 21-Sep-2017 / Copter 3.5.3-rc1 12-Sep-2017
|
|
Changes from 3.5.2
|
|
1) Guided mode support yaw and yaw-rate fields from set-position-target message
|
|
2) Optical Flow startup retries 10 times
|
|
3) Bug fixes:
|
|
a) Septentrio RTK GPS driver robustness improvements for long messages
|
|
b) dataflash not-logging checks if not initialised
|
|
c) fix reporting of relative-position-NE-to-home (most users will not notice this difference)
|
|
------------------------------------------------------------------
|
|
Copter 3.5.2 14-Aug-2017 / Copter 3.5.2-rc1 05-Aug-2017
|
|
Changes from 3.5.1
|
|
1) GPS glitch arming check and notification (flashing blue-yellow LED, message on HUD)
|
|
2) Arming check for minimum voltage (see ARMING_VOLT_MIN parameter)
|
|
3) Landing Gear startup behaviour now configurable (see LGR_STARTUP parameter)
|
|
4) Solo LED fix when using "boat" mode
|
|
5) Intel Aero RTF gets one more I2C bus
|
|
6) Bug fixes:
|
|
a) resolve barometer floating point exception when ground pressure set to be negative
|
|
b) resolve freeze if SERVOx_FUNCTION is set above 80
|
|
------------------------------------------------------------------
|
|
Copter 3.5.1 31-July-2017 / 3.5.1-rc1 24-July-2017
|
|
Changes from 3.5.0
|
|
1) fix to RC input corruption when using Spektrum DSMx with Pixracer
|
|
------------------------------------------------------------------
|
|
Copter 3.5.0 17-July-2017 / 3.5.0-rc11 12-July-2017
|
|
Changes from 3.5-rc10
|
|
1) GPS fixes:
|
|
a) Re-enable auto detection of NMEA GPS (revert change from -rc9)
|
|
b) Fix SBF race condition on start (this should resolve SBF GPS detection issues for some users)
|
|
2) SF40c driver fix to ignore zero distances
|
|
------------------------------------------------------------------
|
|
Copter 3.5.0-rc10 08-July-2017
|
|
Changes from 3.5-rc9
|
|
1) Intel Aero build and default parameter updates
|
|
2) EKF final yaw reset lowered from 5m to 2.5m to speed up bad compass detection after takeoff
|
|
------------------------------------------------------------------
|
|
Copter 3.5.0-rc9 03-July-2017
|
|
Changes from 3.5-rc8
|
|
1) AutoTune improvement when using position hold (twitches in body-frame instead of earth-frame)
|
|
2) GPS fixes:
|
|
a) RTK GPS fix when large RTK correction messages are sent
|
|
b) auto-detection for NMEA disabled (NMEA users must explicitly set GPS_TYPE to 5)
|
|
3) EKF bug fixes:
|
|
a) fix bug preventing use of optical flow for terrain height estimation
|
|
b) fix bug affecting accuracy of optical flow estimated height during climb/descent
|
|
c) fix range beacon fusion bugs
|
|
4) return accel filter (INS_ACCEL_FILT) to 20hz (some users were seeing oscillations at 10hz)
|
|
------------------------------------------------------------------
|
|
Copter 3.5.0-rc8 15-Jun-2017
|
|
Changes from 3.5-rc7
|
|
1) Solo on Master:
|
|
a) add/fix tones and LED support
|
|
b) resolve dataflash health reporting issue
|
|
2) Allow flight controller to boot even if critical sensors fail (previously stopped at startup and displayed message people could rarely see)
|
|
3) Minor enhancements:
|
|
a) Landing Gear retracts/deploys only when pilot first moves switch (previously would always deploy on startup)
|
|
b) BeagleBoneBlue supports external compass, OLED display
|
|
4) Bug fixes:
|
|
a) increase pilot stick dead zones for roll, pitch and yaw (still slightly more narrow than AC3.4)
|
|
b) increase default roll, pitch and yaw rate IMAX values to 0.5, reduce default yaw rate filter to 2.5hz
|
|
c) reduce accel filter from 20hz to 10hz (smoothes throttle in AltHold)
|
|
d) fix EKF declination fusion
|
|
e) object avoidance fix to ignore old distance measurements and out-of-range distances from range finder
|
|
f) fix poxyz west-east processing (it was backwards)
|
|
------------------------------------------------------------------
|
|
Copter 3.5-rc7 25-May-2017
|
|
Changes from 3.5-rc6
|
|
1) Bug fixes and minor enhancements:
|
|
a) fix OneShot ESC calibration and compass-mot calibration
|
|
b) fix Navio2 and ErleBrain crashes caused by insufficient memory allocated to scheduler
|
|
c) AutoTune with position hold only resets target position when roll and/or pitch sticks moved
|
|
d) fix Acro, Sport trainer mode to stop attitude targets going beyond angle limits
|
|
e) sanity check WPNAV_RADIUS is non-zero
|
|
f) MarvelMind driver fixes (still a work-in-progress)
|
|
g) Sanity check command when resuming mission in Auto
|
|
------------------------------------------------------------------
|
|
Copter 3.5-rc6 15-May-2017
|
|
Changes from 3.5-rc5
|
|
1) Bug fixes and minor enhancements:
|
|
a) ESC calibration fix when not using safety switch (was waiting for safety switch to be pushed)
|
|
b) Parameter loading improvements (responds sooner after startup, counts parameters in separate thread)
|
|
c) Pilot radio passthrough fix for tradheli, single copter, coax copter
|
|
------------------------------------------------------------------
|
|
Copter 3.5-rc5 03-May-2017
|
|
Changes from 3.5-rc4
|
|
1) Intel Aero RTF support
|
|
2) Smart battery fetches serial number, temperature and individual cell voltages
|
|
3) Vehicle heads towards target point instead of next waypoint during straight line waypoint mission commands in AUTO
|
|
4) Visual Odometry supported using VISION_POSITION_DELTA mavlink message
|
|
5) Do-Set-Home sets EKF origin allowing user to specify vehicle starting position without GPS
|
|
6) Object avoidance parameter (AVOID_MARGIN) allows configuring distance to maintain from objects
|
|
7) Motor output can be duplicated to multiple channels
|
|
8) IRLock can be connected to any I2C bus
|
|
9) Piksi "Multi" GPS support
|
|
10) Performance Improvements:
|
|
a) inter-EKF scheduling cooperation (improves load balancing when using multiple EKFs)
|
|
b) parameter requests from GCS processed asynchronously (resolves bad flight behaviour when fetching params in-flight)
|
|
c) display performance improvements
|
|
1) Bug fixes including:
|
|
a) LSM303D (Pixhawk's backup IMU) timing fixes
|
|
b) auxiliary PWM outputs update even when RC input stops
|
|
c) dataflash log over mavlink fixes
|
|
d) EKF recovery from severe errors
|
|
e) reduce twitch when transitioning from spline to straight line waypoints in AUTO
|
|
f) enable motors after initialisation completes (resolves some BLHeli ESC initialisation and calibration issues)
|
|
------------------------------------------------------------------
|
|
Copter 3.5-rc4 08-Apr-2017
|
|
Changes from 3.5-rc3
|
|
1) Bug fixes including:
|
|
a) Baro based altitude estimate fixes including limiting ground temperature to reasonable value
|
|
b) Fix 0.6ms lag reduction
|
|
c) Fix Invensense IMU driver temperature reading
|
|
d) Fix semaphore take during interrupts that may have caused very occasional main loop rate issues
|
|
e) Return Home if GCS asks for first (i.e. zero-ith) mission command (required for Solo)
|
|
------------------------------------------------------------------
|
|
Copter 3.5-rc3 24-Mar-2017
|
|
Changes from 3.5-rc2
|
|
1) OLED Display fixes:
|
|
a) can be connected to either I2C bus
|
|
b) last character on line correctly cleared
|
|
2) bug fix to detect SBUS failsafe on Pixracer
|
|
3) bug fix to Gimbal servo reversing
|
|
4) ensure WPNAV_LOIT_SPEED is non-zero to avoid divide-by-zero
|
|
5) Fence pre-arm check failure messages clarified
|
|
------------------------------------------------------------------
|
|
Copter 3.5-rc2 13-Mar-2017
|
|
Changes from 3.5-rc1
|
|
1) Improved dual GPS support including blending (set GPS_TYPE2=1, GPS_AUTO_SWITCH=2)
|
|
2) AutoTune with position hold (enter AutoTune from Loiter or PosHold modes to enable light position hold)
|
|
3) New boards/drivers:
|
|
a) PixhawkMini support
|
|
b) AUAV2.1 board support (for AUAV2.1 set BRD_TYPE to 20 to distinguish from PixhawkMini)
|
|
c) Garmin LidarLiteV3 support
|
|
d) Maxell Smart Battery support
|
|
e) Invensense ICM-20602 IMU and ST L3GD20H gyro drivers added
|
|
4) IMU to Motor lag reduced by 0.6ms
|
|
5) Object Avoidance:
|
|
a) support TeraRanger Tower sensor
|
|
b) support using normal (1-dimensional lidar/sonar)
|
|
6) Minor changes/enhancements:
|
|
a) add MOT_SPOOL_TIME parameter to allow users to control spool-up time of motors
|
|
b) remove Solo gimbal from -v2 because of 1MB Flash limit on many Pixhawk1s
|
|
c) altitude check for Guided mode takeoff (must be at least 1m)
|
|
d) auxiliary switch to arm/disarm vehicle (set CH7_OPT to 41)
|
|
e) change battery alarm tone to reduce impact on IMU
|
|
f) add battery monitor health reporting
|
|
g) support DO-FENCE-ENABLE mission command to enable/disable fence during missions
|
|
7) Bug Fixes:
|
|
a) OLED Display clears messages after 10seconds
|
|
