mirror of https://github.com/ArduPilot/ardupilot
2456 lines
118 KiB
Plaintext
2456 lines
118 KiB
Plaintext
Rover Release Notes:
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--------------------
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Rover 4.5.0-beta2 14th February 2024
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Changes from 4.5.0-beta1:
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1) New Autopilots supported
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- YJUAV_A6Ultra
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- AnyLeaf H7
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2) System level changes
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- fixed float rounding issue in HAL_Linux millis and micros functions
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- fixed loading of defaults.parm parameters for dynamic parameter subtrees
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- fixed discrimination between GHST and CRSF protocols
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- fixed bug in DroneCAN packet parsing for corrupt packets that could cause a crash
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- fixed handling of network sockets in scripting when used after close
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- fixed bit timing of CANFD buses
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3) Camera and gimbal enhancements
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- wait for non-zero camera version in SIYI driver
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4) Miscellaneous
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- do relay parameter conversion for parachute parameters if ever has been used
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- broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
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------------------------------------------------------------------
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Rover 4.5.0-beta1 30-Jan-2025
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Changes from 4.4.4
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1) New autopilots supported
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- ACNS-F405AIO
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- Airvolute DCS2 onboard FMU
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- Aocoda-RC-H743Dual
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- BrainFPV RADIX 2 HD
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- CAN-Zero
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- CM4Pilot
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- CubeRed
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- Esp32-tomte76, esp32nick, esp32s3devkit
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- FlyingMoonH743
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- Flywoo F405 Pro
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- FlywooF405S-AIO with alternative IMUs
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- Here4 GPS as flight controller
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- Holybro 6X revision 6
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- Holybro6X-45686 with 3x ICM45686 IMUs
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- JAE JFB110
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- KakuteH7 using ICM42688
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- PixFlamingo (uses STM32L4PLUS CPU)
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- PixPilot-C3
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- PixSurveyA1-IND
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- QiotekAdeptF407
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- Sierra TrueNavIC
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- SPRacing H7RF
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- SW-Nav-F405
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- YJUAV_A6
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- YJUAV_A6SE, YJUAV_A6SE_H743
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2) Autopilot specific changes
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- 1MB boards lose features to save flash (Payload Place, some battery monitors, NMEA Output, bootloaders, Turtle mode)
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- CubeOrangePlus supports IMU high resolution sampling (works with ICM42688, ICM42652, ICM42670, ICM45686 IMUs)
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- F4 processors with only 1 IMU gain Triple Harmonic Notch support
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- F765-SE bdshot support on 1st 4 pin
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- F7 and H7 boards lose DMA on I2C ports (not required, limited DMA better used elsewhere)
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- FlyingMoonH743, FlyingMoonF427 2nd and 3rd IMU order swapped
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- HEEWING-F405 supports CRSF
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- MatekL431-RC bootloader added, DMA used for RC and GPS
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- PH4-mini, PH4-mini-bdshot, Swan-K1 and TBS-Colibri-F7 BRD_SER4_RTSCTS param conflict fixed
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- Pixhawk6C supports BMI088 baro
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- TMotorH743, Heewing-F405 serial parameter definitions fixed
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3) AHRS/EKF enhancements and fixes
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- AHRS_OPTIONS supports disabling fallback to DCM
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- BARO_ALT_OFFSET slews more slowly (was 20sec, now 1min)
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- EKF2 removed (can be re-enabled with Custom build server)
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- External AHRS support for multiple GPSs
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- InertialLabs INS-U external AHRS support
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- Lord external AHRS renamed to MicroStrain5
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- MAV_CMD_EXTERNAL_POSITION_ESTIMATE supports setting approximate position during dead-reckoning
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- Microstrain7 (aka 3DM-QG7) external AHRS support
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4) Driver enhancements
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- 3DR Solo supports up to 6S batteries
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- Airspeed health checks vs GPS use 3D velocity
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- BDshot on the first four channels of boards with F103-based IOMCUs (e.g. Pixhawk 6X)
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- Dshot on all IOMCU channels on all boards with an IOMCU (e.g. all CubePilot autopilots)
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- Dshot commands (e.g. motor reversal abd beeps) and EDT supported on IOMCU
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- DroneCAN battery monitors calculate consumed energy if battery doesn't provide directly
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- DroneCAN RC and Ghost RC protocol support
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- EFI MAVLink driver
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- Extended DShot Telemetry support (requires BLHeli32 ver 32.10 or BlueJay, set SERVO_DSHOT_ESC=3 or 4)
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- GPS L5 band health override to enable L5 signal use (see GPS_DRV_OPTIONS)
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- GPS-for-yaw works at lower update rate (3hz minimum)
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- GSOF GPS supports GPS_COM_PORT parameter
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- Hirth ICEngine support
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- ICE option to enable/disable starting while disarmed
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- ICE support for starter via relay
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- IMUDATA serial protocol outputs raw IMU data on serial port (only available using custom build server)
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- Innomaker LD06 360deg lidar support
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- Intelligent Energy fuel cells new protocol support
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- IRC Tramp supports 1G3 bands A and B
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- IRC Ghost support
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- JAE JRE-30 radar
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- KDECAN driver rewrite (params moved to KDE_, works on all vehicles)
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- MCP9601 temperature sensor support
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- NanoRadar NRA24 rangefinder support
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- NeoPixelsRGB support
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- NoopLoop TOFSense, TOFSenseF-I2c rangefinder support
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- OSD shows flashing horizon when inverted
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- OSD2 support (e.g. second OSD)
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- QMC5883P compass support
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- Relay refactored to support RELAYx_FUNCTION, RELAY_STATUS message support added
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- Reventech fuel level support (extends existing analog driver, see BATT_FL_xx parameters)
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- RPLidarS1 360 deg lidar support and improved reliability for all RPLidars
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- SBF GPS supports yaw from dual antennas
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- Temperature sensor using analog voltages supported
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- Trimble PX-1 support added as a GPS
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- Winch driver enhancements including stuck protection, option for spin-free on startup
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5) Control and navigation changes and enhancements
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- Auto missions can always be cleared while disarmed (would fail if mission still running)
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- DO_ENGINE_CONTROL allows starting engine even when disarmed
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- DO_SET_MISSION_CURRENT command can reset mission (see Reset Mission field)
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- DO_SET_SERVO, DO_REPEAT_SERVO work with servo outputs set to RCInxScaled
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- Fractional Loiter Turn Support in missions
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- HarmonicNotch supports up to 16 harmonics
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- JUMP command sends improved text msg to pilot (says where will jump to)
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- MAV_CMD_AIRFRAME_CONFIGURATION can control landing gear on all vehicles
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- MAV_CMD_NAV_SET_YAW_SPEED deprecated
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- MOT_OPTIONS allows voltage compensation to use raw battery voltages (instead of current corrected voltage)
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- PID controllers get DFF/D_FF (derivative feed-forward), NTF (target notch filter index) and NEF (error notch filter index)
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- PID controllers get PDMX param to limit P+D output (useful for large vehicles and/or slow actuators)
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- PID notch filter configured via new filter library using FILT parameters
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6) Parameters renamed
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- COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK
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7) ROS2 / DDS support
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8) Camera and gimbal enhancements
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- Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
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- CAMx_MNT_INST allows specifying which mount camera is in
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- Camera lens (e.g. live video stream) selectable using RC aux function
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- Interval timer (for taking pictures at timed intervals)
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- Image tracking support (ViewPro only)
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- MAVLink Gimbal Protocol v2 support for better GCS integration
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- MNTx_SYSID_DFLT allows easier pointing gimbal at another vehicle
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- MOUNT_CONTROL, MOUNT_CONFIGURE messages deprecated
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- RangeFinder support (only logged, only supported on Siyi, Viewpro)
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- Pilot's RC input re-takes manual control of gimbal (e.g. switches to RC_TARGETING mode)
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- Siyi driver gets Zoom control, sends autopilot attitude and time (reduces leans)
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- Video recording may start when armed (see CAMx_OPTIONS)
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- ViewPro driver (replaces equivalent Lua driver)
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- Xacti camera gimbal support
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- Zoom percentage support (for both missions and GCS commands)
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9) Logging and reporting changes
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- Battery logging (e.g. BAT) includes health, temperature, state-of-health percentage
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- CAM and MNT messages contain camera gimbal's desired and actual angles
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- INS_RAW_LOG_OPT allows raw, pre-filter and post-filter sensor data logging (alternative to "batch logging", good for filtering analysis)
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- PID logging gets reset and I-term-set flags
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- Rangefinder logging (e.g. RFND) includes signal quality
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- RC aux functions sorted alphabetically for GCS
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- RC logging (RCI, RCI2) include valid input and failsafe flags
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- RTK GPS logging includes number of fragments used or discarded
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10) Scripting enhancements
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- Autopilot reboot support
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- Baro, Compass, IMU, IOMCU health check support
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- Battery cell voltage bindings
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- Battery driver support
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- BattEsimate.lua applet estimates SoC from voltage
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- Camera and Mount bindings improved
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- CAN input packet filtering reduces work required by Lua CAN drivers
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- DJI RS2/RS3 gimbal driver supports latest DJI firmware version (see mount-djirs2-driver.lua)
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- EFI drivers for DLA serial, InnoFlight Inject EFI driver
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- EFI bindings improved
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- Fence support
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- Generator drivers for Halo6000, Zhuhai SVFFI
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- GCS failsafe support
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- Hobbywing_DataLink driver (see Hobbywing_DataLink.lua)
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- is_landing, is_taking_off bindings
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- led_on_a_switch.lua sets LED brightness from RC switch
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- MAVLink sending and receiving support
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- Mission jump_to_landing_sequence binding
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- mount-poi.lua upgraded to applet, sends better feedback, can lock onto Location
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- Networking/Ethernet support
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- Plane dual-aircraft synchronised aerobatics
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- Proximity driver support
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- Rangefinder drivers can support signal quality
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- revert_param.lua applet for quickly reverting params during tuning
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- RockBlock.lua applet supports setting mode, fix for battery voltage reporting
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- Serial/UART reading performance improvement using readstring binding
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- sport_aerobatics.lua rudder control fixed
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- Thread priority can be set using SCR_THD_PRIORITY (useful for Lua drivers)
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- Wind alignment and head_wind speed bindings
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11) Safety related enhancements and fixes
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- Arm/Disarmed GPIO may be disabled using BRD_OPTIONS
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- Arming check that Auto mode requires mission
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- Arming check of compass vs world magnetic model to detect metal in ground (see ARMING_MAGTHRESH)
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- Arming check of GPIO pin interrupt storm
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- Arming check of Lua script CRC
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- Arming check of mission loaded from SD card
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- Arming check of Relay pin conflicts
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- Arming check of emergency stop skipped if emergency stop aux function configured
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- Arming check that at least some outputs are configured
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- Arming failures reported more quickly when changing from success to failed
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- ARMING_OPTIONS allows supressing "Armed", "Disarmed" text messages
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- BRD_SAFETY_MASK extended to apply to CAN ESCs and servos
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- Buzzer noise for gyro calibration and arming checks passed
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- Dijkstras object avoidance supports "fast waypoints" (see AVOID_OPTIONS)
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- Fence breach failsafe gets disarm action
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- FENCE_OPTIONS supports union OR intersection of all polygon fences
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- FLTMODE_GCSBLOCK blocks GCS from changing vehicle to specified modes
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- Main loop lockup recovery by forcing mutex release (only helps if caused by software bug)
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- Mandatory arming checks cannot be skipped (previously setting ARMING_CHECKS=0 skipped all)
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- Rally points supports altitude frame (AMSL, Relative or Terrain)
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- SERVO_RC_FS_MSK allows outputs using RC passthrough to move to SERVOx_TRIM on RC failsafe
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12) System Enhancements
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- CAN port can support a second CAN protocol on the same bus (2nd protocol must be 11 bit, see CAN_Dn_PROTOCOL2)
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- CAN-FD support (allows faster data transfer rates)
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- Crash dump info logged if main thread locksup (helps with root cause analysis)
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- Ethernet/Networking support for UDP and TCP server and client (see NET_ENABLED) and PPP (see SERIALx_PROTOCOL)
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- Firmware flashing from SD card
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- Linux board SBUS input decoding made consistent with ChibiOS
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- Linux boards support DroneCAN
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- Parameter defaults stored in @ROMFS/defaults.parm
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- SD Card formatting supported on all boards
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- Second USB endpoint defaults to MAVLink (instead of SLCAN) except on CubePilot boards
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- Serial over DroneCAN (see CAN_D1_UC_SER_EN) useful for configuring F9P DroneCAN GPSs using uCenter
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13) Custom Build server include/exclude features extended to include
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- APJ Tools
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- Bootloader flashing
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- Button
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- Compass calibration
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- DroneCAN GPS
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- ExternalAHRS (e.g. MicroStrain, Vectornav)
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- Generator
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- Highmark Servo
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- Hobbywing ESCs
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- Kill IMU
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- Payload Place
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- Plane BlackBox arming allows Plane to be used as logger (see ARMING_BBOX_SPD)
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- Plane's TX Tuning
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- Precision landing
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- Proximity sensor
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- RC Protocol
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- Relay
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- SBUS Output
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- ToneAlarm
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- Winch
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14) Developer specific items
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- ChibiOS upgrade to 21.11
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- UAVCAN replaced with DroneCAN
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- AUTOPILOT_VERSION_REQUEST message deprecated (use REQUEST_MESSAGE instead)
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- PREFLIGHT_SET_SENSOR_OFFSETS support deprecated (was unused by all known ground stations)
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- MISSION_SET_CURRENT message deprecated (use DO_SET_MISSION_CURRENT command instead)
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- MISSION_CURRENT message sends num commands and stopped/paused/running/complete state
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- Python version requirement increased to 3.6.9
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- mavlink_parse.py shows all suported mavlink messages
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- COMMAND_INT messages can be used for nearly all commands (previously COMMAND_LONG)
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15) Bug fixes:
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- 3DR Solo gimbal mavlink routing fixed
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- Bootloop fixed if INS_GYRO_FILTER set too high
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- Button Internal Error caused by floating pin or slow device power-up fixed
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- CAN Compass order maintained even if compass powered up after autopilot
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- Compass device IDs only saved when calibrated to ensure external compasses appear as primary on new boards
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- Currawong ECU EFI does not send exhaust gas temperature
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- DCM fallback in order to get better GPS is disabled if GPS is not used
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- DJI RS2/RS3 gimbal reported angle fix
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- DO_SET_ROI, ROI_LOCATION, ROI_NONE bug fix that could lead to gimbal pointing at old target
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- Generator parameter init fix (defaults might not always have been loaded correctly)
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- GPS_TC_BLEND parameter removed (it was unused)
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- Harmonic Notch gets protection against extremely low notch filter frequencies
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- IE 650/800 Generators report fuel remaining
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- INS calibration prevents unlikely case of two calibrations running at same time
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- LPS2XH Baro supported over I2C fixed
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- MatekH743 storage eeprom size fixed
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- MAVLink routing fix to avoid processing packet meant for another vehicle
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- Mount properly enforces user defined angle limits
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- MPU6500 IMU filter corrected to 4k
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- NMEA output time and altitude fixed
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- OSD gets labels for all supported serial protocols
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- OSD RF panel format fixed
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- Omni vehicle support fixed
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- RobotisServo initialisation fix
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- RPM accuracy and time wrap handling improved
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- Sagetech ADSB MXS altitude fix (needs amsl, was sending alt-above-terrain)
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- SageTechMXS ADSB climb rate direction fixed
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- SBUS out exactly matches SBUS in decoding
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- Serial port RTS pins default to pulldown (SiK radios could getting stuck in bootloader mode)
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- SERIALx_ parameters removed for ports that can't actually be used
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- Servo gimbal attitude reporting fix
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- Servo output fix when using scaled RC passthrough (e.g. SERVOx_FUNCTION = RCinXScaled)
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- Siyi continuous zoom stutter fixed
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- Siyi gimbal upside-down mode fixed (avoid bobbing if upside-down)
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- SmartRTL premature "buffer full" failure fixed
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- ST24 RC protocol fixed
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- STM32L496 CAN2 init fix (AP_Periph only?)