b) Servo Gimbal output range fix (could attempt to push servos beyond their limits)
|
|
c) fix do-set-servo
|
|
d) fix dataflash log time (was always appearing as 1970)
|
|
------------------------------------------------------------------
|
|
Copter 3.5-rc1 28-Jan-2017
|
|
Changes from 3.4.4
|
|
1) Multicopter firmware consolidated into single binary, users must set FRAME_CLASS parameter (1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri)
|
|
2) PixRacer specific items:
|
|
a) board LEDs supported
|
|
b) ESC calibration start problem resolved (was sometimes not detecting high throttle from pilot)
|
|
3) Relaxed compass calibration and compass consistency checks
|
|
4) Sensor and Optional Hardware Improvements:
|
|
a) IMU sampling rate for MPU9250, ICM20608 IMUs to 8kHz for improved vibration resistance (Pixracer, Pixhawk2)
|
|
b) Onboard Display (http://ardupilot.org/copter/docs/common-display-onboard.html)
|
|
c) Here+ RTK GPS (UBlox M8P RTK) support
|
|
d) LightWare I2C drivers usable on Copter (thanks to in-tree drivers below)
|
|
e) MaxBotix sonar with serial interface now supported
|
|
f) Bebop optical flow (but sonar not yet operational making this feature currently impossible to use)
|
|
5) Precision Loiter using IRLock sensor (set CH7_OPT to 39)
|
|
6) Delivery improvements:
|
|
a) Servo gripper (http://ardupilot.org/copter/docs/common-gripper-servo.html)
|
|
b) Package_Place mission command (drops package without vehicle landing)
|
|
7) Pozyx support for Non-GPS flight (http://ardupilot.org/copter/docs/common-pozyx.html)
|
|
8) EKF improvements:
|
|
a) improved blending of optical flow and GPS
|
|
b) EKF3 added in ride-along. Enable by setting EK3_ENABLE=1
|
|
c) improvements when using range finder as primary height reference
|
|
9) Object Avoidance improvements (http://ardupilot.org/dev/docs/code-overview-object-avoidance.html):
|
|
a) uses mini-fence
|
|
b) accepts MAVLink distance-sensor messages
|
|
c) simple avoidance in AltHold mode
|
|
10) Other improvements:
|
|
a) pre-arm check that logging is working
|
|
b) better reporting of battery failsafe to ground stations
|
|
c) reduced minimum waypoint speed to 20cm/s
|
|
d) Flight time recorder (http://ardupilot.org/copter/docs/common-flight-time-recorder.html)
|
|
e) UBlox GPS baud rate fix (was occasionally selecting wrong rate)
|
|
11) Technical improvements (users may not see a functional change):
|
|
a) in-tree drivers lead to improved sharing of drivers with Linux boards
|
|
b) copter arming checks consolidated with other vehicles
|
|
------------------------------------------------------------------
|
|
Copter 3.4.6 15-Mar-2017
|
|
Changes from 3.4.5
|
|
1) ensure WPNAV_LOIT_SPEED is non-zero to avoid divide-by-zero
|
|
------------------------------------------------------------------
|
|
Copter 3.4.5 11-Feb-2017
|
|
Changes from 3.4.4
|
|
1) Bug fix to Guided mode that could lead to crash after take-off completes if MOT_THST_HOVER too high
|
|
------------------------------------------------------------------
|
|
Copter 3.4.4 06-Jan-2017 / Copter 3.4.4-rc1 21-Dec-2016
|
|
Changes from 3.4.3
|
|
1) Bug Fixes / Minor Enhancements:
|
|
a) prevent unwanted EKF core switching at startup
|
|
b) helicopter prevented from taking off in position hold mode before rotors at full speed
|
|
c) battery resistance calculations fixed
|
|
d) avoid unnecessary parameter change notifications to ground station
|
|
e) default power module definitions for Navio boards
|
|
f) on-board compass calibration capability bit added (tells ground stations that onboard calibration is supported)
|
|
------------------------------------------------------------------
|
|
Copter 3.4.3 08-Dec-2016 / Copter 3.4.3-rc1 01-Dec-2016
|
|
Changes from 3.4.2
|
|
1) Bug Fixes:
|
|
a) reduce unnecessary EKF core switching and fix position reset
|
|
b) attitude control does not limit rate if ATC_ACCEL_MAX is zero
|
|
c) ignore arm command from GCS if already armed
|
|
d) set land-complete to false during auto takeoff
|
|
e) onboard compass calibration memory init fix that could lead to failure to complete
|
|
2) Minor Improvements:
|
|
a) LeddarOne driver robustness improvements
|
|
b) allow MOT_THR_MIX_MAX to be as high as 2.0
|
|
c) uavcan bus settle time increased to 2sec
|
|
d) helicopters do not hold position during auto takeoff until rotor is at full speed
|
|
------------------------------------------------------------------
|
|
Copter 3.4.2 16-Nov-2016 / Copter 3.4.2-rc1/rc2 07-Nov-2016
|
|
Changes from 3.4.1
|
|
1) Minor Improvements:
|
|
a) ACRO_Y_EXPO applies to all flight modes (but is defaulted to zero)
|
|
b) Autotune timeout increased (helps with large copters)
|
|
c) AltHold filter applied to P (was previously only for D)
|
|
d) arming check for compass health (was previously only a pre-arm check)
|
|
2) Bug Fixes:
|
|
a) compass calibration (onboard) fix to return completion status
|
|
b) LeddarOne driver busy-wait fix
|
|
c) SBF GPS altitude and accuracy reporting fix
|
|
d) MAV GPS uses existing configured baud rate instead of auto detecting
|
|
------------------------------------------------------------------
|
|
Copter 3.4.1 01-Nov-2016
|
|
Changes from 3.4.0
|
|
1) Pixracer PPM RC input fix
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0 31-Oct-2016
|
|
Changes from 3.4.0-rc7
|
|
1) Disabled LeddarOne driver (will be fixed in AC3.4.1 within a couple of weeks)
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc7 25-Oct-2016
|
|
Changes from 3.4.0-rc6
|
|
1) Bug fixes, minor improvements:
|
|
a) more DSM binding fixes for pixracer
|
|
b) allow non-motor channels to move before safety switch is pressed
|
|
c) fix Bebop motor order
|
|
d) fix MAVLink system id for first few messages
|
|
e) fix throw mode throttle while rotating to level
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc6 15-Oct-2016
|
|
Changes from 3.4.0-rc5
|
|
1) Object Avoidance with SF40c 360 lidar
|
|
2) ACRO_Y_EXPO parameter allows exponential yaw in ACRO mode (slow yaw at mid stick but fast response at full stick)
|
|
3) ACRO_THR_MID parameter allows custom mid throttle for ACRO mode
|
|
4) Precision Landing reliability and accuracy improvements using mini EKF and adding IRLock lens distortion correction
|
|
5) Bug fixes, minor improvements:
|
|
a) fix DSM binding on Pixracer
|
|
b) resolved position jump caused by EKF core change (also added logging and reporting to GCS)
|
|
c) EKF failsafe while in LAND triggers non-GPS LAND
|
|
d) small throttle jump removed when switching between AltHold, Loiter
|
|
6) Safety:
|
|
a) EKF falls back to optical flow if GPS fails
|
|
b) pre-arm check that GPS configuration has completed
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc5 14-Sep-2016
|
|
Changes from 3.4.0-rc4
|
|
1) Sprayer enabled by default
|
|
2) Bug fixes, minor improvements:
|
|
a) EKF fix for yaw angle reset fix when switching between cores (AC3.4 runs multiple EKFs simultaneously)
|
|
b) EKF fixes when fusing range finder into height estimate
|
|
c) pixracer clone board IMU hardware issue work around
|
|
d) dataflash time-going-backwards fix
|
|
e) fix rate PID conversion (AC3.3->AC3.4) for single, coax and tricopters
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc4 06-Sep-2016
|
|
Changes from 3.4.0-rc3
|
|
1) Intel Aero flight controller support (not Intel Aero RTF, that was done in a later release)
|
|
2) Bug fixes, minor improvements:
|
|
a) resolve unlikely endless-climb in AltHold, Loiter by ensuring Z-axis accelerometer IMAX can always overpower hover throttle
|
|
b) fix auto build issue that could lead to parameter corruption
|
|
c) fix EKF2 gyro estimation error when switching between IMUs
|
|
d) sanity check MOT_THST_MIX_MIN, MAX parameters
|
|
e) increase likelihood that parachute will release by reducing counter instead of resetting counter if vehicle becomes temporarily upright
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc3 31-Aug-2016
|
|
Changes from 3.4.0-rc2
|
|
1) Landing detector improvements:
|
|
a) checks that descent rate is less than 1m/s (avoids disarms when vehicle is obviously still descending)
|
|
b) tradheli fix for landing detector
|
|
2) WP_NAVALT_MIN parameter limits maximum lean angle when vehicle is below the specified alt while taking off or landing. Only applies in LAND mode, final stage of RTL and during take-off in AUTO mode
|
|
3) GND_EFFECT_COMP parameter allows turning on EKF compensation for ground effect during take-off and landing
|
|
4) Advanced Failsafe for use in OutBack challenge (see http://ardupilot.org/plane/docs/advanced-failsafe-configuration.html)
|
|
5) AutoTune minor improvement to reduce step size on vehicles with very low hover throttle (i.e. high power-to-weight ratio)
|
|
6) Bug fixes, minor improvement:
|
|
a) OneShot ESC calibration fix
|
|