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- VFR_HUD climb rate reports best estimate during high vibration events (previously it would stop updating)
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- Visual Odometry healthy check fix in case of out-of-memory
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- VTX_MAX_POWER restored (allows setting radio's power)
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------------------------------------------------------------------
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Rover 4.4.0 19-Dec-2023 / Rover 4.4.0-beta11 05-Dec-2023
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Changes from 4.4.0-beta10
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1) Autopilot related enhancement and fixes
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- CubeOrange Sim-on-hardware compilation fix
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- RADIX2HD supports external I2C compasses
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- SpeedyBeeF405v4 support
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2) Bug fixes
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- DroneCAN battery monitor with cell monitor SoC reporting fix
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- NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
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- ProfiLED output fixed in both Notify and Scripting
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- Scripting bug that could cause crash if parameters were added in flight
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- STAT_BOOTCNT param fix (was not updating in some cases)
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- don't query hobbywing DroneCAN ESC IDs while armed
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3) Rover specific changes
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- Auto mode keeps navigating while paused at waypoints (reduces overshoot)
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- QuikTune script simplification (only tunes rate and speed controllers)
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- Torqeedo battery nearly empty reporting fix
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------------------------------------------------------------------
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Rover 4.4.0-beta10 14-Nov-2023
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Changes from 4.4.0-beta9
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1) AP_GPS: correct uBlox M10 configuration on low flash boards
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------------------------------------------------------------------
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Rover 4.4.0-beta9 07-Nov-2023
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Changes from 4.4.0-beta8
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1) Autopilot related enhancements and fixes
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- BETAFTP-F405 board configuration fixes
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- CubeOrangePlus-BG edition ICM45486 IMU setup fixed
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- YJUAV_A6SE_H743 support
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2) Minor enhancements
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- GPS_DRV_OPTION allows using ellipsoid height in more GPS drivers
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- Lua script support for fully populating ESC telemetry data
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3) Bug fixes
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- AK09916 compass being non-responsive fixed
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- IxM42xxx IMUs "stuck" gyros fixed
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- Notch filtering protection when using uninitialised RPM source in ESC telemetry
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- SIYI gimbal driver parsing bug fixed (was causing lost packets)
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------------------------------------------------------------------
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Rover 4.4.0-beta8 13-Oct-2023
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Changes from 4.4.0-beta7
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1) Autopilot related enhancements and fixes
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- BETAFPV-F405 support
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- MambaF405v2 battery and serial setup corrected
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- mRo Control Zero OEM H7 bdshot support
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- SpeedyBee-F405-Wing gets VTX power control
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- SpeedyBee-F405-Mini support
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- T-Motor H743 Mini support
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2) EKF3 supports baroless boards
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3) GPS-for-yaw allows base GPS to update at only 3Hz
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4) INA battery monitor supports config of shunt resistor used (see BATTx_SHUNT)
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5) Log VER message includes vehicle type
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6) OpenDroneId option to auto-store IDs in persistent flash
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7) RC SBUS protection against invalid data in first 4 channels
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8) Bug fixes
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- BMI088 IMU error value handling fixed to avoid occasional negative spike
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- Dev environment CI autotest stability improvements
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- OSD correct DisplayPort BF MSP symbols
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- OSD option to correct direction arrows for BF font set
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- Sensor status reporting to GCS fixed for baroless boards
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------------------------------------------------------------------
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Rover 4.4.0-beta7 14-Sep-2023
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Changes from 4.4.0-beta6
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1) Autopilot related enhancements
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- H750 external flash optimisations for to lower CPU load
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- MambaF405Mini fixes to match manufacturer's recommended wiring
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- RADIX2 HD support
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- YJUAV_A6SE support
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2) Bug fixes
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- Airbotf4 features minimised to build for 4.4
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- ChibiOS clock fix for 480Mhz H7 boards (affected FDCAN)
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- RPI hardware version check fix
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------------------------------------------------------------------
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Rover 4.4.0-beta6 05-Sep-2023
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Changes from 4.4.0-beta5
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1) Autopilot related fixes and enhancements
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- KakuteH7-wing get 8 bit directional dshot channel support
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- Luminousbee5 boards defaults updated
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- Navigator autopilot GPIOs fix (PWM output was broken)
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- Pixhawk6C Serial RTS lines pulled low on startup
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- QiotekZealotF427 and QiotekZealotH743 battery monitor default fixed
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- SDMODELH7V1 supporta
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2) Driver enhancements
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- DroneCAN battery monitors allow reset of battery SoC
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- Himark DroneCAN servo support
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- Hobbywing DroneCAN ESC support
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3) Asymmetrical thrust support for skid steering rovers (see MOT_THST_ASYM)
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4) EKF3 high vibration handling improved with EK3_GLITCH_RADIUS option
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5) Custom build server gets mission storage on SDCard selection
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6) SITL default parameter handling bug fix
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------------------------------------------------------------------
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Rover 4.4.0-beta5 12-Aug-2023
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Changes from 4.4.0-beta4
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1) Autopilots specific changes
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- SIYI N7 support
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2) Bug fixes
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- DroneCAN airspeed sensor fix to handle missing packets
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- DroneCAN GPS RTK injection fix
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- Notch filter gyro glitch caused by race condition fixed
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------------------------------------------------------------------
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Rover 4.4.0-beta4 27-July-2023
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Changes from 4.4.0-beta3
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1) Autopilots specific changes
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- Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
|
|
- DMA for I2C disabled on F7 and H7 boards
|
|
- Foxeer H743v1 default serial protocol config fixes
|
|
- HeeWing-F405 and F405v2 support
|
|
- iFlight BlitzF7 support
|
|
2) Rover specific enhancements
|
|
- QuikTune Lua script
|
|
- Circle mode safety improvements including handling when CIRC_SPEED set too high
|
|
- Velocity controller I-term build-up avoided when steering reaches limits
|
|
3) Bug fixes
|
|
- BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
|
|
- CRSFv3 rescans at baudrates to avoid RX loss
|
|
- EK3_ABIAS_P_NSE param range fix
|
|
- Scripting restart memory corruption bug fixed
|
|
- Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
|
|
------------------------------------------------------------------
|
|
Rover 4.4.0-beta3 03-July-2023
|
|
Changes from 4.4.0-beta2
|
|
1) Autopilots specific changes
|
|
- Holybro KakuteH7-Wing support
|
|
- JFB100 external watchdog GPIO support added
|
|
- Pixhawk1-bdshot support
|
|
- Pixhawk6X-bdshot support
|
|
- SpeedyBeeF4 loses bdshot support
|
|
2) Device drivers
|
|
- added LP5562 I2C LED driver
|
|
- added IS31FL3195 LED driver
|
|
3) Circle mode accuracy improvement
|
|
4) Camera and Gimbal related changes
|
|
- DO_SET_ROI_NONE command support added
|
|
5) Bug fixes
|
|
- ADSB sensor loss of transceiver message less spammy
|
|
- EKF vertical velocity reset fixed on loss of GPS
|
|
- GPS pre-arm failure message clarified
|
|
- SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
|
|
- SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
|
|
- SBF GPS ellipsoid height fixed
|
|
- Ublox M10S GPS auto configuration fixed
|
|
------------------------------------------------------------------
|
|
Rover 4.4.0-beta2 05-Jun-2023
|
|
Changes from 4.4.0-beta1
|
|
1) Autopilots specific changes
|
|
- FlywooF745 update to motor pin output mapping and baro
|
|
- FoxeerH743 support
|
|
- JFB100 support
|
|
- Mamba-F405v2 supports ICM42688
|
|
- Matek-F405-TE/VTOL support
|
|
- Matek-H743 IMU SPI slowed to 1Mhz to avoid init issues
|
|
- SpeedyBee-405-Wing support
|
|
2) Rover specific changes
|
|
- Circle mode and Auto mode LOITER_TURNS support
|
|
- Dock mode added to INITIAL_MODE and MODE1 parameter list
|
|
3) AHRS/EKF related fixes and Enhancements
|
|
- EKF allocation failure handled to avoid watchdog
|
|