b) LAND_SPEED_HIGH allows specifying vertical descent speed separate from WPNAV_SPEED_DN during the initial descent in LAND mode (and final stage of RTL)
|
|
c) improved USB driver reliability for windows users (NuttX change)
|
|
d) report dataflash logging health to ground station
|
|
e) Guided mode accepts yaw rate from SET_ATTITUDE_TARGET message
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc2 08-Aug-2016
|
|
Changes from 3.4.0-rc1
|
|
1) ADSB based avoidance of manned aircraft
|
|
2) Polygon fence (works seamlessly with circular and altitude fences)
|
|
3) Throttle related changes:
|
|
a) motors speed feedback to pilot while landed - motors only spin up to minimum throttle as throttle stick is brought to mid (previously spun up to 25%)
|
|
b) MOT_HOVER_LEARN allows MOT_THST_HOVER to be learned in flight
|
|
c) THR_MIN becomes MOT_SPIN_MIN
|
|
d) THR_MID becomes MOT_THST_HOVER
|
|
4) Precision landing:
|
|
a) control improved by reducing lag from sensor and correcting math errors
|
|
b) descent rate slows to allow time to correct horizontal position error
|
|
5) Guided mode:
|
|
a) velocity controller accelerates/decelerates smoothly to target
|
|
b) Guided_NoGPS flight mode added to allow companion computer control in non-GPS environments
|
|
c) stop at fence if using velocity controller, reject points outside fence if using position controller
|
|
6) Throw Mode:
|
|
a) THROW_NEXTMODE parameter allows copter to switch to Auto, Guided, RTL, Land or Brake after throw is complete
|
|
b) Throw mode fixes so motors reliably start
|
|
7) Attitude controller:
|
|
a) use Quaternions instead of Euler angles
|
|
b) ATC_ANG_LIM_TC allows controlling rate at which lean angles are limited to preserve altitude in AltHold, Loiter
|
|
8) EKF can use range finder as primary height source if EKF2_RNG_USE_HGT parameter is set to 70
|
|
9) Bug fixes
|
|
a) AutoTune fix so that gains don't fall too low
|
|
b) Rally points with altitudes no longer cause vehicle to climb above fence during RTL
|
|
c) various EKF fixes including bug in initialisation of declination co-variances
|
|
d) SingleCopter, CoaxCopter flag gains
|
|
10) Small enhancements:
|
|
a) Rally points outside fence are ignored
|
|
b) AP_Button support added to allow ground station to see if user has pushed a button on the flight controller
|
|
c) support for PLAY_TUNE and LED_CONTROL mavlink messages to cause vehicle to play tune or change colour of LED
|
|
d) support for GPS_INPUT mavlink message to allow supplying vehicle position data from other sources
|
|
e) NAV_DELAY mission command to delay start of mission (or individual command) until a specified absolute time
|
|
e) TKOFF_NAV_ALT param allows take-off with no horizontal position hold until vehicle reaches specified altitude (intended mostly for helicopters)
|
|
f) SCHED_LOOP_RATE param allows slowing main loop rate from default of 400 (intended for developers only)
|
|
11) Safety (in addition to Fence improvements above):
|
|
a) Motors begin spinning 2 seconds after arming (previously motors spun immediately)
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc1 28-May-2016
|
|
Changes from 3.3.3
|
|
1) EKF2 allows "boat mode" (attitude initialisation without gyro calibration)
|
|
2) Throw mode
|
|
3) Terrain following:
|
|
a) support terrain altitudes during missions using GCS's map data or rangefinder (i.e. Lidar)
|
|
b) LightWare range finder driver fixes (I2C works)
|
|
c) Bebop sonar support
|
|
4) Precision Landing using IRLock sensor
|
|
5) Attitude controller re-organisation (all parameter changes automatically moved and scales adjusted)
|
|
a) RATE_ parameters become ATC_RAT_ (i.e. RATE_RLL_P becomes ATC_RAT_RLL_P)
|
|
b) Rate Roll, Pitch, Yaw P, D are reduced by 10% for X, V, H frames, increased by 27% for all other frames
|
|
c) STB_ parameters becomes ATC_ANG_ (i.e. STB_RLL_P becomes ATC_ANG_RLL_P)
|
|
6) Motors library improvements:
|
|
a) support OneShot ESCs (set MOT_PWM_TYPE to 0 for Normal, 1 for OneShot or 2 for OneShot125)
|
|
b) TriCopter compensates for tail servo angle
|
|
c) SingleCopter, CoaxCopter adjust control surfaces based on throttle output
|
|
d) MOT_PWM_MIN, MAX allow specifying output ranges to ESCs which are difference from throttle input channel (i.e. RC3)
|
|
e) TradHeli servo objects moved into heli class (HSV_ parameters become H_SV_)
|
|
7) uAvionix Ping sensor support (ADS-B vehicles appear on GCS, avoidance will come in future release)
|
|
8) Safety:
|
|
a) warning if GPS update rate is slow (under 5hz, does not stop arming)
|
|
------------------------------------------------------------------
|
|
Copter 3.3.3 24-Feb-2016 / 3.3.3-rc2 27-Jan-2016
|
|
Changes from 3.3.3-rc1
|
|
1) bug fix to Guided mode's velocity controller to run at 400hz
|
|
2) bug fix to MAVLink routing to allow camera messages to reach MAVLink enabled cameras and gimbals (including SToRM32)
|
|
------------------------------------------------------------------
|
|
Copter 3.3.3-rc1 4-Jan-2016
|
|
Changes from 3.3.2
|
|
1) Restrict mode changes in helicopter when rotor is not at speed
|
|
2) add ATC_ANGLE_BOOST param to allow disabling angle boost for all flight modes
|
|
3) add LightWare range finder support
|
|
------------------------------------------------------------------
|
|
Copter 3.3.2 01-Dec-2015 / 3.3.2-rc2 18-Nov-2015
|
|
Changes from 3.3.2-rc1
|
|
1) Bug fix for desired climb rate initialisation that could lead to drop when entering AltHold, Loiter, PosHold
|
|
2) Fix to hard landings when WPNAV_SPEED_DN set high in RTL, Auto (resolved by using non-feedforward alt hold)
|
|
3) Reduce Bad AHRS by filtering innovations
|
|
4) Allow arming without GPS if using Optical Flow
|
|
5) Smoother throttle output in Guided mode's velocity control (z-axis now 400hz)
|
|
------------------------------------------------------------------
|
|
Copter 3.3.2-rc1 4-Nov-2015
|
|
Changes from 3.3.1
|
|
1) Helicopter Improvements:
|
|
a) Fix Arming race condition
|
|
b) Fix servos to move after arming in Stabilize and Acro
|
|
c) Implement Pirouette Compensation
|
|
d) Add Rate I-Leak-Min functionality
|
|
e) Add new Stab Collective and Acro Expo Col functions
|
|
f) Add circular swashplate limits (Cyclic Ring)
|
|
g) Add new H_SV_Man functions
|
|
h) Add Hover Roll Trim function
|
|
i) Add Engine Run Enable Aux Channel function
|
|
j) Add servo boot test function
|
|
h) Add Disarm Delay parameter
|
|
------------------------------------------------------------------
|
|
Copter 3.3.1 26-Oct-2015 / 3.3.1-rc1 20-Oct-2015
|
|
Changes from 3.3
|
|
1) Bug fix to prevent potential crash if Follow-Me is used after an aborted takeoff
|
|
2) compiler upgraded to 4.9.3 (runs slightly faster than 4.7.2 which was used previously)
|
|
------------------------------------------------------------------
|
|
Copter 3.3 29-Sep-2015 / 3.3-rc12 22-Sep-2015
|
|
Changes from 3.3-rc11
|
|
1) EKF recovers from pre-arm "Compass variance" failure if compasses are consistent
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc11 10-Sep-2015
|
|
Changes from 3.3-rc10
|
|
1) PreArm "Need 3D Fix" message replaced with detailed reason from EKF
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc10 28-Aug-2015
|
|
Changes from 3.3-rc9
|
|
1) EKF improvements:
|
|
a) simpler optical flow takeoff check
|
|
2) Bug Fixes/Minor enhancements:
|
|
a) fix INS3_USE parameter eeprom location
|
|
b) fix SToRM32 serial protocol driver to work with recent versions
|
|
c) increase motor pwm->thrust conversion (aka MOT_THST_EXPO) to 0.65 (was 0.50)
|
|
d) Firmware version sent to GCS in AUTOPILOT_VERSION message
|
|
3) Safety:
|
|
a) pre-arm check of compass variance if arming in Loiter, PosHold, Guided
|
|
b) always check GPS before arming in Loiter (previously could be disabled if ARMING_CHECK=0)
|
|
c) sanity check locations received from GCS for follow-me, do-set-home, do-set-ROI
|
|
d) fix optical flow failsafe (was not always triggering LAND when optical flow failed)
|
|
e) failsafe RTL vs LAND decision based on hardcoded 5m from home check (previously used WPNAV_RADIUS parameter)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc9 19-Aug-2015
|
|
Changes from 3.3-rc8
|
|
1) EKF improvements:
|
|
a) IMU weighting based on vibration levels (previously used accel clipping)
|
|
b) fix blended acceleration (used for altitude control) in cases where first IMU fails
|
|
c) ensure unhealthy barometer values are never consumed
|
|
2) TradHeli: remove acceleration feed forward
|
|
3) Safety:
|
|
a) check accel, gyro and baro are healthy when arming (previously was only checked pre-arm)
|
|
b) Guided mode velocity controller timeout (vehicle stops) after 3 seconds with no update from GCS
|
|
4) Minor enhancements:
|
|
a) fix for AUAV board's usb-connected detection
|
|
b) add Lidar-Lite-V2 support