- EKF3 accel bias calculation fix and tuning for greater robustness
|
|
- Airspeed sensor remains enabled during dead-reckoning (few copters have airspeed sensors)
|
|
- Wind speed estimates updates reduced while dead-reckoning
|
|
4) Other Enhancements
|
|
- Attitude control slew limits always calculated (helps tuning reporting and analysis)
|
|
- INA228 and INA238 I2C battery monitor support
|
|
- LOG_DISARMED=3 logs while disarmed but discards log if never eventually armed
|
|
- LOG_DARM_RATEMAX reduces logging while disarmed
|
|
- Serial LEDs threading enhancement to support longer lengths without dshot interference
|
|
4) Bug fixes
|
|
- Analog battery monitor2 current parameter default fixed
|
|
- AutoTune fix for loading Yaw Rate D gains
|
|
- BRD_SAFETYOPTION parameter documentation fix (ActiveForSafetyEnable and Disable were reversed)
|
|
- Compassmot fix to protect against bad gyro biases from GSF yaw
|
|
- ICE engine fix for starting after reaching a specified altitude
|
|
- LED thread locking fix to avoid watchdog
|
|
- Logging rotation on disarm disabled if Replay logging active (avoids gaps in logs)
|
|
- RC input on IOMCU bug fix (RC might not be regained if lost)
|
|
- Serial passthrough fixed
|
|
5) Custom build server fix to which features are included/excluded
|
|
------------------------------------------------------------------
|
|
Rover 4.4.0-beta1 19-Apr-2023
|
|
Changes from 4.3.0-beta12
|
|
1) New autopilots supported
|
|
- ESP32
|
|
- Flywoo Goku F405S AIO
|
|
- Foxeer H743v1
|
|
- MambaF405-2022B
|
|
- PixPilot-V3
|
|
- PixSurveyA2
|
|
- rFCU H743
|
|
- ThePeach K1/R1
|
|
2) Autopilot specific changes
|
|
- Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
|
|
- Bi-Directional DShot up to 8 channels on MatekH743
|
|
- BlueRobotics Navigator supports baro on I2C bus 6
|
|
- BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
|
|
- CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
|
|
- Foxeer Reaper F745 supports external compasses
|
|
- OmnibusF4 support for BMI270 IMU
|
|
- OmnibusF7V2-bdshot support removed
|
|
- KakuteF7 regains displayport, frees up DMA from unused serial port
|
|
- KakuteH7v2 gets second battery sensor
|
|
- MambaH743v4 supports VTX
|
|
- MatekF405-Wing supports InvensenseV3 IMUs
|
|
- PixPilot-V6 heater enabled
|
|
- Raspberry 64OS startup crash fixed
|
|
- ReaperF745AIO serial protocol defaults fixed
|
|
- SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
|
|
- Skyviper loses many unnecessary features to save flash
|
|
- UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
|
|
- VRBrain-v52 and VRCore-v10 features reduced to save flash
|
|
3) Driver enhancements
|
|
- ARK RTK GPS support
|
|
- BMI088 IMU filtering and timing improved, ignores bad data
|
|
- CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
|
|
- Daiwa winch baud rate obeys SERIALx_BAUD parameter
|
|
- EFI supports fuel pressure and ignition voltage reporting and battery failsafe
|
|
- ICM45686 IMU support
|
|
- ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
|
|
- ICM45686 supports fast sampling
|
|
- MAX31865 temp sensor support
|
|
- MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
|
|
- MMC3416 compass orientation fix
|
|
- MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
|
|
- Multiple USD-D1-CAN radar support
|
|
- NMEA output rate configurable (see NMEA_RATE_MS)
|
|
- NMEA output supports PASHR message (see NMEA_MSG_EN)
|
|
- OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
|
|
- Rockblock satellite modem support
|
|
- Serial baud support for 2Mbps (only some hardware supports this speed)
|
|
- SF45b lidar filtering reduced (allows detecting smaller obstacles
|
|
- SmartAudio 2.0 learns all VTX power levels)
|
|
- UAVCAN ESCs report error count using ESC Telemetry
|
|
- Unicore GPS (e.g. UM982) support
|
|
- VectorNav 100 external AHRS support
|
|
- 5 IMUs supported
|
|
4) EKF related enhancements
|
|
- Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN)
|
|
- External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
|
|
- Magnetic field tables updated
|
|
- Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover)
|
|
5) Control and navigation enhancements
|
|
- DO_SET_ROI_NONE command turns off ROI
|
|
- JUMP_TAG mission item support
|
|
- Manual mode steering expo configurable (see MANUAL_STR_EXPO)
|
|
- Missions can be stored on SD card (see BRD_SD_MISSION)
|
|
- NAV_SCRIPT_TIME command accepts floating point arguments
|
|
- Pause/Resume returns success if mission is already paused or resumed
|
|
8) Camera and gimbal enhancements
|
|
- BMMCC support included in Servo driver
|
|
- DJI RS2/RS3-Pro gimbal support
|
|
- Dual camera support (see CAM2_TYPE)
|
|
- Gimbal/Mount2 can be moved to retracted or neutral position
|
|
- Gremsy ZIO support
|
|
- IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
|
|
- Paramters renamed and rescaled
|
|
- CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
|
|
- CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
|
|
- CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL
|
|
- CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds
|
|
- CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values
|
|
- RunCam2 4k support
|
|
- ViewPro camera gimbal support
|
|
8) Logging changes
|
|
- BARD msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
|
|
- MCU log msg includes main CPU temp and voltage (was part of POWR message)
|
|
- RCOut banner message always included in Logs
|
|
- SCR message includes memory usage of all running scripts
|
|
- CANS message includes CAN bus tx/rx statistics
|
|
- Home location not logged to CMD message
|
|
- MOTB message includes throttle output
|
|
9) Scripting enhancements
|
|
- EFI Skypower driver gets improved telem messages and bug fixes
|
|
- Generator throttle control example added
|
|
- Heap max increased by allowing heap to be split across multiple underlying OS heaps
|
|
- Hexsoon LEDs applet
|
|
- Logging from scripts supports more formats
|
|
- Parameters can be removed or reordered
|
|
- Parameter description support (scripts must be in AP's applet or driver directory)
|
|
- Rangefinder driver support
|
|
- Runcam_on_arm applet starts recording when vehicle is armed
|
|
- Safety switch, E-Stop and motor interlock support
|
|
- Scripts can restart all scripts
|
|
- Script_Controller applet supports inflight switching of active scripts
|
|
10) Custom build server enhancements
|
|
- AIS support for displaying nearby boats can be included
|
|
- Battery, Camera and Compass drivers can be included/excluded
|
|
- EKF3 wind estimation can be included/excluded
|
|
- PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
|
|
- RichenPower generator can be included/excluded
|
|
- RC SRXL protocol can be excluded
|
|
- SIRF GPSs can be included/excluded
|
|
11) Safety related enhancements and fixes
|
|
- Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting
|
|
- Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks)
|
|
- GCS failsafe timeout is configurable (see FS_GCS_TIMEOUT)
|
|
- "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled)
|
|
- Pre-arm check that low and critical battery failsafe thresholds are different
|
|
- Pre-arm message fixed if 2nd EKF core unhealthy
|
|
- Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
|
|
- RC failsafe timeout configurable (see RC_FS_TIMEOUT)
|
|
12) Minor enhancements
|
|
- Boot time reduced by improving parameter conversion efficiency
|
|
- BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
|
|
- Compass calibration auxiliary switch function (set RCx_OPTION=171)
|
|
- Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
|
|
- Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier)
|
|
- MAVFTP supports file renaming
|
|
- MAVLink in-progress reply to some requests for calibration from GCS
|
|
13) Bug fixes:
|
|
- ADSB telemetry and callsign fixes
|
|
- Battery pct reported to GCS limited to 0% to 100% range
|
|
- Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
|
|
- DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
|
|
- DisplayPort OSD artificial horizon better matches actual horizon
|
|
- EFI Serial MS bug fix to avoid possible infinite loop
|
|
- EKF3 Replay fix when COMPASS_LEARN=3
|
|
- ESC Telemetry external temp reporting fix
|
|
- Fence upload works even if Auto mode is excluded from firmware
|
|
- FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
|
|
- Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
|
|
- ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
|
|
- IMU detection bug fix to avoid duplicates
|
|
- IMU temp cal fix when using auxiliary IMU
|
|
- Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
|
|
- RADIO_STATUS messages slow-down feature never completely stops messages from being sent
|
|
- SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc. Avoids momentary divide-by-zero
|
|
- Scripting file system open fix
|
|
- Scripting PWM source deletion crash fix
|
|
- MAVFTP fix for low baudrates (4800 baud and lower)
|
|
- ModalAI VOXL reset handling fix
|
|
- MPU6500 IMU fast sampling rate to 4k (was 1K)
|
|
- NMEA GPGGA output fixed for GPS quality, num sats and hdop
|
|
- Position control reset avoided even with very uneven main loop rate due to high CPU load
|
|
- Throttle notch FFT tuning param fix
|
|
- VTX protects against pitmode changes when not enabled or vehicle disarmed
|
|
14) Developer specific items
|
|
- DroneCAN replaces UAVCAN
|
|
- FlighAxis simulator rangefinder fixed
|
|
- Scripts in applet and drivers directory checked using linter
|
|
- Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
|
|
- Simulink model and init scripts
|
|
- SITL on hardware support (useful to demo servos moving in response to simulated flight)
|
|
- SITL parameter definitions added (some, not all)
|
|
- Webots 2023a simulator support
|
|
- XPlane support for wider range of aircraft
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta14 12-Aug-2023
|
|
Changes from 4.3.0-beta13
|
|
1) Bug fixes
|
|
- DroneCAN GPS RTK injection fix
|
|
- INAxxx battery monitors allow for battery reset remaining
|
|
- Notch filter gyro glitch caused by race condition fixed
|
|
- Scripting restart memory corruption bug fixed
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta13 27-Mar-2023
|
|
Changes from 4.3.0-beta12
|
|
1) Bug fixes
|
|
a) EKF3 accel bias calculations bug fix
|
|
b) EKF3 accel bias process noise adjusted for greater robustness
|
|
c) GSF yaw numerical stability fix caused by compassmot
|
|
d) INS batch sampler fix to avoid watchdog if INS_LOG_BAT_CNT changed without rebooting
|
|
e) Memory corruption bug in the STM32H757 (very rare)
|
|
f) RC input on IOMCU bug fix (RC might not be regained if lost)
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta11/beta12 27-Mar-2023
|
|
Changes from 4.3.0-beta10
|
|
1) Bi-directional DShot fix for possible motor stop approx 72min after startup
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta10 01-Mar-2023
|
|
Changes from 4.3.0-beta9
|
|
1) Bug fixes
|
|
a) GPS unconfigured error fix for non-M10 uBlox GPS
|
|
b) Gremsy gimbal fix when attached to autopilot's serial3 (or higher)
|
|
c) MambaF405 2022 gets VTX power on support
|
|
d) MCU voltage enabled on H757 CPUs (including CubeOrangePlus)
|
|
e) PiccoloCAN fix for ESC voltage and current scaling
|
|
f) Servo gimbal mount yaw handling fix (only affects 3-axis servo gimbals)
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta9 14-Feb-2023
|
|
Changes from 4.3.0-beta8
|
|
1) AutoPilot specific enhancements
|
|
a) CubeOrangePlusBG support
|
|
b) Foxeer ReaperF745 supports external compass
|
|
c) MambaH743v4 supports VTX power
|
|
2) Bug fixes
|
|
a) Arming check fix if BARO_FIELD_ELEV set
|
|
b) Compass calibration diagonals set to 1,1,1 if incorrectly set to 0,0,0
|
|
c) Gimbal's yaw feed-forward set to zero when landed (affects Gremsy gimbals)
|
|
d) IOMCU double reset and safety disable fix
|
|
e) Logging fix for duplicate format messages
|
|
f) OpenDroneId sets emergency status on crash or chute deploy
|
|
g) Peripheral firmware updates using MAVCAN fixed
|
|
h) RC protocol cannot be changed once detected on boards with IOMCU
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta8 20-Jan-2023
|
|
Changes from 4.3.0-beta7
|
|
1) Bug fixes
|
|
a) MAVFTP fix to terminate session error (could cause FTP failures)
|
|
b) IMU fast fifo reset log message max frequency reduced
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta7 09-Jan-2023
|
|
Changes from 4.3.0-beta6
|
|
1) Autopilot related changes
|
|
a) AIRLink LTE module enable pin and HEAT_ params added
|
|
b) CUAV Nora/Nora+ bdshot firmware (allows Bi-directional DShot)
|
|
c) CubeOrange, CubeYellow gets fast reset of ICM20602
|
|
d) MambaH743v2 with dual ICM42688 supported
|
|
e) PixPilot-V6
|
|
2) MAVFTP speed improvement including faster param download
|
|
3) Bug fixes
|
|
a) Analog rangefinder GPIO pin arming check fixed
|
|
b) Arming check of AHRS/EKF vs GPS location disabled if GPS disabled
|
|
c) CRSF gets RC_OPTIONS for ELRS baudrate to avoid RC failsafes
|
|
d) Null pointer checks avoid watchdog when out of memory
|
|
e) Servo gimbal yaw jump to opposite side fixed
|
|
f) Siyi A8 gimbal driver's record video feature fixed
|
|
g) SToRM32 serial gimbal driver actual angle reporting fixed (pitch and yaw angle signs were reversed)
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta6 10-Dec-2022
|
|
Changes from 4.3.0-beta5
|
|
1) Arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
|
|
2) uBlox M10 support
|
|
3) Autopilot specific changes
|
|
a) CubeOrange defaults to using 2nd IMU as primary
|
|
b) SIRF and SBP GPS disabled on BeastF7v2, MatekF405-STD, MAtekF405-Wing, omnibusf4pro
|
|
4) Bug fixes
|
|
a) Camera driver's CAM_MIN_INTERVAL fixed if pilot manually triggers extra picture
|
|
b) Main loop slowdown after arming fixed (parameter logging was causing delays)
|
|
c) Main loop's fast tasks always run (caused twitches in Loiter on heavily loaded CPUs)
|
|
d) MAVLink commands received on private channels checked for valid target sysid
|
|
e) ModalAI cameras support fixed (ODOMETRY message frame was consumed incorrectly)
|
|
f) Param reset after firmware load fixed on these boards
|
|
- BeastF7v2
|
|
- CubeYellow-bdshot
|
|
- f405-MatekAirspeed
|
|
- FlywooF745Nano
|
|
- KakuteF4Mini
|
|
- KakuteF7-bdshot
|
|
- MatekF405-bdshot
|
|
- MatekF405-STD
|
|
- MatekF405-Wing-bdshot
|
|
- MatekF765-SE
|
|
- MatekF765-Wing-bdshot
|
|
g) Siyi A8 gimbal support fixed
|
|
h) Windows builds move to compiling only 64-bit executables
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta5 17-Nov-2022
|
|
Changes from 4.3.0-beta4
|
|
1) Autopilot specific enhancements
|
|
a) ARKV6X support
|
|
b) MatekH743 supports 8 bi-directional dshot channels
|
|
c) Pixhawk boards support MS5607 baros
|
|
d) SpeedbyBee F405v3 support
|
|
2) Balancebot pitch control improvements and pitch limiting
|
|
3) DroneCAN Airspeed sensor support including hygrometer (aka water vapour) readings
|
|
4) EFI support (electronic fuel injection engines)
|
|
5) Harmonic Notch support (Rover only)
|
|
6) Pre-arm warning if multiple UARTs with SERIALx_PROTOCOL = RCIN
|
|
7) Siyi gimbal support
|
|
8) Bug fixes
|
|
a) AtomRCF405NAVI bootloader file name fixed
|
|
b) BRD_SAFETY_MASK fixed on boards with both FMU safety switch and IOMCU
|
|
c) Compass calibration continues even if a single compass's cal fails
|
|
d) Gremsy gimbal driver sends autopilot info at lower rate to save bandwidth
|
|
e) Invensense 42605 and 42609 IMUs use anti-aliasing filter and notch filter
|
|
f) OSD stats screen fix
|
|
g) RC input on serial port uses first UART with SERIALx_PROTOCOL = 23 (was using last)
|
|
h) RunCam caching fix with enablement and setup on 3-pos switch
|
|
i) RTK CAN GPS fix when GPSs conneted to separate CAN ports on autopilot
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta4 24-Oct-2022
|
|
Changes from 4.3.0-beta3
|
|
1) Scripting supports implementing AUX functions
|
|
2) Bug fixes
|
|
a) BMI085 accel scaling fixed
|
|
b) Build with gcc 11.3 fixed (developer only)
|
|
c) EKF3 alt discrepancy if GPS or baro alt changed soon after startup fixed
|
|
d) Harmonic Notch and ESC telem fix when motor outputs are non-contiguous
|
|
e) NMEA GPS's KSXT message parsing fixed (affected position accuracy)
|
|
f) Scripting random number generator fix
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta3 14-Oct-2022
|
|
Changes from 4.3.0-beta2
|
|
1) Pixhawk1-1M, fmuv2, fmuv3 display warning if firmware mismatches board's flash size (1M and 2M)
|
|
2) Scripting support for multi-byte i2c reads
|
|
3) Bug fixes
|
|
a) Airspeed CAN sensor ordering fixed (ordering could change if using multiple airspeed sensors)
|
|
b) BRD_SAFETY_MASK fix for enabling outputs when safety is on
|
|
c) Defaults.parm file processing fixed when a line has >100 characters and/or no new line (developer only)
|
|
d) NMEA serial output precision fixed (was only accurate to 1m, now accurate to 1cm)
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta2 04-Oct-2022
|
|
Changes from 4.3.0-beta1
|
|
1) Autopilot specific fixes and enhancements
|
|
a) AIRLink autopilot supports UART2
|
|
b) CUAV V6X supports CAN battery monitor by default
|
|
c) MatekF405-CAN board uses less memory to fix compass calibration issues
|
|
d) Pixhawk1-1M only supports uBlox and NMEA GPSs to save flash space
|
|
e) SkystarsH7HD-bdshot (allows Bi-directional DShot)
|
|
f) SkystarsH7HD supports VTX power by default
|
|
2) EFI support
|
|
a) Currawong ECU support (added as Electronic Fuel Injection driver)
|
|
b) Scripting support for EFI drivers (allows writing EFI drivers in Lua)
|
|
c) SkyPower and HFE CAN EFI drivers (via scripting)
|
|
3) Safety features
|
|
a) Arming check that SPIN_MIN less than 0.3 and greater than SPIN_ARM
|
|
b) Arming option to disable itermittant display of pre-arm warnings (see ARMING_OPTIONS)
|
|
4) Minor enhancements
|
|
a) Autopilot board names max length increased to 23 characters (was 13)
|
|
b) CAN actuators can report PWM equivalent values (eases debugging)
|
|
c) Log download speed improved for boards with "block" backends
|
|
d) Notch filter slew limit reduces chance of notch freq moving incorrectly
|
|
e) SLCAN disabled when vehicle is armed to reduce CPU load
|
|
5) Bug fixes
|
|
a) DO_JUMP mission command fixed if active command changed before changing to Auto mode
|
|
b) EKF3 altitude error fix when using dual GPSs and affinity enabled
|
|
c) FFT indexing bug fixed
|
|
d) Gimbal mount fix to default mode (see MNTx_DEFLT_MODE parameter)
|
|
e) MSP fix to report arm status to DJI FPV goggles
|
|
f) Notch fix for non-throttle notch (was being incorrectly disabled)
|
|
g) OSD fixes for params, font and resolution
|
|
h) RPM reporting from harmonic notch fixed
|
|
i) "Sending unknown message (50)" warning removed
|
|
j) SBF/GSOF/NOVA GPS auto detction of baud rate fixed
|
|
k) VideoTX fixes for buffer overruns and Tramp video transmitter support
|
|
------------------------------------------------------------------
|
|
Rover 4.3.0-beta1 14-Sep-2022
|
|
Changes from 4.2.3
|
|
1) Rover specific enhancements
|
|
a) Aux switch for SaveWP displays, "Mission Cleared" if vehicle not armed
|
|
b) Dock mode using modified precision landing library
|
|
c) Manual mode steering scaling with speed can be disabled using MANUAL_OPTIONS parameter
|
|
d) S-Curves for Auto, Guided, RTL
|
|
2) Rover specific bug fixes
|
|
a) Wheel encoder timestamp fix (WRC_xx params may need to be changed)
|
|
b) Auto mode stick mixing fixed (see STICK_MIXING parameter)
|
|
c) Arming check removed to support mixed Ackerman and skid-stering vehicles
|
|
3) New autopilot support
|
|
a) AtomRCF405
|
|
b) CubeOrange-SimOnHardWare
|
|
c) DevEBoxH7v2
|
|
d) KakuteH7Mini-Nand
|
|
e) KakuteH7v2
|
|
f) Mamba F405 Mk4
|
|
g) SkystarsH7HD
|
|
h) bi-directional dshot (aka "bdshot") versions for CubeOrange, CubeYellow, KakuteF7, KakuteH7, MatekF405-Wing, Matek F765, PH4-mini, Pixhawk-1M
|
|
4) EKF enhancements and fixes
|
|
a) EK3_GPS_VACC_MAX threshold to control when GPS altitude is used as alt source
|
|
b) EKF ring buffer fix for very slow sensor updates (those that update once every few seconds)
|
|
c) EKF3 source set change captured in Replay logs
|
|
5) Gimbal enhancements
|
|
a) Angle limit params renamed and scaled to degrees (e.g. MNT1_ROLL_MIN, MNT1_PITCH_MIN, etc)
|
|
b) BrushlessPWM driver (set MNT1_TYPE = 7) is unstabilized Servo driver
|
|
c) Dual mount support (see MNT1_, MNT2 params)
|
|
d) Gremsy driver added (set MNT1_TYPE = 6)
|
|
e) MAVLink gimbalv2 support including sending GIMBAL_DEVICE_STATUS_UPDATE (replaces MOUNT_STATUS message)
|
|
f) "Mount Lock" auxiliary switch supports follow and lock modes in RC targetting (aka earth-frame and body-frame)
|
|
g) RC channels to control gimbal set using RCx_OPTION = 212 (Roll), 213 (Pitch) or 214 (Yaw)
|
|
h) RC targetting rotation rate in deg/sec (see MNT1_RC_RATE which replaces MNT_JSTICK_SPD)
|
|
i) Yaw can be disabled on 3-axis gimbals (set MNTx_YAW_MIN = MNTx_YAW_MAX)
|
|
6) Notch filter enhancements
|
|
a) Attitude and filter logging at main loop rate
|
|
b) Batch sampler logging both pre and post-filter
|
|
c) FFT frame averaging
|
|
d) In-flight throttle notch parameter learning using averaged FFTs
|
|
e) Triple harmonic notch
|
|
7) RemoteId and SecureBoot enhancements
|
|
a) Remote update of secure boot's public keys (also allows remote unlocking of bootloader)
|
|
8) Safety enhancements
|
|
a) crash_dump.bin file saved to SD Card on startup (includes details re cause of software failures)
|
|
b) Disabling Fence clears any active breaches (e.g. FENCE_TYPE = 0 will clear breaches)
|
|
c) "GPS Glitch" message clarified to "GPS Glitch or Compass error"
|
|
d) Pre-arm check that configured AHRS is being used (e.g. checks AHRS_EKF_TYPE not changed since boot)
|
|
e) Pre-arm check that gimbals are healthy (currently only for Gremsy gimbals, others in future release)
|
|
f) Pre-arm check that scripts are running
|
|
g) Pre-arm messages are correctly prefixed with "PreArm:" (instead of "Arm:")
|
|
h) RC auxiliary switch option for Arm / Emergency Stop
|
|
9) Scripting enhancements
|
|
a) CAN2 port bindings to allow scripts to communicate on 2nd CAN bus
|
|
b) ESC RPM bindings to allow scripts to report engine RPM
|
|
c) Gimbal bingings to allow scripts to control gimbal
|
|
d) Pre-arm check bindings (allows scripts to check if pre-arm checks have passed)
|
|
e) Semicolon (:) and period (.) supported (e.g both Logger:write() and Logger.write will work)
|
|
10) Sensor driver enhancements
|
|
a) Benewake H30 radar support
|
|
b) BMI270 IMU performance improvements
|
|
c) IRC Tramp VTX suppor
|
|
d) Logging pause-able with auxiliary switch. see RCx_OPTION = 165 (Pause Stream Logging)
|
|
e) Proximity sensor support for up to 3 sensors
|
|
f) Precision Landing consumes LANDING_TARGET MAVLink message's PositionX,Y,Z fields
|
|
g) RichenPower generator maintenance-required messages can be suppressed using GEN_OPTIONS param
|
|
h) TeraRanger Neo rangefinder support
|
|
i) GPS support to provide ellipsoid altitude instead of AMSL (see GPS_DRV_OPTIONS)
|
|
j) W25N01GV 1Gb flash support
|
|
11) Bug fixes
|
|
a) Accel calibration throws away queued commands from GCS (avoids commands being run long after they were sent)
|
|
b) Cygbot proximity sensor fix to support different orientations (see PRXx_ORIENT)
|
|
c) Lutan EFI message flood reduced
|
|
d) Missions download to GCS corruption avoided by checking serial buffer has space
|
|
e) Safety switch disabled if IOMCU is disabled (see BRD_IO_ENABLE=0)
|
|
f) Script restart memory leak fixed
|
|
12) Developer items
|
|
a) Fast loop task list available in real-time using @SYS/tasks.txt
|
|
b) Parameter defaults sent to GCS with param FTP and recorded in onboard logs
|
|
c) ROS+ArduPilot environment installation script
|
|
d) Sim on Hardware allows simulator to run on autopilot (good for exhibitions)
|
|
e) Timer info available in real-time using @SYS/timers.txt
|
|
------------------------------------------------------------------
|
|
Rover 4.2.3 30-Aug-2022
|
|
Changes from 4.2.3-rc3
|
|
1) OpenDroneId bug fix to consume open-drone-id-system-update message
|
|
------------------------------------------------------------------
|
|
Rover 4.2.3-rc3 20-Aug-2022
|
|
Changes from 4.2.3-rc2
|
|
1) OpenDroneId improvements including reporting if operator location is lost
|
|
2) Firmware ID and CRC check (disabled by default)
|
|
3) Bug Fixes
|
|
a) Revert Notch filter ordering on loss of RPM source (see 4.2.3-rc1's 3g below) because fix is incomplete
|
|
------------------------------------------------------------------
|
|
Rover 4.2.3-rc2 13-Aug-2022
|
|
Changes from 4.2.3-rc1
|
|
1) BlueRobotics Navigator autopilot filesystem fix
|
|
------------------------------------------------------------------
|
|
Rover 4.2.3-rc1 12-Aug-2022
|
|
Changes from 4.2.2
|
|
1) OpenDroneId support (aka RemoteID)
|
|
2) New autopilot support
|
|
a) CubeOrange+
|
|
b) Foxeer Reaper F745
|
|
c) MFE PixSurveyA1
|
|
d) Pixhawk6C and Pixhawk6X
|
|
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) PreArm check of Rangefinder pin conflict and servo outputs
|
|
i) SCurve logs debug if internal error occurs
|
|
j) WSL2 upload fixed (developer issue only)
|
|
------------------------------------------------------------------
|
|
Rover 4.2.2 28-Jun-2022 / 4.2.2-rc1 21-Jun-2022
|
|
Changes from 4.2.1
|
|
1) MambaH743v4 and MambaF405 MK4 autopilot support
|
|