|
|
c) MOT_THR_MIN_MAX param added to control prioritisation of throttle vs attitude during dynamic flight
|
|
d) RALLY_INCL_HOME param allows always including home when using rally points
|
|
e) DO_FLIGHT_TERMINATION message from GCS acts as kill switch
|
|
5) Bug Fixes:
|
|
a) fix to ensure motors start slowly on 2nd spin-up
|
|
b) fix RTL_CLIMB_MIN feature (vehicle climbed too high above home)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc8 25-Jul-2015
|
|
Changes from 3.3-rc7
|
|
1) EKF improvements:
|
|
a) de-weight accelerometers that are clipping to improve resistance to high vibration
|
|
b) fix EKF to use primary compass instead of first compass (normally the same)
|
|
2) UBlox "HDOP" corrected to actually be hdop (was pdop) which leads to 40% lower value reported
|
|
3) TradHeli:
|
|
a) Motors library split into "Multicopter" and "TradHeli" so TradHeli does not see multicopter parameters
|
|
b) Heading target reset during landing to reduce vehicle fighting to rotate while on the ground
|
|
4) Minor enhancements:
|
|
a) SToRM32 gimbal can be connected to any serial port
|
|
b) log when baro, compass become unhealthy
|
|
c) ESC_CALIBRATION parameter can be set to "9" to disable esc calibration startup check
|
|
d) Circle rate adjustment with ch6 takes effect immediately
|
|
e) log home and origin
|
|
f) pre-arm check of battery voltage and fence
|
|
g) RTL_CLIMB_MIN parameter forces vehicle to climb at least this many cm when RTL is engaged (default is zero)
|
|
5) Bug fixes:
|
|
a) fix THR_MIN being incorrectly scaled as pwm value during low-throttle check
|
|
b) fence distance calculated from home (was incorrectly calculated from ekf-origin)
|
|
c) When flying with joystick and joystick is disconnected, control returns immediately to regular TX
|
|
d) dataflash's ATT yaw fixed to report heading as 0 ~ 360
|
|
e) fix to mission's first command being run multiple times during mission if it was a do-command
|
|
f) ekf-check is enabled only after ekf-origin is set (stops red-yellow flashing led when flying without GPS lock)
|
|
g) fix initialisation of mount's mode
|
|
h) start-up logging so parameters only logged once, mission always written
|
|
6) Linux:
|
|
a) bebop support
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc7 28-Jun-2015
|
|
Changes from 3.3-rc6
|
|
1) reduce EKF gyro bias uncertainty that caused attitude estimate errors
|
|
2) force 400hz IMU logging on (temporary for release candidate testing)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc6 25-Jun-2015
|
|
Changes from 3.3-rc5
|
|
1) EKF related changes:
|
|
a) reset altitude even when arming without GPS lock
|
|
b) fix yaw twitch caused by EKF heading estimate reset
|
|
c) fix IMU time scaling bug that caused height estimate to deviate from the baro
|
|
2) AutoTune improvements:
|
|
a) improved yaw tuning by increasing yaw step magnitude
|
|
b) added logging of accelerations
|
|
c) improvements to step tests
|
|
3) Improved crash check:
|
|
a) allow triggering even if pilot doesn't move throttle to zero
|
|
b) easier triggering by removing baro check and using angle error instead of absolute tilt angle
|
|
4) TradHeli:
|
|
a) swash moves while landed in AltHold mode
|
|
b) improvements to land detector
|
|
c) fixed RSC Runup Time calculation
|
|
d) Rate FF Low-pass Filter changed from 5Hz to 10Hz, more responsive
|
|
5) support Linux builds for NAVIO+ and Erle-Brain (http://firmware.diydrones.com/Copter/beta/)
|
|
6) Other improvements / Bug Fixes:
|
|
a) sonar pre-arm checks only enforced if using optical flow
|
|
b) fix EKF failsafe bug that would not allow recovery
|
|
c) full rate IMU logging for improved vibration analysis (set LOG_BITMASK to All+FullIMU)
|
|
d) new VIBE dataflash message records vibration levels
|
|
e) default MNT_TYPE to "1" if servo gimbal rc outputs were defined
|
|
f) RC_FEEL defaults to medium
|
|
g) addition of SToRM32 serial support (supports mount angle feedback to GCS)
|
|
h) new tricopter's tail servo parameters (MOT_YAW_SV_MIN, MAX, TRIM, REV)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc5 23-May-2015
|
|
Changes from 3.3-rc4
|
|
1) Fix AHRS bad gyro health message caused by timing jitter and log IMU health
|
|
2) TradHeli:
|
|
a) better default rate PIDs
|
|
b) Collective pitch output now operates even when disarmed
|
|
3) Small changes/fixes:
|
|
a) GCS can use MAV_CMD_MISSION_START to start mission in AUTO even without pilot raising throttle
|
|
b) GCS can force disarming even in flight by setting param2 to "21196"
|
|
c) rc-override timeout reduced from 2 seconds to 1 (applies when using GCS joysticks to control vehicle)
|
|
d) do-set-speed fix so it takes effect immediately during missions
|
|
e) GCS failsafe disarms vehicle if already landed (previously it could RTL)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc4 17-May-2015
|
|
Changes from 3.3-rc3
|
|
1) AutoTune:
|
|
a) save roll, pitch, yaw rate acceleration limits along with gains
|
|
b) more conservative gains
|
|
2) Roll, pitch rate control feed-forward now on by default (set ATC_RATE_FF_ENAB to "0" to disable)
|
|
3) Serial ports increased to maximum of 4 (set SERIALX_PROTOCOL to 1)
|
|
4) MOT_THR_MIX_MIN param to control minimum throttle vs attitude during landing (higher = more attitude control but bumpier landing)
|
|
5) EKF fixes/improvements
|
|
a) prevent yaw errors during fast spins
|
|
b) bug fix preventing external selection of optical flow mode
|
|
6) Parachute:
|
|
a) servo/relay held open for 2sec when deploying (was 1sec)
|
|
b) fix altitude check to be alt-above-home (was alt-above ekf origin which could be slightly different)
|
|
7) TradHeli:
|
|
a) parameters moved to stop possibility of corruption if board is switched between tradheli and multicopter firmware. Heli users may need to re-setup some heli-specific params.
|
|
b) H_COLYAW param can be float
|
|
8) Small Improvements / Bug Fixes:
|
|
a) reduced spline overshoot after very long track followed by very short track
|
|
b) log entire mission to dataflash whenever it's uploaded
|
|
c) altitude reported if vehicle takes off before GPS lock
|
|
d) high speed logging of IMU
|
|
e) STOP flight mode renamed to BRAKE and aux switch option added
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc2/rc3 02-May-2015
|
|
Changes from 3.3-rc1
|
|
1) AutoTune reliability fixes (improved filtering to reduce noise interference)
|
|
2) Optical flow improvements:
|
|
a) Range Finder pre-arm check - lift vehicle between 50cm ~ 2m before arming. Can be disabled by setting ARMING_CHECK to "Skip Params/Sonar"
|
|
b) Vehicle altitude limited to range finder altitude when optical flow is enabled
|
|
3) AltHold & Take-off changes:
|
|
a) feed-forward controller and jerk limiting should result in slightly snappier performance and smoother take-offs
|
|
b) vehicle climbs automatically to PILOT_TKOFF_ALT alt when taking off in Loiter, AltHold, PosHold, Sport (disabled by default, pilot's throttle input overrides takeoff)
|
|
c) PILOT_THR_FILT allows enforcing smoother throttle response in manual flight modes (defaults to 0 = off)
|
|
d) TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick
|
|
e) GCS can initiate takeoff even in Loiter, AltHold, PosHold and sport by issuing NAV_TAKEOFF mavlink command
|
|
4) Stop flight mode - causes vehicle to stop quickly, and does not respond to user input or waypoint movement via MAVLink. Requires GPS, will be renamed to Brake mode.
|
|
5) Aux channel features:
|
|
a) Emergency Stop - stops all motors immediately and disarms in 5 seconds
|
|
b) Motor Interlock - opposite of Emergency Stop, must be on to allow motors to spin motors, must be off to arm
|
|
6) Air pressure gain scaling (of roll, pitch, yaw) should mostly remove need to re-tune when flying at very different altitudes
|
|
7) landing detector simplified to only check vehicle is not accelerating & motors have hit their lower limit
|
|
8) Loiter tuning params to remove "freight train" stops:
|
|
raising WPNAV_LOIT_MAXA makes vehicle start and stop faster
|
|
raising WPNAV_LOIT_MINA makes vehicle stop more quickly when sticks centered
|
|
9) Other items:
|
|
a) faster EKF startup
|
|
b) Camera control messages sent via MAVLink to smart cameras. Allow control of camera zoom for upcoming IntelEdison/Sony QX1 camera control board
|
|
c) Lost Copter Alarm can be triggered by holding throttle down, roll right, pitch back
|
|
10) Bug fixes:
|
|
a) Home position set to latest arm position (it was being set to previous disarm location or first GPS lock position)
|
|
b) bug fix to mission Jump to command zero
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc1 11-Apr-2015
|
|
Changes from 3.2.1
|
|
1) Only support fast CPUs boards (Pixhawk, VRBrain, etc) and drop support for APM1, APM2 (sorry!)