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)
|
|
5) Watchdog (caused by hardfault) saves crash dump logs to SD card
|
|
6) Bug fixes
|
|
a) CRSF protection against watchdog on bad frames
|
|
b) CRSF reset in flight handled
|
|
c) FFT init watchdog fix when ARMING_REQUIRE=0
|
|
d) OSD flight modes menu includes newer flight modes
|
|
e) Param download (via MAVFTP) fixed for params with overlapping names
|
|
f) PWM rangefinder bug fix and added SCALING parameter support
|
|
g) Replay bug fix when EK3_SRCs changed
|
|
h) SERIALx_OPTION fix when "Don't forward mavlink to/from" selected (resolves MAVLink gimbal detection)
|
|
i) VL53L1X rangefinder preserves addresses
|
|
------------------------------------------------------------------
|
|
Rover 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) Luftan EFI measures fuel consumption (see EFI_COEF1, EFI_COEF2)
|
|
4) Bug fixes
|
|
b) CAN ESCs work on boards with no safety switch (e.g. MatekH743)
|
|
b) Inflight Compass calibration checks GSF yaw estimate is good
|
|
c) NeoPixel colour fix
|
|
------------------------------------------------------------------
|
|
Rover 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) Bug fixes
|
|
a) Log file list with over 500 logs fixed
|
|
b) RSSI when using IOMCU pin 103 fixed
|
|
------------------------------------------------------------------
|
|
Rover 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
|
|
------------------------------------------------------------------
|
|
Rover 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) INS_NOTCH parameters renamed to INS_HNTC2
|
|
d) Matek F765-Wing-bdshot firmware added
|
|
e) Matek H743 supports ICM42688
|
|
f) QiotekZealot H743 supports ICM4xxxx
|
|
g) Scripting heap size increased to 100k on F7/H7
|
|
h) 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)
|
|
------------------------------------------------------------------
|
|
Rover 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
|
|
------------------------------------------------------------------
|
|
Rover 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)
|
|
2) Bug fixes
|
|
a) Balance bot stands in acro mode even with no GPS
|
|
b) Battery remaining percentage fixed when using Sum battery
|
|
c) DShot reversal bug with IOMCU based boards (see SERVO_BLH_RVMASK)
|
|
d) DShot commands fixed (could cause random motor movements)
|
|
e) GPS blending fix that could have resulted in the wrong GPS being used for a short time
|
|
f) Param conversion bug (impacted airspeed enable)
|
|
g) RC handover between IOMCU RC input and a secondary RC input on a serial port fixed
|
|
h) QioTek Zealot H743 SLCAN port and relays fixed
|
|
------------------------------------------------------------------
|
|
Rover 4.2.0-beta2 10-Mar-2022
|
|
Changes from 4.2.0-beta1
|
|
1) Follow mode supports FOLLOW_TARGET message (sent by QGC ground station)
|
|
2) 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) Sailboats loiter fix (could get stuck pointing directly into the wind)
|
|
g) SPRacingH7 firmware install fix
|
|
------------------------------------------------------------------
|
|
Rover 4.2.0-rc1 28-Feb-2022
|
|
Changes from 4.1.5
|
|
1) AHRS/EKF improvements
|
|
a) EKF startup messages reduced
|
|
b) LORD Microstrain CX5/GX5 external AHRS support
|
|
c) ModalAI VOXL non-GPS system supported (set VISO_TYPE=3, uses ODOMETRY mavlink msg)
|
|
2) Rover specific enhancements
|
|
a) AIS support
|
|
b) Attitude control gains defaults reduced
|
|
- ATC_STR_ANG_P reduced to 2
|
|
- ATC_STR_RAT_MAX reduced to 120 deg/sec
|
|
- ATC_STR_ACC_MAX reduced to 120 deg/sec
|
|
- ATC_ACCEL_MAX reduced to 1m/s
|
|
c) Boats loiter by default at end of mission (see MIS_DONE_BEHAVE parameter)
|
|
d) DPTH message supports multiple rangefinders
|
|
e) Omni motor saturation improvement (scaling applied evenly to all motors)
|
|
f) Pivot turn overshoot reduced (would happen with bad combination of ATC_STR_ACC_MAX and ATC_STR_ANG_P)
|
|
g) Speed control improvement when motor hits limits (especially when MOT_SLEWRATE was set to a low number)
|
|
h) Speed control PID logging and reporting includes FF
|
|
i) Stops maintain zero turn rate (previously steering was straight but trim could lead to turning)
|
|
j) Torqeedo motor support
|
|
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) Script logged to onboard log (can be disabled by setting SCR_DEBUG_OPTS)
|
|
f) Set_turn_rate_and_speed control support
|
|
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) Parachute option to leave servo in open position (see CHUTE_OPTIONS parameter)
|
|
c) Pre-arm check of IMU heater temp
|
|
d) Pre-arm check of rangefinder health
|
|
e) Pre-arm check that not in RC/throttle failsafe
|
|
7) Sensor driver enhancements
|
|
a) ADIS16470, ADIS16507 and BMI270 IMU support
|
|
b) AK09918 compass support
|
|
c) Battery monitor supports voltage offset (see BATTx_VLT_OFFSET)
|
|
d) Benewake TFMiniPlus I2C address defaults correctly
|
|
e) Buzzer can be connected to any GPIO on any board
|
|
f) Compass calibration (in-flight) uses GSF for better accuracy
|
|
g) CRSFv3 support, CSRF telemetry link reports link quality in RSSI
|
|
h) Cybot D1 Lidar
|
|
i) DroneCan (aka UAVCAN) battery monitors support scaling (see BATTx_CURR_MULT)
|
|
j) DroneCan (aka UAVCAN) GPS-for-yaw support
|
|
k) Electronic Fuel Injection support incl Lutan EFI
|
|
l) FETtecOneWire resyncs if EMI causes lost bytes
|
|
m) Hondex underwater sonar custom message support
|
|
n) IMU heater params renamed to BRD_HEAT_xxx
|
|
o) Lightware SF40C ver 0.9 support removed (ver 1.0 and higher still supported)
|
|
p) Maxbotix serial sonar driver support RNGFNDx_SCALING parameter to support for varieties of sensor
|
|
q) MPPT solar charge controller support
|
|
r) MTK GPS driver removed
|
|
s) Ping200x support
|
|
t) Proximity sensor min and max range (see PRX_MIN, PRX_MAX)
|
|
u) QSPI external flash support
|
|
v) uLanding (aka USD1) radar provides average of last few samples
|
|
w) Unicore NMEA GPS support for yaw and 3D velocity
|
|
8) Other System enhancements
|
|
a) Board ID sent in AUTOPILOT_VERSION mavlink message
|
|
b) DO_SET_CAM_TRIG_DIST supports instantly triggering camera
|
|
c) DJI FPV OSD multi screen and stats support
|
|
d) GPIO pin configured by setting SERVOx_FUNCTION to -1 (also see SERVO_GPIO_MASK. BRD_PWM_COUNT removed)
|
|
e) GPIO pin support on main outputs on boards with IOMCU
|
|
f) GyroFlow logging (see LOG_BITMASK's "VideoStabilization" option)
|
|
g) Firmware version logged in VER message
|
|
h) Log rate limiting to more easily reduce log sizes (see LOG_FILE_RATEMAX parameter)
|
|
i) SD card format via MAVLink
|
|
j) Serial port option to disable changes to stream rate (see SERIALx_OPTIONS)
|
|
k) Serial port passthrough via USB supports baud rate changes (eases UBlox F9P firmware updates)
|
|
l) VIBE logging units to m/s/s
|
|
9) Bug fixes
|
|
a) Auto mode infinite loop with nav commands that fail to start fixed
|
|
b) BLHeli passthrough reliability improvements
|
|
c) Compass learning (inflight) fixed to ignore unused compasses (e.g. those with COMPASS_USE = 0)
|
|
d) EKF resets due to bad IMU data occur at most once per second
|
|
e) GPIO pin fix on CubeOrange, F4BY, mRoControlZeroF7, R9Pilot
|
|
f) MAVlink2 serial ports always send MAVLink2 messages (previously waited until other side sent MAVLink2)
|
|
g) Omnibusf4pro bi-directional dshot fix
|
|
h) Real-Time-Clock (RTC) oldest possible date updated to Jan-2022
|
|
------------------------------------------------------------------
|
|
Rover 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022
|
|
Changes from 4.1.4
|
|
1) Revert SBUS RC frame gap change from 4.1.4
|
|
------------------------------------------------------------------
|
|
Rover 4.1.4 08-Feb-2022 / 4.1.4-rc1 31-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) IMU logging fix for IREG message (records IMU register changes)
|
|
d) SBUS RC frame gap increased to better handle some new receivers
|
|
e) SERVOx_FUNCTION protection to avoid memory overwrite if set too high
|
|
f) SD card init triggering watchdog fixed
|
|
------------------------------------------------------------------
|
|
Rover 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) SmartAudio high CPU load fix (previously it could starve other threads of CPU)
|
|
b) Debug pins disabled by default to prevent rare inflight reset due to electrostatic discharge
|
|
c) EKF3 reset causing bad accel biases fixed
|
|
d) RC protocol detection fix that forced PH4-mini users to powerup autopilot before transmitter
|
|
------------------------------------------------------------------
|
|
Rover 4.1.3-rc1 18-Dec-2021
|
|
Changes from 4.1.2
|
|
1) CUAV-X7 servo voltage detection support
|
|
2) Bug fixes
|
|
a) Main loop delay fix for boards with 16 bit timers (could affect smaller boards like those from MatekSys)
|
|
b) Polygon Fence upload fix when replacing fence with one that has fewer points
|
|
------------------------------------------------------------------
|
|
Rover 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) APM/LOGS directory creation fixed on some boards
|
|
b) EKF3 fix to switch to non-zero primary core when disarmed
|
|
------------------------------------------------------------------
|
|
Rover 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) Bug Fixes
|
|
a) MAVFTP init fix (could cause slow parameter download)
|
|
b) Scripting fix when logging strings
|
|
c) Serial flow control fix (affected at least Lightware LW20 serial lidar)
|
|
d) QiotekZealotF427 IMU (ICM42605) orientation fixed
|
|
------------------------------------------------------------------
|
|
Rover 4.1.0 20-Sep-2021 / 4.1.0-rc3 15-Sep-2021
|
|
Changes from 4.1.0-rc2
|
|
1) Bug Fixes
|
|
a) Serial port auto detection of flow control fix
|
|
------------------------------------------------------------------
|
|
Rover 4.1.0-rc2 10-Sep-2021
|
|
Changes from 4.1.0-rc1
|
|
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)
|
|
2) Bug Fixes
|
|
a) CRSF frame timeout increased to reduce RC failsafes
|
|
b) Declination automatic lookup rounding fix (caused inaccurate declination in some parts of world)
|
|
c) DShot (bi-directional) support on Pixhawk4, CUAVv5, CUAVv5-Nano
|
|
d) IMU semaphore fix to avoid occasional corruption
|
|
e) QioTek Zealot F427 GPIO pin fix
|
|
f) Replay/DAL RMGH log message format fix
|
|
g) Rangefinder initial buffer size and baudrate fix (affected Aintein US-D1 radar)
|
|
------------------------------------------------------------------
|
|
Rover 4.1.0-rc1 28-Aug-2021
|
|
Changes from 4.1.0-beta7
|
|
1) Enhancements
|
|
a) DCM fallback easier on boats
|
|
b) Flywoo F745 Goku Nano support
|
|
c) MatekF765-Wing support
|
|
2) Bug Fixes
|
|
a) ChibiOS scheduling slip workaround to avoid occasional 60ms delays found on MatekH7
|
|
b) EKF2 divide-by-zero protection when using optical flow (issue only found in simulator)
|
|
c) External AHRS (e.g. VectorNav driver) init fix
|
|
d) KakuteF4Mini SBUS fix
|
|
e) Pixhawk4 blue and red LEDs swapped
|
|
------------------------------------------------------------------
|
|
Rover 4.1.0-beta7 14-Aug-2021
|
|
Changes from 4.1.0-beta6
|
|
1) Enhancements
|
|
a) Flywoo F745 supports external I2C compasses
|
|
b) GPS-for-yaw arming check added
|
|
c) GPS_DRV_OPTIONS allows forcing UBlox GPS to 115200 baud
|
|
d) Lua scripts can be placed in root of ROMFS (only relevant for developers)
|
|
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) Motor test stops and reports failure if arming fails
|
|
f) OSD overwrite and nullptr check fix
|
|
g) Proximity sensor pre-arm check disabled if avoidance using proximity sensors is disabled
|
|
h) RCOut banner displayed at very end of startup procedure to avoid invalid output
|
|
------------------------------------------------------------------
|
|
Rover 4.1.0-beta6 23-Jul-2021
|
|
Changes from 4.1.0-beta5
|
|
1) Enhancements
|
|
a) GPS-for-yaw enhancements including using position and yaw from different GPSs
|
|
b) Long distance travel supported (thousands of km) including double precision EKF and moving origin
|
|
2) Bug Fixes
|
|
a) BendyRuler avoidance fixed (was slow and jerky)
|
|
b) BLHeli fix that could cause failure to boot
|
|
c) CRSF message spamming and firmware string length fixed
|
|
d) Display re-enabled on 1MB boards
|
|
e) DShot always sends 0 when disarmed (protects against motors spin while disarmed due to misconfiguration)
|
|
f) DShot fix that could cause main loop jitter
|
|
g) DShot buzzer tone disabled during motor test to remove bad interation
|
|
h) Longitude wrap fix (allows autonomous flights as longitude wraps between -180 and 180 deg)
|
|
i) Log created on forced arm
|
|
j) MatekF405-bdshot NeoPixel LEDs re-enabled on PWM5
|