|
|
2) AutoTune for yaw
|
|
3) Smooth throttle curve which should reduce wobbles during fast climbs and descents
|
|
4) ch7/ch8 aux switches expanded to ch9 ~ ch12 (see CH9_OPT ~ CH12_OPT params)
|
|
5) PX4Flow support in Loiter mode (still somewhat experimental)
|
|
6) Safety features:
|
|
a) EKF on by default replacing DCM/InertialNav which should improve robustness
|
|
b) increased accelerometer range from 8G to 16G to reduce chance of climb due to high vibrations (requires accel calibration)
|
|
7) Landing features:
|
|
a) improved landing on slopes
|
|
b) retractable landing gear (see LGR_ parameters)
|
|
8) Camera Gimbal features:
|
|
a) SToRM32 gimbal support (using MAVLink)
|
|
b) AlexMos gimbal support (using AlexMos serial interface)
|
|
c) do-mount-control commands supported in missions (allows controlling gimbal angle in missions)
|
|
9) Battery related features:
|
|
a) PID scaling for battery voltage (disabled by default, see MOT_THST_BAT_ parameters)
|
|
b) smart battery support
|
|
10) Other:
|
|
a) support do-set-home command (allows return-to-me and locked home position once GCS enhancements are completed)
|
|
b) performance improvements for Pixhawk reduce CPU load from 80% to 15%
|
|
c) firmware string name changed from ArduCopter to APM:Copter
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2.1 11-Feb-2015 / 3.2.1-rc2 30-Jan-2015
|
|
Changes from 3.2.1-rc1
|
|
1) Bug Fixes:
|
|
a) prevent infinite loop with linked jump commands
|
|
b) Pixhawk memory corruption fix when connecting via USB
|
|
c) vehicle stops at fence altitude limit in Loiter, AltHold, PosHold
|
|
d) protect against multiple arming messages from GCS causing silent gyro calibration failure
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2.1-rc1 08-Jan-2015
|
|
Changes from 3.2
|
|
1) Enhancements:
|
|
a) reduced twitch when passing Spline waypoints
|
|
b) Faster disarm after landing in Auto, Land, RTL
|
|
c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
|
|
2) Safety Features:
|
|
a) Add desired descent rate check to reduce chance of false-positive on landing check
|
|
b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
|
|
c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
|
|
d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
|
|
e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
|
|
3) Bug Fixes:
|
|
a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
|
|
b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
|
|
c) PosHold wind compensation fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2 07-Nov2014 / 3.2-rc14 31-Oct-2014
|
|
Changes from 3.2-rc13
|
|
1) Safety Features:
|
|
a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
|
|
2) Bug fixes:
|
|
a) DCM-check to require one continuous second of bad heading before triggering LAND
|
|
b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
|
|
c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
|
|
d) use primary GPS for LED status (instead of always using first GPS)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc13 23-Oct-2014
|
|
Changes from 3.2-rc12
|
|
1) DCM check triggers LAND if yaw disagrees with GPS by > 60deg (configure with DCM_CHECK_THRESH param) and in Loiter, PosHold, Auto, etc
|
|
2) Safety features:
|
|
a) landing detector checks baro climbrate between -1.5 ~ +1.5 m/s
|
|
b) sanity check AHRS_RP_P and AHRS_YAW_P are never less than 0.05
|
|
c) check set-mode requests from GCS are for this vehicle
|
|
3) Bug fixes:
|
|
a) fix ch6 tuning of wp-speed (was getting stuck at zero)
|
|
b) parachute servo set to off position on startup
|
|
c) Auto Takeoff timing bug fix that could cause severe lean on takeoff
|
|
d) timer fix for "slow start" of motors on Pixhawk (timer was incorrectly based on 100hz APM2 main loop speed)
|
|
4) reduced number of relays from 4 to 2 (saves memory and flash required on APM boards)
|
|
5) reduced number of range finders from 2 to 1 (saves memory and flash on APM boards)
|
|
6) allow logging from startup when LOG_BITMASK set to "All+DisarmedLogging"
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc12 10-Oct-2014
|
|
Changes from 3.2-rc11
|
|
1) disable sonar on APM1 and TradHeli (APM1 & APM2) to allow code to fit
|
|
2) Add pre-arm and health check that gyro calibration succeeded
|
|
3) Bug fix to EKF reporting invalid position and velocity when switched on in flight with Ch7/Ch8 switch
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc11 06-Oct-2014
|
|
Changes from 3.2-rc10
|
|
1) reduce lean on take-off in Auto by resetting horizontal position targets
|
|
2) TradHeli landing check ignores overall throttle output
|
|
3) reduce AHRS bad messages by delaying 20sec after init to allow EKF to settle (Pixhawk only)
|
|
4) Bug fixes:
|
|
a) fix THR_MIN scaling issue that could cause landing-detector to fail to detect landing when ch3 min~max > 1000 pwm
|
|
b) fix Mediatek GPS configuration so update rate is set correctly to 5hz
|
|
c) fix to Condition-Yaw mission command to support relative angles
|
|
d) EKF bug fixes when recovering from GPS glitches (affects only Pixhawks using EKF)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc10 24-Sep-2014
|
|
Changes from 3.2-rc9
|
|
1) two-stage land-detector to reduce motor run-up when landing in Loiter, PosHold, RTL, Auto
|
|
2) Allow passthrough from input to output of channels 9 ~ 14 (thanks Emile!)
|
|
3) Add 4hz filter to vertical velocity error during AltHold
|
|
4) Safety Feature:
|
|
a) increase Alt Disparity pre-arm check threshold to 2m (was 1m)
|
|
b) reset battery failsafe after disarming/arming (thanks AndKe!)
|
|
c) EKF only apply centrifugal corrections when GPS has at least 6 satellites (Pixhawk with EKF enabled only)
|
|
5) Bug fixes:
|
|
a) to default compass devid to zero when no compass connected
|
|
b) reduce motor run-up while landing in RTL
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc9 11-Sep-2014
|
|
Changes from 3.2-rc8
|
|
1) FRAM bug fix that could stop Mission or Parameter changes from being saved (Pixhawk, VRBrain only)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc8 11-Sep-2014
|
|
Changes from 3.2-rc7
|
|
1) EKF reduced ripple to resolve copter motor pulsing
|
|
2) Default Param changes:
|
|
a) AltHold Rate P reduced from 6 to 5
|
|
b) AltHold Accel P reduced from 0.75 to 0.5, I from 1.5 to 1.0
|
|
c) EKF check threshold increased from 0.6 to 0.8 to reduce false positives
|
|
3) sensor health flags sent to GCS only after initialisation to remove false alerts
|
|
4) suppress bad terrain data alerts
|
|
5) Bug Fix:
|
|
a)PX4 dataflash RAM usage reduced to 8k so it works again
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc7 04-Sep-2014
|
|
Changes from 3.2-rc6
|
|
1) Safety Items:
|
|
a) Landing check made more strict (climb rate requirement reduced to 30cm/s, overall throttle < 25%, rotation < 20deg/sec)
|
|
b) pre-arm check that accels are consistent (Pixhawk only, must be within 1m/sec/sec of each other)
|
|
c) pre-arm check that gyros are consistent (Pixhawk only, must be within 20deg/sec of each other)
|
|
d) report health of all accels and gyros (not just primary) to ground station
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc6 31-Aug-2014
|
|
Changes from 3.2-rc5
|
|
1) Spline twitch when passing through a waypoint largely resolved
|
|
2) THR_DZ param added to allow user configuration of throttle deadzone during AltHold, Loiter, PosHold
|
|
3) Landing check made more strict (climb rate must be -40~40cm/s for 1 full second)
|
|
4) LAND_REPOSITION param default set to 1
|
|
5) TradHeli with flybar passes through pilot inputs directly to swash when in ACRO mode
|
|
6) Safety Items:
|
|
a) EKF check disabled when using inertial nav (caused too many false positives)
|
|
b) pre-arm check of internal vs external compass direction (must be within 45deg of each other)
|
|
7) Bug Fixes:
|
|
a) resolve NaN in angle targets when vehicle hits gimbal lock in ACRO mode
|
|
b) resolve GPS driver buffer overflow that could lead to missed GPS messages on Pixhawk/PX4 boards
|
|
c) resolve false "compass not calibrated" warnings on Pixhawk/PX4 caused by missing device id initialisation
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc5 15-Aug-2014
|
|
Changes from 3.2-rc4
|
|
1) Pixhawk's max num waypoints increased to 718
|
|
2) Smoother take-off in AltHold, Loiter, PosHold (including removing initial 20cm jump when taking off)
|
|
3) ACRO mode roll, pitch, yaw EXPO added for faster rotation when sticks are at extremes (see ACRO_EXPO parameter)
|
|
4) ch7/ch8 relay option replaces ch6 option (ch6 is reserved for tuning not switching things on/off)
|
|
5) Safety Items:
|
|
a) Baro glitch check relaxed to 5m distance, 15m/s/s max acceleration
|
|
b) EKF/INav check relaxed to 80cm/s/s acceleration correct (default remains as 0.6 but this now means 80cm/s/s)
|
|
c) When GPS or Baro glitch clears, the inertial nav velocities are *not* reset reducing chance of sudden vehicle lean
|
|
d) Baro altitude calculation checked for divide-by-zero and infinity
|
|
6) Bug Fixes:
|
|
a) AltHold jump bug fixed (altitude target reset when landed)
|
|
b) Rally point bug fix so it does not climb excessively before flying to rally point
|
|
c) body-frame rate controller z-axis bug fix (fast rotation in z-axis would cause wobble in roll, pitch)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc4 01-Aug-2014
|
|
Changes from 3.2-rc3
|
|
1) Pre-takeoff throttle feedback in AltHold, Loiter, PosHold
|
|
2) Terrain altitude retrieval from ground station (informational purposes only so far, Pixhawk only)
|
|
3) Safety Items:
|
|
a) "EKF check" will switch to LAND mode if EKF's compass or velocity variance over 0.6 (configurable with EKFCHECK_THRESH param)
|
|
When EKF is not used inertial nav's accelerometer corrections are used as a substitute
|
|
b) Barometer glitch protection added. BAROGLTCH_DIST and BAROGLTCH_ACCEL parameters control sensitivity similar to GPSGLITCH protection
|
|
When glitching occurs barometer values are temporarily ignored
|
|
c) Throttle/radio and battery failsafes now disarm vehicle when landed regardless of pilot's throttle position
|
|
d) auto-disarm extended to Drift, Sport and OF_Loiter flight modes
|
|
e) APM2 buzzer notification added for arming failure
|
|
f) APM2 arming buzz made longer (now matches Pixhawk)
|
|
g) do-set-servo commands cannot interfere with motor output
|
|
4) Bug Fixes:
|
|
a) Drift slow yaw response fixed
|
|
b) AC3.2-rc3 failsafe bug resolved. In -rc3 the throttle failsafe could be triggered even when disabled or motors armed (although vehicle would not takeoff)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc3 16-Jul-2014
|
|
Changes from 3.2-rc2
|
|
1) Hybrid renamed to PosHold
|
|
2) Sonar (analog, i2c) and PulsedLight Range Finders enabled on Pixhawk (Allyson, Tridge)
|
|
3) Landing changes:
|
|
a) disable pilot repositioning while landing in RTL, Auto (set LAND_REPOSITION to 1 to re-enable) (JonathanC)
|
|
b) delay 4 seconds before landing due to failsafe (JonathanC)
|
|
4) Secondary compass calibration enabled, pre-arm check that offsets match current devices (Randy, Tridge, MichaelO)
|
|
5) Control improvements:
|
|
a) use bias adjusted gyro rates - helps in cases of severe gyro drift (Jonathan)
|
|
b) bug-fixes when feed-forward turned off (Leonard)
|
|
6) TradHeli improvements (RobL):
|
|
a) bug fix to use full collective range in stabilize and acro flight modes
|
|
b) filter added to main rotor input (ch8) to ensure momentary blip doesn't affect main rotor speed
|
|
7) Safety items:
|
|
a) increased default circular Fence radius to 300m to reduce chance of breach when GPS lock first acquired
|
|
b) radio failsafe timeout for late frames reduced to 0.5sec for normal receivers or 2.0sec when flying with joystick (Craig)
|
|
c) accelerometer pre-arm check for all active accelerometers (previously only checked the primary accelerometer)
|
|
8) Other features:
|
|
a) ch7/ch8 option to retract mount (svefro)
|
|
b) Do-Set-ROI supported in Guided, RTL mode
|
|
c) Condition-Yaw accepted in Guided, RTL modes (MoussSS)
|
|
d) CAMERA dataflash message includes relative and absolute altitude (Craig)
|
|
9) Red Balloon Popper support (Randy, Leonard):
|
|
a) Velocity controller added to Guided mode
|
|
b) NAV_GUIDED mission command added
|
|
10) Bug fixes:
|
|
a) bug fix to flip on take-off in stabilize mode when landing flag cleared slowly (JonathanC)
|
|
b) allow disarming in AutoTune (JonathanC)
|
|
c) bug fix to unpredictable behaviour when two spline points placed directly ontop of each other
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc2 27-May-2014
|
|
Changes from 3.2-rc1
|
|
1) Hybrid mode initialisation bug fix
|
|
2) Throttle pulsing bug fix on Pixhawk
|
|
3) Parachute enabled on Pixhawk
|
|
4) Rally Points enabled on Pixhawk
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc1 9-May-2014
|
|
Changes from 3.1.4
|
|
1) Hybrid mode - position hold mode but with direct response to pilot input during repositioning (JulienD, SandroT)
|
|
2) Spline waypoints (created by David Dewey, modified and integrated by Leonard, Randy)
|
|
3) Drift mode uses "throttle assist" for altitude control (Jason)
|
|
4) Extended Kalman Filter for potentially more reliable attitude and position control (Pixhawk only) (Paul Riseborough). Set AHRS_EKF_USE to 1 to enable or use Ch7/8 switch to enable/disable in flight.
|
|
5) Manual flight smoothness:
|
|
a) Smoother roll, pitch response using RC_FEEL_RP parameter (100 = crisp, 0 = extremely soft)
|
|
b) Adjustable max rotation rate (ATC_RATE_RP_MAX, ATC_RATE_Y_MAX) and acceleration (ATC_ACCEL_RP_MAX, ATC_ACCEL_Y_MAX)
|
|
6) Autopilot smoothness:
|
|
a) Vertical acceleration in AltHold, Loiter, Hybrid modes can be configured with PILOT_ACCEL_Z parameter (higher = faster acceleration)
|
|
b) Maximum roll and pitch angle acceleration in Loiter mode can be configured with WPNAV_LOIT_JERK (higher = more responsive but potentially jerky)
|
|
c) Yaw speed can be adjusted with ATC_SLEW_YAW parameter (higher = faster)
|
|
d) smoother takeoff with configurable acceleration using WPNAV_ACCEL_Z parameter
|
|
e) Twitches removed during guided mode or when entering Loiter or RTL from high speeds
|
|
7) Mission improvements:
|
|
a) mission will be resumed from last active command when pilot switches out and then back into Auto mode (prev behaviour can be restored by setting MIS_RESTART param to 1)
|
|
b) DO_SET_ROI persistent across waypoints. All-zero DO_SET_ROI command restores default yaw behaviour
|
|
c) do-jump fixed
|
|
d) conditional_distance fixed
|
|
e) conditional_delay fixed
|
|
f) do-change-speed command takes effect immediately during mission
|
|
g) vehicle faces directly at next waypoint (previously it could be about 10deg off)
|
|
h) loiter turns fix to ensure it will circle around lat/lon point specified in mission command (previously it could be off by CIRCLE_RADIUS)
|
|
8) Safety improvements:
|
|
a) After a fence breach, if the pilot re-takes control he/she will be given a minimum of 10 seconds and 20m to recover before the autopilot will invoke RTL or LAND
|
|
b) Parachute support including automatic deployment during mechanical failures
|
|
9) Other enhancements:
|
|
a) V-tail quad support
|
|
b) Dual GPS support (secondary GPS output is simply logged, not actually used yet)
|
|
c) Electro Permanent Magnet (aka Gripper) support
|
|
d) Servo pass through for channels 6 ~ 8 (set RC6_FUNCTION to 1)
|
|
e) Remove 80m limit on RTL's return altitude but never let it be above fence's max altitude
|
|
10) Other bug fixes:
|
|
a) Bug fix for LAND sometimes getting stuck at 10m
|
|
b) During missions, vehicle will maintain altitude even if WPNAV_SPEED is set above the vehicle's capabilities
|
|
c) when autopilot controls throttle (i.e. Loiter, Auto, etc) vehicle will reach speeds specified in PILOT_VELZ_MAX and WPNAV_SPEED_UP, WPNAV_SPEED_DN parameters
|
|
11) CLI removed from APM1/2 to save flash space, critical functions moved to MAVLink:
|
|
a) Individual motor tests (see MP's Initial Setup > Optional Hardware > Motor Test)
|
|
b) compassmot (see MP's Initial Setup > Optional Hardware > Compass/Motor Calib)
|
|
c) parameter reset to factory defautls (see MP's Config/Tuning > Full Parameter List > Reset to Default)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.5 27-May-2014 / 3.1.5-rc2 20-May-2014
|
|
Changes from 3.1.5-rc1
|
|
1) Bug Fix to broken loiter (pixhawk only)
|
|
2) Workaround to read from FRAM in 128byte chunks to resolve a few users boot issues (Pixhawk only)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.5-rc1 14-May-2014
|
|
Changes from 3.1.4
|
|
1) Bug Fix to ignore roll and pitch inputs to loiter controller when in radio failsafe
|
|
2) Bug Fix to allow compassmot to work on Pixhawk
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.4 8-May-2014 / 3.1.4-rc1 2-May-2014
|
|
Changes from 3.1.3
|
|
1) Bug Fix for Pixhawk/PX4 NuttX I2C memory corruption when errors are found on I2C bus
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.3 7-Apr-2014
|
|
Changes from 3.1.2
|
|
1) Stability patch fix which could cause motors to go to min at full throttle and with large roll/pitch inputs
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.2 13-Feb-2014 / ArduCopter 3.1.2-rc2 12-Feb-2014
|
|
Changes from 3.1.2-rc1
|
|
1) GPS Glitch detection disabled when connected via USB
|
|
2) RC_FEEL_RP param added for adjusting responsiveness to pilot roll/pitch input in Stabilize, Drift, AltHold modes
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.2-rc1 30-Jan-2014
|
|
Changes from 3.1.1
|
|
1) Pixhawk baro bug fix to SPI communication which could cause large altitude estimate jumps at high temperatures
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.1 26-Jan-2014 / ArduCopter 3.1.1-rc2 21-Jan-2014
|
|
Changes from 3.1.1-rc1
|
|
1) Pixhawk improvements (available for APM2 when AC3.2 is released):
|
|
a) Faster arming
|
|
b) AHRS_TRIM fix - reduces movement in loiter when yawing
|
|
c) AUX Out 5 & 6 turned into general purpose I/O pins
|
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d) Three more relays added (relays are pins that can be set to 0V or 5V)
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e) do-set-servo fix to allow servos to be controlled from ground station
|
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f) Motorsync CLI test
|
|
g) PX4 parameters moved from SD card to eeprom
|
|
h) additional pre-arm checks for baro & inertial nav altitude and lean angle
|
|
------------------------------------------------------------------
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|
ArduCopter 3.1.1-rc1 14-Jan-2014
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|
Changes from 3.1
|
|
1) Pixhawk improvements:
|
|
a) Telemetry port 2 enabled (for MinimOSD)
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b) SD card reliability improvements
|
|
c) parameters moved to FRAM
|
|
d) faster parameter loading via USB
|
|
e) Futaba SBUS receiver support
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|
2) Bug fixes:
|
|
a) Loiter initialisation fix (Loiter would act like AltHold until flight mode switch changed position)
|
|
b) ROI commands were not returning Lat, Lon, Alt to mission planner when mission was loaded from APM
|
|
3) TradHeli only fixes:
|
|
a) Drift now uses same (reduced) collective range as stabilize mode
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|
b) AutoTune disabled (for tradheli only)
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|
c) Landing collective (smaller than normal collective) used whenever copter is not moving
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|
------------------------------------------------------------------
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|
ArduCopter 3.1 14-Dec-2013
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|
Changes from 3.1-rc8
|
|
1) Pixhawk improvements:
|
|
a) switch to use MPU6k as main accel/gyro
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b) auto loading of IO-board firmware on startup
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|
2) RTL fixes:
|
|
a) initialise waypoint leash length (first RTL stop would be more aggressive than 2nd)
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|
b) reduce projected stopping distance for higher speed stops
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|
------------------------------------------------------------------
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|
ArduCopter 3.1-rc8 9-Dec-2013
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|
Changes from 3.1-rc7
|
|
1) add Y6 motor mapping with all top props CW, bottom pros CCW (set FRAME = 10)
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2) Safety Changes:
|
|
a) ignore yaw input during radio failsafe (previously the copter could return home spinning if yaw was full over at time of failsafe)
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|
b) Reduce GPSGLITCH_RADIUS to 2m (was 5m) to catch glitches faster
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|
3) Bug fixes:
|
|
a) Optical flow SPI bus rates
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b) TradHeli main rotor ramp up speed fix
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|
------------------------------------------------------------------
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|
ArduCopter 3.1-rc7 22-Nov-2013
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|
Changes from 3.1-rc6
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|
1) MOT_SPIN_ARMED default to 70
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2) Smoother inertial nav response to missed GPS messages
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|
3) Safety related changes
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a) radio and battery failsafe disarm copter if landed in Loiter or AltHold (previously they would RTL)
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b) Pre-Arm check failure warning output to ground station every 30 seconds until they pass
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c) INS and inertial nav errors logged to dataflash's PM message
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d) pre-arm check for ACRO_BAL_ROLL, ACRO_BAL_PITCH
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------------------------------------------------------------------
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|
ArduCopter 3.1-rc6 16-Nov-2013
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|
Improvements over 3.1-rc5
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|
1) Heli improvements:
|
|
a) support for direct drive tails (uses TAIL_TYPE and TAIL_SPEED parameters)
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|
b) smooth main rotor ramp-up for those without external govenor (RSC_RAMP_TIME)
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|
c) internal estimate of rotor speed configurable with RSC_RUNUP_TIME parameter to ensure rotor at top speed before starting missions