|
k) Serial port performance improvements using FIFO on H7 boards
|
|
--------------------------------
|
|
Rover 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) Pre-arm check of FLTMODE_CH and RCx_OPTION conflict
|
|
c) QioTekZealotH743 autopilot support
|
|
d) Scripting support for set home and get EKF origin
|
|
e) Water depth and temperature sent to GCS using WATER_DEPTH mavlink message
|
|
2) Bug fixes
|
|
a) EKF alt estimate more robust when using GPS-for-yaw
|
|
b) EKF origin altitudes consistent across cores even if user takes off with no GPS lock
|
|
c) Logging start does not affect EKF (EKF could become unhealthy due to timing delays)
|
|
d) Longitude wrap fixed (allows flying across international date line)
|
|
e) Position jump fixed during GPS glitch and GPS/Non-GPS transitions
|
|
--------------------------------
|
|
Rover 4.1.0-beta4 12-Jun-2021
|
|
Changes from 4.1.0-beta3
|
|
1) Rover/Boat specific enhancements and bug fixes
|
|
a) DShot support fixed
|
|
b) Simple Avoidance fix to allow backing away from obstacles
|
|
c) THR onboard log message logs forward-back acceleration
|
|
d) Waypoint delay of -1 does not delay
|
|
2) 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
|
|
3) 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) ESC telemetry fixes including motor index on boards with I/O mcu
|
|
e) I/O MCU reset fix if user had disabled safety switch (recovery from reset would leave motors not spinning)
|
|
f) MSP temperature scaling fixed
|
|
g) PreArm check of roll/pitch and yaw angle difference fixed
|
|
h) Serial port info file (@SYS/uarts.txt) easier to understand
|
|
i) Scheduler fix of premature run of tasks every 11min
|
|
j) Visual odometry yaw alignment fixed
|
|
k) WPNAV_RADIUS never less than 5cm
|
|
--------------------------------
|
|
Rover 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)
|
|
--------------------------------
|
|
Rover 4.1.0-beta2 20-May-2021
|
|
Changes from 4.1.0-beta1
|
|
1) Rover/Boat specific enhancements and bug fixes
|
|
a) Direct mast rotation logging
|
|
b) RangeFinder logging enabled (RFND)
|
|
c) Shaking reduced when vehicle stopped by simple avoidance
|
|
d) Sonar water temperature logged in DPTH message
|
|
e) TURN_MAX_G renamed to ATC_TURN_MAX_G and applied to all turns
|
|
f) Wind direction calculation when not using wind speed sensor fixed
|
|
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
|
|
5) Other enhancements
|
|
a) Auxiliary function logging shows how it was invoked (switch, button or scripting)
|
|
b) External IST8308 compass supported on CubeBlack
|
|
c) FrSky telem reports failsafe, terrain alt health and fence status
|
|
d) OSD gets fence icon
|
|
e) RunCam OSD and camera control
|
|
f) 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
|
|
--------------------------------
|
|
Rover 4.1.0-beta1 08-Apr-2021
|
|
Changes from 4.0.0
|
|
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 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
|
|
2) Control improvements:
|
|
a) Vectored thrust improvements (see MOT_VEC_ANGLEMAX parameter)
|
|
b) Skid-steering supports prioritising steering vs throttle (see MOT_STR_THR_MIX parameter)
|
|
3) Walking robot support (basic)
|
|
4) Object avoidance:
|
|
a) BendyRuler hesitancy improvements
|
|
b) Intel Realsense 435/455 camera support (companion computer required)
|
|
c) Return to original path after clearing obstacle (see OA_OPTIONS parameter)
|
|
d) Simple avoidance backs away from obstacles (see AVOID_BACKUP_SPD parameter)
|
|
e) Simple avoidance accel limited (see AVOID_ACCEL_MAX parameter)
|
|
f) Simultaneous Dijkstra and BendyRuler path planning
|
|
g) Obstacle database now 3D
|
|
h) Obstacle filtering improvements
|
|
5) Compass enhancements
|
|
a) In-flight learning improvements (see COMPASS_LEARN = 3)
|
|
b) Large vehicle calibration support (e.g. point vehicle north and push button in MP)
|
|
c) Prioritisation (see MP's compass prioritisation table)
|
|
d) Custom orientations
|
|
6) 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
|
|
7) New autopilot boards
|
|
a) CUAV-Nora, CUAV-X7
|
|
b) FlywooF745
|
|
c) Holybro Pix32v5
|
|
d) iFlight BeastF7 and BeastH7
|
|
e) MatekH743
|
|
f) mRo ControlZero, Nexus, PixracerPro
|
|
g) R9Pilot
|
|
h) SuccexF4
|
|
i) QioTekZealotF427
|
|
8) IMU improvements:
|
|
a) temperature calibration
|
|
b) faster gyro sampling on high performance autopilots (F7 and faster, see INS_GYRO_RATE)
|
|
9) 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
|
|
10) Scripting enhancements:
|
|
a) Button, Proximity, RangeFinder and 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 (used for walking robots)
|
|
g) Position, velocity and direct steering & throttle control while in Guided mode
|
|
h) Pre-arm checks (i.e. allows writing custom pre-arm checks in Lua)
|
|
i) ROMFS support (allows writing scripts to ROMFS instead of SD Card)
|
|
j) Serial port support (allows reading/writing to serial port from Lua)
|
|
k) ToshibaCAN ESC usage time read support
|
|
11) 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) MAV_CMD_DO_REPOSITION support
|
|
h) MAVFTP performance improvements
|
|
i) Parameter reset workaround by backing-up and restoring old params after eeprom corruption
|
|
j) Sailboats get arming check for windvane health
|
|
k) Simple mode supports two paddle input
|
|
l) Speed nudging in Auto made more consistent with Acro (i.e. same stick position results in same speed)
|
|
m) Spektrum VTX control
|
|
n) Switch to Manual mode after mission completes (see MIS_DONE_BEHAVIOR parameter)
|
|
12) Bug fixes:
|
|
a) Arming rejected in RTL, SmartRTL and Initializing modes
|
|
b) CAN GPS ordering fix (previously order could switch meaning GPS_POS_ params were used on the wrong GPS)
|
|
c) Logging reliability improvements
|
|
d) RM3100 compass scaling fixed
|
|
e) Speed control jumps avoided by resetting I-term when stopped
|
|
f) Throttle slew rate fix (MOT_SLEWRATE param)
|
|
g) Two paddle steering deadzone fix
|
|
h) Wheel encoder fix (data could be skipped)
|
|
--------------------------------
|
|
Rover 4.0.0 26-Nov-2019 / 4.0.0-rc4 20-Nov-2019
|
|
Changes from 4.0.0-rc3
|
|
1) Lightware SF40c lidar driver for latest version
|
|
2) UBlox F9 GPS automatic configuration
|
|
3) UAVCAN RTK GPS support
|
|
4) Bug Fixes:
|
|
a) Auxiliary switch support for RTL, SmartRTL fixed
|
|
b) Fence health reporting relaxed (was showing Fence Breach when fence was not setup)
|
|
c) RangeFinder type parameter clarified for Benewake lidar
|
|
d) Barometer PROBE_EXT parameter description improvement
|
|
e) Pixhawk4 board LED brightness fix
|
|
--------------------------------
|
|
Rover 4.0.0-rc3 08-Nov-2019
|
|
Changes from 4.0.0-rc2
|
|
1) IMU heater control parameters (see BRD_IMUHEAT_P/I params)
|
|
2) Bug Fixes:
|
|
a) DO_CHANGE_SPEED fix (was being ignored)
|
|
b) SET_YAW_SPEED in Guided mode made consistent with Auto mission command handling (yaw in degrees, speed in m/s)
|
|
c) BLHeli fix to RPM calcs and telemetry (aka 0x8000 error)
|
|
d) Fence upload is less strict about altitude types (fences don't have altitudes)
|
|
e) Pre-arm message fix to reports AHRS/EKF issue (was blank)
|
|
f) Sparky2 autopilot firmware available
|
|
g) Startup message "AK09916: Unable to get bus semaphore" removed (was not an error)
|
|
--------------------------------
|
|
Rover 4.0.0-rc2 24-Oct-2019
|
|
Changes from 4.0.0-rc1
|
|
1) Vehicle stays in Auto mode after completing missions using RTL-within-Auto, Hold-within-Auto
|
|
2) Sailboat gets dedicated parameters SAIL_LOIT_RADIUS and SAIL_XTRACK_MAX
|
|
3) RTL/SmartRTL fixes:
|
|
a) Boats loiter instead of circling at end of RTL/SmartRTL
|
|
b) Warning sent to GCS when SmartRTL buffer is nearly full
|
|
4) OSD improvements including total distance fix for slow vehicles
|
|
5) Bug Fixes and minor enhancements
|
|
a) Wheel encoder fix to use both wheel encoders (if present)
|
|
b) EKF failsafe and pre-arm checks when only wheel encoders used for non-GPS navigation
|
|
c) Follow mode offsets reset to zero when vehicle leaves follow mode
|
|
d) FS_OPTIONS parameter allows enabling failsafes to trigger while in Hold mode
|
|
--------------------------------
|
|
Rover 4.0.0-rc1 01-Oct-2019
|
|
Changes from 3.5.2
|
|
1) Path Planning for Object Avoidance (aka Bendy Ruler and Dijkstra's) replaces "Dodge" avoidance
|
|
2) Complex Fence support (aka stay-out zones)
|
|
3) Flight mode changes:
|
|
a) LOIT_SPEED_GAIN provides tuning of loiter mode aggressiveness
|
|
b) NAV_DELAY command support for clock-based start of mission commands
|
|
c) Simple mode (was present in 5.1 but was undocumented and untested)
|
|
d) SPEED_MIN parameter allows setting minimum speed during missions (reducing slow down at corners)
|
|
4) Sailboat improvements:
|
|
a) motor support
|
|
b) tacking improvements
|
|
c) NMEA windvanes
|
|
5) New flight controllers:
|
|
a) Hex Cube Orange
|
|
b) Holybro Durandal
|
|
6) Sensor and peripheral related changes
|
|
a) Fuel flow battery battery types
|
|
b) IBUS R/C input support
|
|
c) "Inflight" compass calibration
|
|
d) NTF_BUZZ_VOLUME allows controlling buzzer volume
|
|
e) OSD support
|
|
f) UAVCAN improvements including dynamic node allocation
|
|
g) WS2812 LEDs
|
|
h) Yaw from some GPSs
|
|
7) Safety Improvements:
|
|
a) Improved watchdog logging allows distinguishing between brown-outs from software failures
|
|
--------------------------------
|
|
Rover 3.5.2 24-Sep-2019
|
|
Changes from 3.5.1
|
|
1) fixed I2C storm lockup bug on ChibiOS
|
|
--------------------------------
|
|
Rover 3.5.1 17-May-2019 / 3.5.1-rc1 30-Apr-2019
|
|
Changes from 3.5.0
|
|
1) WHEEL_DISTANCE mavlink messages sent to ground station and companion computers
|
|
2) Bug fixes:
|
|
a) EKF compass switching fix for vehicles with 3 compasses
|
|
b) Guided's heading-and-speed controller no longer uses land based speed control
|
|
c) Pre-arm check fix that all required motors for the frame are configured
|
|
d) Prevent loss of active IMU from causing loss of attitude control
|
|
e) Added startup check for Hex CubeBlack sensor failure
|
|
f) don't reset INS_ENABLE_MASK based on found IMUs
|
|
--------------------------------
|
|
Rover 3.5.0 06-Feb-2019
|
|
Changes from 3.5.0-rc3
|
|
1) Bug fixes and minor enhancements
|
|
a) Avoid potential divide-by-zero when waypoints are almost in a straight line
|
|
b) LOIT_TYPE parameter description fix
|
|
--------------------------------
|
|
Rover 3.5.0-rc3 30-Jan-2019
|
|
Changes from 3.5.0-rc2
|
|
1) Fix build issue affecting fmuv2
|
|
--------------------------------
|
|
Rover 3.5.0-rc2 24-Jan-2019
|
|
Changes from 3.5.0-rc1
|
|
1) ChibiOS fixes and enhancements to many boards including Pixhawk4
|
|
2) EKF failsafe added and checked before entering autonomous modes
|
|
3) Object avoidance enabled in autonomous modes (Auto, Guided, RTL)
|
|
4) Cruise speed/throttle learning always runs for 2 seconds (saves user from having to lower switch)
|
|
5) Boats hold position after reaching target in Auto and Guided (also see MIS_DONE_BEHAVE)
|
|
6) MAVLink message interval support (allows precise control of mavlink message update rates)
|
|
7) Bug fixes and minor enhancements:
|
|
a) DShot ESC support
|
|
b) Auxiliary switch 7 parameter copy from CH7_OPTION to RC7_OPTION
|
|
c) Wheel encoder offset fix
|
|
d) SmartRTL default num points increased to 300
|
|
--------------------------------
|
|
Rover 3.5.0-rc1 12-Nov-2018
|
|
Changes from 3.4.2:
|
|
1) ChibiOS provides improved performance and support for many new boards including:
|
|
a) F4BY
|
|
b) TauLabs Sparky2
|
|
c) Furious FPV F-35 lightening and Wing FC-10
|
|
d) Holybro KakuteF4
|
|
e) Mateksys F405-Wing
|
|
f) Omnibus F4 Pro, NanoV6 and F7
|
|
g) SpeedyBee F4
|
|
2) BalanceBot support
|
|
3) Sailboat support
|
|
4) OmniPlus, OmniX frame support (vehicles can move laterally using 4 thrusters or wheels)
|
|
5) Auxiliary Switches expanded to many channels (see RCx_OPTION parameters)
|
|
6) External position estimates accepted from ROS and Vicon systems
|
|
7) Mode changes:
|
|
a) Follow mode (allows following another vehicle if connected via telemetry)
|
|
b) Simple mode (pilot controls direction regardless of vehicle's heading)
|
|
c) Loiter can be configured to always drive towards target (i.e. does not reverse) (see LOIT_TYPE parameter)
|
|
d) Guided, RTL, SmartRTL will reverse towards target if DO_SET_REVERSE command received (via telemetry or as mission command)
|
|
8) Bug fixes and small enhancements:
|
|
a) RC and GCS failsafe timeout shortened
|
|
b) Object avoidance fix to include all sectors from proximity sensor (aka 360 lidar)
|
|
c) Safety switch ability to arm/disarm vehicle now configurable (see BRD_SAFETYOPTION parameter)
|
|
d) Onboard OSD support (for ChibiOS-only boards)
|
|