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d) LAND_COL_MIN collective position used when landed (reduces chance copter will push too hard into the ground when landing or before starting missions)
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e) reduced collective while in stabilize mode (STAB_COL_MIN, STAB_COL_MAX) for more precise throttle control
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f) external gyro parameter range changed from 1000~2000 to 0~1000 (more consistent with other parameters)
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|
g) dynamic flight detector switches on/off leaky-i term depending on copter speed
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2) SingleCopter airframe support (contribution from Bill King)
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|
3) Drift mode replaces TOY
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4) MPU6k SPI bus speed decreased to 500khz after 4 errors
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|
5) Safety related changes:
|
|
a) crash detector cuts motors if copter upside down for more than 2 seconds
|
|
b) INS (accel and gyro) health check in pre-arm checks
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|
c) ARMING_CHECK allows turning on/off individual checks for baro, GPS, compass, parameters, board voltage, radio
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|
d) detect Ublox GPS running at less than 5hz and resend configuration
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|
e) GPSGlitch acceptable radius reduced to 5m (stricter detection of glitches)
|
|
f) range check roll, pitch input to ensure crazy radio values don't get through to stabilize controller
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|
g) GPS failsafe options to trigger AltHold instead of LAND or to trigger LAND even if in flight mode that does not require GPS
|
|
h) Battery failsafe option to trigger RTL instead of LAND
|
|
i) MOT_SPIN_ARMED set to zero by default
|
|
6) Bug fixes:
|
|
a) missing throttle controller initialisation would mean Stabilize mode's throttle could be non-tilt-compensated
|
|
b) inertial nav baro and gps delay compensation fix (contribution from Neurocopter)
|
|
c) GPS failsafe was invoking LAND mode which still used GPS for horizontal control
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|
------------------------------------------------------------------
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|
ArduCopter 3.1-rc5 22-Oct-2013
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|
Improvements over 3.1-rc4
|
|
1) Pixhawk USB reliability improvements
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|
2) AutoTune changes:
|
|
a) enabled by default
|
|
b) status output to GCS
|
|
c) use 2 pos switch only
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|
3) ch7/ch8 LAND
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4) Tricopter stability patch improvements [thanks to texlan]
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|
5) safety improvements:
|
|
a) slower speed up of motors after arming
|
|
b) pre-arm check that copter is moving less than 50cm/s if arming in Loiter or fence enabled
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc4 13-Oct-2013
|
|
Improvements over 3.1-rc3
|
|
1) Performance improvements to resolve APM alt hold issues for Octacopters:
|
|
a) SPI bus speed increased from 500khz to 8Mhz
|
|
b) Telemetry buffer increased to 512bytes
|
|
c) broke up medium and slow loops into individual scheduled tasks and increased priority of alt hold tasks
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|
2) Bug fix for Pixhawk USB connection
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|
3) GPS Glitch improvements:
|
|
a) added GPS glitch check to arming check
|
|
b) parameters for vehicle max acceleration (GPSGLITCH_ACCEL) and always-ok radius (GPSGLICH_RADIUS)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc3 09-Oct-2013
|
|
Improvements over 3.1-rc2
|
|
1) GPS Glitch protection - gps positions are compared with the previous gps position. Position accepted if within 10m or copter could have reached the position with max accel of 10m/s/s.
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2) Bug fix for pixhawk SPI bus contention that could lead to corrupted accelerometer values on pixhawk resolved
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|
3) Auto Tuning (compile time option only add "#define AUTOTUNE ENABLED" to APM_Config.h and set CH7_Opt or CH8_Opt parameter to 17)
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|
4) CPU Performance improvement when reading from MPU6k for APM
|
|
5) SUPER_SIMPLE parameter changed to a bit map to allow some flight modes to use super simpler while others use regular simple (MP release to allow easier selection will go out with AC3.1 official release)
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|
6) Safety changes:
|
|
a) safety button must be pushed before arming on pixhawk
|
|
b) RGB LED (aka toshiba led) changed so that disarmed flashes, armed is either blue (if no gps lock) or green (if gps lock)
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|
c) sensor health bitmask sent to groundstations
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|
------------------------------------------------------------------
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|
ArduCopter 3.1-rc2 18-Sep-2013
|
|
Improvements over 3.1-rc1
|
|
1) bug fix for MOT_SPIN_ARMED to allow it to be higher than 127
|
|
2) PX4/pixhawk auto-detect internal/external compass so COMPASS_ORIENT should be set to ORIENTATION_NONE if using GPS+compass module
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc1 9-Sep-2013
|
|
Improvements over 3.0.1
|
|
1) Support for Pixhawks board
|
|
2) Arm, Disarm, Land and Takeoff in Loiter and AltHold
|
|
3) Improved Acro
|
|
a) ACRO_RP_P, ACRO_YAW_P parameters added to control speed of rotation
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|
b) ACRO_BAL_ROLL, ACRO_BAL_PITCH controls speed at which copter returns to level
|
|
c) ACRO_TRAINER can be set to 0:disable trainer, 1:auto leveling when sticks released, 2:auto leveling and lean angle limited to ANGLE_MAX
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d) Ch7 & Ch8 switch to set ACRO_TRAINER options in-flight
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|
4) SPORT mode - equivalent of earth frame Acro with support for simple mode
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|
5) Sonar ground tracking improvements and bug fixes that reduce reaction to bad sonar data
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|
6) Safety improvements
|
|
a) motors always spin when armed (speed can be controlled with MOT_SPIN_ARMED, set to 0 to disable)
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b) vehicle's maximum lean angle can be reduced (or increased) with the ANGLE_MAX parameter
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|
c) arming check that GPS hdop is > 2.0 (disable by setting GPS_HDOP parameter to 900)
|
|
d) slow take-off in AUTO, LOITER, ALTHOLD to reduce chance of motor/esc burn-out on large copters
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|
7) Bug fixes:
|
|
a) Optical flow sensor initialisation fix
|
|
b) altitude control fix for Loiter_turns mission command (i.e. mission version of CIRCLE mode)
|
|
c) DO_SET_ROI fix (do not use "ROI")
|
|
8) Distribute Loiter & Navigation calcs over 4 cycles to reduce impact on a single 100hz loop
|
|
9) RCMAP_ parameters allow remapping input channels 1 ~ 4
|
|
------------------------------------------------------------------
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|
ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-2013
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|
Improvements over 3.0.1-rc1
|
|
1) Rate Roll, Pitch and Yaw I fix when we hit motor limits
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|
2) pre-arm check changes:
|
|
a) double flash arming light when pre-arm checks fail
|
|
b) relax mag field checks to 35% min, 165% max of expected field
|
|
3) loiter and auto changes:
|
|
a) reduced Loiter speed to 5 m/s
|
|
b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s)
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|
c) rounding error fix in loiter controller
|
|
d) bug fix to stopping point calculation for RTL and loiter during missions
|
|
4) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw
|
|
------------------------------------------------------------------
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|
ArduCopter 3.0.1-rc1 26-Jun-2013
|
|
Improvements over 3.0.0
|
|
1) bug fix to Fence checking position after GPS lock was lost
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|
2) bug fix to LAND so that it does not attempt to maintain horizontal position without GPS lock
|
|
------------------------------------------------------------------
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|
ArduCopter 3.0.0 / 3.0.0-rc6 16-Jun-2013
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|
Improvements over 3.0.0-rc5
|
|
1) bug fix to Circle mode's start position (was moving to last loiter target)
|
|
2) WP_ACCEL parameter added to allow user to adjust acceleration during missions
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|
3) loiter acceleration set to half of LOIT_SPEED parameter value (was hard-coded)
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|
4) reduce AltHold P to 1.0 (was 2.0)
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|
------------------------------------------------------------------
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|
ArduCopter 3.0.0-rc5 04-Jun-2013
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|
Improvements over 3.0.0-rc4
|
|
1) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location
|
|
2) bug fix to Circle mode to allow counter-clockwise rotation
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|
3) bug fix to heading change in Loiter, RTL, Missions when pilot's throttle is zero
|
|
4) bug fix for mission sticking at take-off command when pilot's throttle is zero
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|
5) bug fix for parameters not saving when new value is same as default value
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|
6) reduce pre-arm board min voltage check to 4.3V (was 4.5V)
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|
7) remove throttle controller's ability to limit lean angle in loiter, rtl, auto
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|
------------------------------------------------------------------
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|
ArduCopter 3.0.0-rc4 02-Jun-2013
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|
Improvements over 3.0.0-rc3
|
|
1) loiter improvements:
|
|
i) repositioning enhanced with feed forward
|
|
ii) use tan to convert desired accel to lean angle
|
|
2) stability patch improvements for high powered copters or those with roll-pitch rate gains set too high
|
|
3) auto mode vertical speed fix (it was not reaching the desired speeds)
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|
4) alt hold smoothed by filtering feed forward input
|
|
5) circle mode fix to initial position and smoother initialisation
|
|
6) RTL returns to initial yaw heading before descending
|
|
7) safe features:
|
|
i) check for gps lock when entering failsafe
|
|
ii) pre-arm check for mag field length
|
|
iii) pre-arm check for board voltage between 4.5v ~ 5.8V
|
|
iv) beep twice during arming
|
|
v) GPS failsafe enabled by default (will LAND if loses GPS in Loiter, AUTO, Guided modes)
|
|
vi) bug fix for alt-hold mode spinning motors before pilot has raised throttle
|
|
8) bug fixes:
|
|
i) fixed position mode so it responding to pilot input
|
|
ii) baro cli test
|
|
iii) moved cli motor test to test sub menu and minor change to throttle output
|
|
iv) guided mode yaw control fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc3 22-May-2013
|
|
Improvements over 3.0.0-rc2
|
|
1) bug fix for dataflash erasing unnecessarily
|
|
2) smoother transition to waypoints, loiter:
|
|
intermediate point's speed initialised from copter's current speed
|
|
3) Ch8 auxiliary function switch (same features as Ch7)
|
|
4) safety checks:
|
|
Warning to GCS of reason for pre-arm check failure
|
|
ARMING_CHECK parameter added to allow disabling pre-arm checks
|
|
Added compass health and offset check to pre-arm check
|
|
compassmot procedure displays interference as percentage of total mag field
|
|
5) WPNAV dataflash message combined into NTUN message
|
|
6) allow TriCopters to use ESC calibration
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc2 13-May-2013
|
|
Improvements over 3.0.0-rc1:
|
|
1) smoother transition to waypoints, loiter:
|
|
reduced loiter max acceleration to smooth waypoints
|
|
bug fix to uninitialised roll/pitch when entering RTL, AUTO, LOITER
|
|
2) fast waypoints - copter does not stop at waypoints unless delay is specified
|
|
3) WPNAV_LOIT_SPEED added to allow faster/slower loiter repositioning
|
|
4) removed speed limits on auto missions
|
|
5) enhance LAND mission command takes lat/lon coordinates
|
|
6) bug fix for RTL not pointing home sometimes
|
|
7) centrifugal correction disabled when copter is disarmed to stop HUD moving
|
|
8) centrifugal correction disabled when sat count less than 6 (AHRS_GPS_MINSATS)
|
|
9) compass calibration reliability improvements when run from mission planner
|
|
10) bug fix to allow compassmot to be run from mission planner terminal screen
|
|
11) add support for H-quad frame
|
|
12) add COMPASS_ORIENT parameter to support external compass in any orientation
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc1 01-May-2013
|
|
Improvements over 2.9.1b:
|
|
1) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan)
|
|
2) 3D waypoint navigation library (Leonard/Randy)
|
|
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL
|
|
WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL
|
|
3) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team)
|
|
4) Safety improvements:
|
|
Tin-can shaped fence (set FENCE_ENABLED to 1 and copter will RTL if alt > 150m or horizontal distance from home > 300m) (Randy/Tridge/Leonard)
|
|
GCS failsafe (set FS_GCS_ENABLED to 1 and if you are using a tablet to fly your copter it will RTL and return control to the radio 3 seconds after losing telemetry) (Randy)
|
|
pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy)
|
|
5) motor interference compensation for compass (Jonathan/Randy)
|
|
6) Circle mode improvements:
|
|
set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates)
|
|
CIRCLE_RATE parameter allows controlling direction and speed of rotation in CIRCLE mode and LOITER_TURNS (can also be adjusted in flight from CH6 knob)
|
|
7) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy)
|
|
8) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig)
|
|
9) performance improvements to dataflash logging (Tridge)
|
|
10) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge)
|
|
11) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy)
|
|
12) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1b 30-Feb-2013
|
|
Improvements over 2.9.1:
|
|
1) reduce INS_MPU6K_FILTER to 20hz
|
|
2) reduce InertialNav Z-axis time constant to 5 (was 7)
|
|
3) increased max InertialNav accel correction to 3 m/s (was 1m/s)
|
|
4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew
|
|
5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
|
|
6) reduce yaw_rate P default to 0.20 (was 0.25)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013
|
|
Improvements over 2.9.1-rc1:
|
|
1) small corretion to use of THR_MID to scale lower end of manual throttle between THR_MIN and 500 instead of 0 and 500
|
|
2) bug fix for longitude scaling being incorrectly calculated using Next Waypoint instead of home which could lead to scaling being 1
|
|
3) ESC calibration change to set update rate to ESCs to 50hz to allow simonk ESC to be calibrated
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1-rc1 31-Jan-2013
|
|
Improvements over 2.9:
|
|
1) THR_MID parameter added to allow users to adjust the manual throttle so that vehicle hovers at about mid stick
|
|
2) bug fix for autotrim - roll axis was backwards
|
|
3) bug fix to set sonar_alt_health to zero when sonar is disabled
|
|
4) capture level roll and pitch trims as part of accel calibration
|
|
5) bug fix to ppm encoder false positives
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9 & 2.9-rc5 14-Jan-2013
|
|
Improvements over 2.9-rc4:
|
|
1) add constraint to loiter commanded roll and pitch angles
|
|
2) relax altitude requirement for take-off command to complete
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc4 12-Jan-2013
|
|
Improvements over 2.9-rc3:
|
|
1) Smoother transition between manual and auto flight modes (Leonard)
|
|
2) bug fix for LAND not actually landing when initiated from failsafe (Randy/Craig)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc3 11-Jan-2013
|
|
Improvements over 2.9-rc2:
|
|
1) alt hold with sonar improvements - now on by default (Leonard/Randy)
|
|
2) performance and memory usage improvements (Tridge/Randy)
|
|
3) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold (Randy)
|
|
4) bug fix: altitude error reported to GCS (Randy)
|
|
5) limit inertial nav's max accel offset correction to 100cm/s/s to speed up recovery after hard impacts (Randy)_
|
|
6) moved rate controllers to run after ins read (Tridge/Randy)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc2 31-Dec-2012
|
|
Improvements over 2.9-rc1:
|
|
1) increased throttle rate gains from 1.0 to 6.0
|
|
2) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc1 23-Dec-2012
|
|
Improvements over 2.8.1:
|
|
1) altitude hold improvements:
|
|
a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason]
|
|
b)accel based throttle controller [Leonard/Randy]
|
|
c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt]
|
|
d)parameters to control climb rate:
|
|
AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s)
|
|
PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s)
|
|
2) landing improvements [Leonard/Randy]
|
|
LAND_SPEED - allows you to set the landing speed in cm/s
|
|
3) camera related improvements:
|
|
a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno]
|
|
b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy]
|
|
c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy]
|
|
YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never)
|
|
4) trad heli improvements [Rob]
|
|
a) code tested and brought back into the fold (2.8.1 was never released for trad helis)
|
|
b) enabled rate controller (previously only used angle controllers)
|
|
c) fix to rotor speed controllers - now operates by switching off channel 8
|
|
d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode
|
|
e) removed angle boost function because it created more problems than it solved
|
|
f) bug fix to allow collective pitch to use the entire range of servos
|
|
5) mediatek gps driver improvements [Craig]
|
|
a) added support for 1.9 firmware
|
|
b) bug fix to start-up routine so sbas can be enabled
|
|
6) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland]
|
|
a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming
|
|
b) failsafe triggered in unlikely case of a PPM encoder failure
|
|
c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered
|
|
7) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge]
|
|
8) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland]
|
|
9) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard]
|
|
ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level
|
|
ACRO_TRAINER - 1 to enable the auto-bring-upright feature
|
|
10) other changes and bug fixes:
|
|
a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason]
|
|
#define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees
|
|
#define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees
|
|
b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason]
|
|
c) event and state logging [Jason]
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d) allow cli to be used over telemetry link [Tridge]
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e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy]
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f) bug fix so do_set_servo command works [Randy]
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g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge]
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h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason]
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i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy]
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j) removed unused stab_d from roll and pitch controller [Jason]
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k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy]
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l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others]
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------------------------------------------------------------------
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ArduCopter 2.8.1 22-Oct-2012
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Improvements over 2.8:
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- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM2
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|
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Improvements over 2.7.3:
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- Improved ACRO mode (Leonard Hall)
|
|
- Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)
|
|
- Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)
|
|
- Less bouncy Stabilize yaw control (Leonard)
|
|
- OpticalFlow sensor support for APM2.5 (Randy)
|
|
- DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)
|
|
- Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)
|
|
- Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)
|
|
- More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)
|
|
- GPS NMEA bug fix (Alexey Kozin)
|
|
- Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)
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|
|
|
Bug Fixes / Parameter changes:
|
|
- fixed skipping of last waypoint (Jason)
|
|
- resolved twitching when no GPS attached (Tridge)
|
|
- fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)
|
|
- moved Roll-Pitch I terms from Stabilize controllers to Rate controllers
|
|
- TILT_COMPENSATION param tuned for TradHeli (Rob)
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|
|
|
Code Cleanup:
|
|
- HAL changes for platform portability (Pat Hickey)
|
|
- Removed INSTANT_PWM (Randy)
|
|
------------------------------------------------------------------
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