e) Gripper support
|
|
f) Sprayer support
|
|
--------------------------------
|
|
Rover 3.4.2 30-Jul-2018 / 3.4.2-rc1 23-Jul-2018
|
|
Changes from 3.4.1:
|
|
1) bug fix to pivot turn logic during missions
|
|
2) dataflash logging improvement to NTUN message
|
|
--------------------------------
|
|
Rover 3.4.1 04-Jul-2018 / 3.4.1-rc1 12-Jun-2018
|
|
Changes from 3.4.0:
|
|
1) lane based speed control (vehicle slows to stay close to line between waypoints), WP_OVERSHOOT replaces SPEED_TURN_GAIN
|
|
2) MOT_SPD_SCA_BASE allow configuring speed above which speed scaling begins
|
|
3) disable acceleration limits when ATC_ACCEL_MAX is zero
|
|
4) accept DO_CHANGE_SPEED commands in Auto, Guided, RTL, SmartRTL
|
|
5) DPTH dataflash log messages for recording downward facing echosounders on boats
|
|
--------------------------------
|
|
Rover 3.4.0 12-Jun-2018 / 3.4.0-rc1 01-Jun-2018
|
|
Changes from 3.3.1-rc2:
|
|
1) Loiter mode for boats
|
|
2) Omni rover support (three wheeled rover with lateral movement)
|
|
3) vision-position-estimate support for use with ROS
|
|
4) Control improvements:
|
|
a) reversing control improvements
|
|
b) ATC_DECEL_MAX allows deceleration to be faster or slower than acceleration
|
|
c) PIVOT_TURN_RATE allows slower pivot turns
|
|
d) turn-rate I-term reset when switching in from manual modes
|
|
5) NMEA Echosounder support for underwater depth monitoring
|
|
6) Bug fixes:
|
|
a) fix forward/back acceleration limiting
|
|
b) MaxsonarI2C driver fix
|
|
--------------------------------
|
|
Rover 3.3.1-rc2 12-May-2018
|
|
Changes from 3.3.1-rc1:
|
|
1) Bug fix use of ATC_STR_RAT_MAX to limit maximum turn rate
|
|
--------------------------------
|
|
Rover V3.3.1-rc1 09-May-2018
|
|
Changes from 3.3.0:
|
|
1) Vectored Thrust to improve attitude control for boats with rotating motors
|
|
2) minor changes and bug fixes:
|
|
a) remove jump forward when transitioning from forward to reverse
|
|
b) safety switch allows disarming motors (was disabled in 3.3.0)
|
|
--------------------------------
|
|
Rover V3.3.0 07-May-2018
|
|
Changes from 3.3.0-rc1:
|
|
1) default parameter changes
|
|
a) TURN_MAX_G reduced from 1.0 to 0.6
|
|
b) ATC_STR_ANG_P increased from 1.0 to 2.5 (converts angle error to desired turn rate during pivot turns)
|
|
c) ATC_STR_ACC_MAX reduced from 360 to 180 deg/s/s (slows acceleration in pivot turns)
|
|
--------------------------------
|
|
Rover V3.3.0-rc1 19-Apr-2018
|
|
Changes from 3.2.3:
|
|
1) Simple object avoidance support
|
|
2) Circular and polygon fence support
|
|
3) Pivot turn improvements
|
|
a) Heading control used to aim at new target
|
|
b) ATC_STR_ACC_MAX limits maximum rotational acceleration
|
|
c) ATC_STR_RAT_MAX limits maximum rotation rate
|
|
4) Allow ACRO mode without GPS for skid-steering vehicles (reverts to manual throttle)
|
|
5) MOT_THR_MIN used as deadzone
|
|
6) Parameter default changes:
|
|
a) PIVOT_TURN_ANGLE default raised from 30 to 60 degrees
|
|
b) ATC_STR_RAT_P and I reduced to 0.2
|
|
c) ATC_STR_RAT_FILT and ATC_SPEED_FILT reduced from 50hz to 10hz to better match vehicle response time
|
|
7) Boats report themselves as boats allowing ground stations to display boat icon on map
|
|
8) ChibiOS support
|
|
--------------------------------
|
|
Rover V3.2.3 09-Apr-2018 / V3.2.3-rc1/rc2 02-Apr-2018
|
|
Changes from 3.2.2:
|
|
1) Waypoint origin uses previous waypoint or vehicle stopping point
|
|
2) Boats send correct mav-type to ground station
|
|
3) TURN_MAX_G parameter description updates (allows lower values)
|
|
4) fix two-paddle input decoding
|
|
--------------------------------
|
|
Rover V3.2.2 19-Mar-2018 / V3.2.2-rc1 08-Mar-2018
|
|
Changes from 3.2.1:
|
|
1) Fix loss of steering control when stopping in Acro and Steering modes
|
|
--------------------------------
|
|
APM:Rover V3.2.1 29-Jan-2018 / V3.2.1-rc1 24-Jan-2018
|
|
Changes from 3.2.0:
|
|
1) Fix mode switch logic to allow Auto, Guided, RTL, SmartRTL, Steering, Acro using non-GPS navigation (i.e. wheel encoders, visual odometry)
|
|
--------------------------------
|
|
APM:Rover V3.2.0 13-Jan-2018
|
|
Changes from 3.2.0-rc4:
|
|
1) Here GPS/compass default orientation fix (ICM20948)
|
|
2) PID values sent to ground station regardless of mode (see GCS_PID_MASK parameter)
|
|
3) Steering PID min and max ranges expanded
|
|
4) Mavlink message definition update
|
|
--------------------------------
|
|
APM:Rover V3.2.0-rc4 05-Jan-2018
|
|
Changes from 3.2.0-rc3:
|
|
1) Steering controller supports feed-forward (reduces wobble)
|
|
2) WP_SPEED, RTL_SPEED parameters allow speed independent of CRUISE_SPEED
|
|
3) Dataflash logging improvements for steering and throttle
|
|
4) Remove auto-trim at startup
|
|
5) GPS reports healthy even without 3d lock
|
|
---------------------------------
|
|
APM:Rover V3.2.0-rc3 05-Dec-2017
|
|
Changes from 3.2.0-rc2:
|
|
1) SmartRTL mode (retraces path back to home)
|
|
2) Acro mode (pilot controls speed and turn rate)
|
|
3) Guided mode ROS integration fixes
|
|
4) Steering mode allows pivot turns
|
|
5) Auto mode pivots on sharp corners
|
|
6) Aux switch allows arming/disarming and mode change
|
|
7) PILOT_STEER_TYPE parameter allows controlling turn direction when backing up
|
|
8) Mixer change to allow steering to use full motor range (removes need for MOT_SKID_FRIC)
|
|
---------------------------------
|
|
APM:Rover V3.2.0-rc2 28-Oct-2017
|
|
Changes from 3.2.0-rc1:
|
|
1) MOT_SKID_FRIC parameter allows increasing power for skid-steer vehicle pivot-turns
|
|
2) Bug Fixes:
|
|
a) speed nudging fix in AUTO mode
|
|
b) throttle slew range fix (was slightly incorrect when output range was not 1100 ~ 1900)
|
|
c) PID desired and achieved reported to GCS when GCS_PID_MASK param set to non-zero value
|
|
d) use-pivot fix to use absolute angle error
|
|
---------------------------------
|
|
APM:Rover V3.2.0-rc1 25-Aug-2017
|
|
Changes from 3.1.2:
|
|
1) Skid-steering vehicle support added (i.e. tank track or R2D2 style vehicles)
|
|
2) Brushless motor support
|
|
3) Improved speed/throttle and steering controllers:
|
|
a) layered P and PID controllers with optional feedforward, input filtering and saturation handling (reduces unnecessary I-term build-up)
|
|
b) forward-back acceleration limited (see ATC_ACCEL_MAX parameter)
|
|
c) pro-active slowing before waypoint in order to keep overshoot at or below WP_OVERSHOOT distance
|
|
d) proper output scaling for skid-steering vs regular car steering controls
|
|
e) TURN_RADIUS parameter added to allow better control of turn in Steering mode
|
|
f) speed along forward-back axis used instead of total ground speed (resolves unusual behaviour for boats being washed downstream)
|
|
4) Auxiliary switch changes (see CH7_OPTION parameter):
|
|
a) "Save Waypoint" saves the current location as a waypoint in all modes except AUTO if the vehicle is armed. If disarmed the mission is cleared and home is set to the current location.
|
|
b) "Learn Cruise" sets the THROTTLE_CRUISE and SPEED_CRUISE parameter values to the vehicle's current speed and throttle level
|
|
5) Wheel encoder supported for non-GPS navigation (can also be used with GPS)
|
|
6) Visual Odometry support for non-GPS navigation (can also be used with GPS)
|
|
7) Guided mode improvements:
|
|
a) for SET_ATTITUDE_TARGET accepts quaternions for target heading, valid thrust changed to -1 ~ +1 range (was previously 0 ~ 1)
|
|
b) COMMAND_LONG.SET_YAW_SPEED support fixes (thrust field accepted as target speed in m/s)
|
|
c) SET_POSITION_TARGET_GLOBAL_INT, _LOCAL_NED fixes and added support for yaw and yaw-rate fields
|
|
8) Bug Fixes:
|
|
a) resolve occasional start of motors after power-on
|
|
b) steering mode turn direction fix while reversing
|
|
c) reversing in auto mode fixes (see DO_REVERSE mission command)
|
|
----------------------------------------------------------
|
|
Release 3.1.2, 15 March 2017
|
|
============================
|
|
Minor bugfix release.
|
|
|
|
- Crashing detection is off by default
|
|
- DISARMing of a rover via the transmitter stick works again
|
|
- If a user was driving in reverse in Manual and went into an AUTO
|
|
mode the rover would do the mission in reverse. This is fixed.
|
|
|
|
|
|
Release 3.1.1, 31 January 2017
|
|
==============================
|
|
Minor bugfix release for a crash bug in the SRXL driver
|
|
|
|
|
|
Release 3.1.0, 22 December 2016
|
|
===============================
|
|
The ArduPilot development team is proud to announce the release of
|
|
version 3.1.0 of APM:Rover. This is a major release with a lot of
|
|
changes so please read the notes carefully!
|
|
|
|
A huge thanks to ALL the ArduPilot developers. The Rover code
|
|
benefits tremendously from all the hard work that goes into the Copter
|
|
and Plane vehicle code. Most of the code changes in this
|
|
release were not specifically for Rover however because of the
|
|
fantastic architecture of the ArduPilot code Rover automatically gets
|
|
those enhancements anyway.
|
|
|
|
Note that the documentation hasn't yet caught up with all the changes
|
|
in this release. We are still working on that, but meanwhile if you
|
|
see a feature that interests you and it isn't documented yet then
|
|
please ask.
|
|
|
|
The PX4-v2 build has had CANBUS support removed due to firmware size
|
|
issues. If Rover users want CANBUS support you will need to install
|
|
the PX4-v3 build located in the firmware folder here:
|
|
http://firmware.ap.ardupilot.org/Rover/stable/PX4/
|
|
|
|
EKF1 has been removed as EKF2 has been the long term default and is
|
|
working extremely well and this has allowed room for EKF3.
|
|
|
|
EKF3 is included in this release but it is not the default. Should
|
|
you want to experiment with it set the following parameters:
|
|
AHRS_EKF_TYPE=3
|
|
EK3_ENABLE=1
|
|
but note it is still experimental and you must fully understand the
|
|
implications.
|
|
|
|
New GUIDED Command
|
|
------------------
|
|
Rover now accepts a new message MAV_CMD_NAV_SET_YAW_SPEED which has an
|
|
angle in centidegrees and a speed scale and the rover will drive based
|
|
on these inputs.
|
|
|
|
The ArduPilot team would like to thank EnRoute for the sponsoring of
|
|
this feature
|
|
http://enroute.co.jp/
|
|
|
|
COMMAND_INT and ROI Commands
|
|
----------------------------
|
|
COMMAND_INT support has been added to Rover. This has allowed the
|
|
implementation of SET_POSITION_TARGET_GLOBAL_INT,
|
|
SET_POSITION_TARGET_LOCAL_NED and DO_SET_ROI as a COMMAND_INT
|
|
|
|
The ArduPilot team would like to thank EnRoute for the sponsoring of
|
|
this feature
|
|
http://enroute.co.jp/
|
|
|
|
Reverse
|
|
-------
|
|
Its now possible in a mission to tell the rover to drive in
|
|
Reverse. If using Mission Planner insert a new Waypoint using "Add
|
|
Below" button on the Flight Plan screen and select from the Command
|
|
drop down list you will see a new command "DO_SET_REVERSE". It takes 1
|
|
parameter - 0 for forward, 1 for reverse. It's that simple. Please give
|
|
it a try and report back any success or issues found or any questions
|
|
as well.
|
|
|
|
The ArduPilot team would like to thank the Institute for Intelligent
|
|
Systems Research at Deakin University
|
|
(http://www.deakin.edu.au/research/iisri16) for the sponsoring of the
|
|
reverse functionality.
|
|
|
|
Loiter
|
|
------
|
|
This changes brings the LOITER commands in line with other ArduPilot
|
|
vehicles so both NAV_LOITER_UNLIM and NAV_LOITER_TIME are supported and are
|
|
actively loitering. This means for instance if you have set a boat to
|
|
loiter at a particular position and the water current pushes the boat off
|
|
that position once the boat has drifted further then the WP_RADIUS
|
|
parameter distance setting from the position the motor(s) will be
|
|
engaged and the boat will return to the loiter position.
|
|
|
|
The ArduPilot team would like to thanko MarineTech for sponsoring this
|
|
enhancement.
|
|
http://www.marinetech.fr
|
|
|
|
Note: if you currently use Param1 of a NAV_WAYPOINT to loiter at a
|
|
waypoint this functionality has not changed and is NOT actively loitering.
|
|
|
|
Crash Check
|
|
-----------
|
|
Rover can now detect a crash in most circumstances - thanks Pierre
|
|
Kancir. It is enabled by default and will change the vehicle into HOLD
|
|
mode if a crash is detected. FS_CRASH_CHECK is the parameter used to
|
|
control what action to take on a crash detection and it supports
|
|
0:Disabled, 1:HOLD, 2:HoldAndDisarm
|
|
|
|
Pixhawk2 heated IMU support
|
|
---------------------------
|
|
This release adds support for the IMU heater in the Pixhawk2,
|
|
allowing for more stable IMU temperatures. The Pixhawk2 is
|
|
automatically detected and the heater enabled at boot, with the target
|
|
IMU temperature controllable via BRD_IMU_TARGTEMP.
|
|
Using an IMU heater should improve IMU stability in environments with
|
|
significant temperature changes.
|
|
|
|
PH2SLIM Support
|
|
---------------
|
|
This release adds support for the PH2SLIM variant of the Pixhawk2,
|
|
which is a Pixhawk2 cube without the isolated sensor top board. This
|
|
makes for a very compact autopilot for small aircraft. To enable
|
|
PH2SLIM support set the BRD_TYPE parameter to 6 using a GCS connected
|
|
on USB.
|
|
|
|
AP_Module Support
|
|
-----------------
|
|
This is the first release of ArduPilot with loadable module support
|
|
for Linux based boards. The AP_Module system allows for externally
|
|
compiled modules to access sensor data from ArduPilot controlled
|
|
sensors. The initial AP_Module support is aimed at vendors integrating
|
|
high-rate digital image stabilisation using IMU data, but it is
|
|
expected this will be expanded to other use cases in future releases.
|
|
|
|
Major VRBrain Support Update
|
|
----------------------------
|
|
This release includes a major merge of support for the VRBrain family
|
|
of autopilots. Many thanks to the great work by Luke Mike in putting
|
|
together this merge!
|
|
|
|
Much Faster Boot Time
|
|
---------------------
|
|
Boot times on Pixhawk are now much faster due to a restructuring of
|
|
the driver startup code, with slow starting drivers not started unless
|
|
they are enabled with the appropriate parameters. The restructuring
|
|
also allows for support of a wide variety of board types, including
|
|
the PH2SLIM above.
|
|
|
|
This release includes many other updates right across the flight
|
|
stack, including several new features. Some of the changes include:
|
|
|
|
- log all rally points on startup
|
|
- the armed state is now logged
|
|
- support added for MAV_CMD_ACCELCAL_VEHICLE_POS
|
|
- support MAVLink based external GPS device
|
|
- support LED_CONTROL MAVLink message
|
|
- support PLAY_TUNE MAVLink message
|
|
- added AP_Button support for remote button input reporting
|
|
- support 16 channel SERVO_OUTPUT_RAW in MAVLink2
|
|
- added MAVLink reporting of logging subsystem health
|
|
- added BRD_SAFETY_MASK to allow for channel movement for selected channels with safety on
|
|
- lots of HAL_Linux improvements to bus and thread handling
|
|
- added IMU heater support on Pixhawk2
|
|
- allow for faster accel bias learning in EKF2
|
|
- added AP_Module support for loadable modules
|
|
- merged support for wide range of VRBrain boards
|
|
- added support for PH2SLIM and PHMINI boards with BRD_TYPE
|
|
- greatly reduced boot time on Pixhawk and similar boards
|
|
- fixed magic check for signing key in MAVLink2
|
|
- fixed averaging of gyros for EKF2 gyro bias estimate
|
|
- added support for ParametersG2
|
|
- support added for the GPS_INPUT mavlink message
|
|
|
|
|
|
|
|
Release 3.0.1, 17 June 2016
|
|
===========================
|
|
The ArduPilot development team is proud to announce the release of
|
|
version 3.0.1 of APM:Rover. This is a minor release with small but
|
|
important bug fix changes.
|
|
|
|
The two main motivations for this release
|
|
1. Fixing the arming for skid steering Rovers
|
|
2. Fix to the rover steering that should really improve steering of
|
|
all rovers.
|
|
|
|
Skid Steering Arming
|
|
--------------------
|
|
Fixed arming for Skid Steering rovers. You should now be able to arm
|
|
your skid steering rover using the steering stick. NOTE skid steering
|
|
Rovers - you will not be able to disarm. The reason for this is zero
|
|
throttle full left turn is a perfectly valid move for a skid steering
|
|
rover as it can turn on the spot. You don't want to be executing this
|
|
and have the rover disarm part way through your turn so we have
|
|
disabled disarming via the steering stick. You can still disarm from
|
|
the GCS. Thanks to Pierre Kancir for working on this.
|
|
|
|
Improved Steering Control
|
|
-------------------------
|
|
For historical reason's the steering controller was using the raw GPS
|
|
data for ground speed without any filtering. If you have every graphed
|
|
this data you will see on a rover its very spiky and all over the
|
|
place. This spiky'ness was feeding into the lateral accel demand and
|
|
causing inaccuracies/jitters. Now we using the EKF GPS filtered data
|
|
which is much smoother and accurate and the steering control has
|
|
greatly improved.
|
|
|
|
Improved Cornering
|
|
------------------
|
|
Previously when corning we didn't take into account any "lean or tilt"
|
|
in the rover - we assumed the turns were always flat. We have changed
|
|
this to now take into account any lean so turning should be more
|
|
accurate. Boat users should really benefit from this too.
|
|
|
|
MAVLink2 support has been added
|
|
-------------------------------
|
|
See this post by Tridge -
|
|
http://discuss.ardupilot.org/t/mavlink2-is-in-ardupilot-master/9188/1
|
|
|
|
|
|
The other changes in this release are:
|
|
|
|
- setting your sonar_trigger_cm to 0 will now log the sonar data but
|
|
not use it for vehicle avoidance.
|
|
- the throttle PID is now being logged
|
|
- range finder input is now being captured (thanks to Allan Matthew)
|
|
- added LOG_DISARMED parameter
|
|
- merge upstream PX4Firmware changes
|
|
- numerous waf build improvements
|
|
- numerous EKF2 improvements
|
|
|
|
|
|
Release 3.0.0, 5 April 2016
|
|
===========================
|
|
The ArduPilot development team is proud to announce the release of
|
|
version 3.0.0 of APM:Rover. This is a major release with a lot of
|
|
changes so please read the notes carefully!
|
|
|
|
A huge thanks to ALL the ArduPilot developers. The Rover code
|
|
benefits tremendously from all the hard work that goes into the Copter
|
|
and Plane vehicle code. Most of the code changes in this
|
|
release were not specifically for Rover however because of the
|
|
fantastic architecture of the ArduPilot code Rover automatically get's
|
|
those enhancements anyway.
|
|
|
|
Note that the documentation hasn't yet caught up with all the changes
|
|
in this release. We are still working on that, but meanwhile if you
|
|
see a feature that interests you and it isn't documented yet then
|
|
please ask.
|
|
|
|
The 3.x.x releases and above DON'T support APM1/APM2
|
|
----------------------------------------------------
|
|
This release DOES NOT SUPPORT the old APM1/APM2 AVR based boards. The
|
|
issue is the amount of effort required to keep the new code ported to
|
|
the old platforms. We are very sorry this has to occur and if there
|
|
is someone who is willing and technically capable of doing this work
|
|
then please let us know.
|
|
There will be a discussion created on ArduPilot forums where people
|
|
can request features in the new code be backported to the APM code to
|
|
run on the AVR boards and if it is reasonably easy and they are
|
|
willing to do the beta testing we will do our best to make it happen.
|
|
|
|
EKF2 - New Kalman Filter
|
|
------------------------
|
|
Paul Riseborough has been working hard recently on the new
|
|
EKF2 variant which fixes many issues seen with the old estimator. The
|
|
key improvements are:
|
|
|
|
- support for separate filters on each IMU for multi-IMU boards
|
|
(such as the Pixhawk), giving a high degree of redundency
|
|
- much better handling of gyro drift estimation, especially on
|
|
startup
|
|
- much faster recovery from attitude estimation errors
|
|
|
|
After extensive testing of the new EKF code we decided to make it the
|
|
default for this release. You can still use the old EKF if you want to
|
|
by setting AHRS_EKF_TYPE to 1, although it is recommended that the new
|
|
EKF be used for all vehicles.
|
|
|
|
In order to use the EKF we need to be a bit more careful about the
|
|
setup of the vehicle. That is why we enabled arming and pre-arm checks
|
|
by default. Please don't disable the arming checks, they are there for
|
|
very good reasons.
|
|
|
|
UAVCAN new protocol
|
|
-------------------
|
|
The uavcan change to the new protocol has been a long time coming, and
|
|
we'd like to thank Holger for both his great work on this and his
|
|
patience given how long it has taken to be in a release. This adds
|
|
support for automatic canbus node assignment which makes setup much
|
|
easier, and also supports the latest versions of the Zubax canbus GPS.
|
|
|
|
Support for 4 new Boards
|
|
------------------------
|
|
The porting of ArduPilot to more boards continues, with support
|
|
for 3 new boards in this release. They are:
|
|
|
|
- the BHAT board
|
|
- the PXFmini
|
|
- the QualComm Flight
|
|
- the Pixracer
|
|
|
|
More information about the list of supported boards is available here:
|
|
https://ardupilot.org/copter/docs/common-autopilots.html
|
|
|
|
Startup on a moving platform
|
|
----------------------------
|
|
One of the benefits of the new EKF2 estimator is that it allows for
|
|
rapid estimation of gyro offset without doing a gyro calibration on
|
|
startup. This makes it possible to startup and arm on a moving
|
|
platform by setting the INS_GYR_CAL parameter to zero (to disable gyro
|
|
calibration on boot). This should be a big help for boats.
|
|
|
|
Improved Camera Trigger Logging
|
|
-------------------------------
|
|
This release adds new CAM_FEEDBACK_PIN and CAM_FEEDBACK_POL
|
|
parameters. These add support for separate CAM and TRIG log messages,
|
|
where TRIG is logged when the camera is triggered and the CAM message
|
|
is logged when an external pin indicates the camera has actually
|
|
fired. This pin is typically based on the flash hotshoe of a camera
|
|
and provides a way to log the exact time of camera triggering more
|
|
accurately. Many thanks to Dario Andres and Jaime Machuca for their
|
|
work on this feature.
|
|
|
|
PID Tuning
|
|
----------
|
|
You can now see the individual contributions of the P, I and D
|
|
components for the Steering PID in the logs (PIDY), allowing you to
|
|
get a much better picture of the performance.
|
|
|
|
Vibration Logging
|
|
-----------------
|
|
This release includes a lot more options for diagnosing vibration
|
|
issues. You will notice new VIBRATION messages in MAVLink and VIBE
|
|
messages in the dataflash logs. Those give you a good idea of your
|
|
(unfiltered) vibration levels. For really detailed analysis you can
|
|
setup your LOG_BITMASK to include raw logging, which gives you every
|
|
accel and gyro sample on your Pixhawk. You can then do a FFT on the
|
|
result and plot the distribution of vibration level with
|
|
frequency. That is great for finding the cause of vibration
|
|
issues. Note that you need a very fast microSD card for that to work!
|
|
|
|
More Sensors
|
|
------------
|
|
This release includes support for a bunch more sensors. It now supports
|
|
3 different interfaces for the LightWare range of Lidars (serial, I2C
|
|
and analog), and also supports the very nice Septentrio RTK
|
|
dual-frequency GPS (the first dual-frequency GPS we have support
|
|
for). It also supports the new "blue label" Lidar from Pulsed Light
|
|
(both on I2C and PWM).
|
|
|
|
For the uBlox GPS, we now have a lot more configurability of the
|
|
driver, with the ability to set the GNSS mode for different
|
|
constellations. Also in the uBlox driver we support logging of the raw
|
|
carrier phase and pseudo range data, which allows for post RTK
|
|
analysis with raw-capable receivers for really accurate photo
|
|
missions.
|
|
|
|
Better Linux support
|
|
--------------------
|
|
This release includes a lot of improvements to the Linux based
|
|
autopilot boards, including the NavIO+, the PXF and ERLE boards and
|
|
the BBBMini and the new RasPilot board.
|
|
|
|
On-board compass calibrator
|
|
---------------------------
|
|
We also have a new on-board compass calibrator, which also adds calibration
|
|
for soft iron effects, allowing for much more accurate compass
|
|
calibration.
|
|
|
|
Lots of other changes!
|
|
----------------------
|
|
The above list is just a taste of the changes that have gone into this
|
|
release. Thousands of small changes have gone into this release with
|
|
dozens of people contributing. Many thanks to everyone who helped!
|
|
|
|
Other key changes
|
|
-----------------
|
|
- fixed the MAV_CMD_DO_SET_HOME (thanks salonijain12)
|
|
- fixed bug when reverse throttle would increase speed in AUTO
|
|
- fixed a bug going into guided and rover still moving
|
|
- loitering at a waypoint if Param1 is non-zero
|
|
- update uavcan to new protocol
|
|
- fixed reporting of armed state with safety switch
|
|
- added optional arming check for minimum voltage
|
|
- improved text message queueing to ground stations
|
|
- re-organisation of HAL_Linux bus API
|
|
- improved NMEA parsing in GPS driver
|
|
- improved autoconfig of uBlox GPS driver
|
|
- support a wider range of Lightware serial Lidars
|
|
- improved non-GPS performance of EKF2
|
|
- improved compass fusion in EKF2
|
|
- improved support for Pixracer board
|
|
- improved NavIO2 support
|
|
- added BATT_WATT_MAX parameter
|
|
- enable messages for MAVLink gimbal support
|
|
- use 64 bit timestamps in dataflash logs
|
|
- added realtime PID tuning messages and PID logging
|
|
- fixed a failure case for the px4 failsafe mixer
|
|
- added DSM binding support on Pixhawk
|
|
- added vibration level logging
|
|
- ignore low voltage failsafe while disarmed
|
|
- added delta velocity and delta angle logging
|
|
- allow steering disarm based on ARMING_RUDDER parameter
|
|
- prevent mode switch changes changing WP tracking
|
|
- fixed parameter documentation spelling errors
|
|
- send MISSION_ITEM_REACHED messages on waypoint completion
|
|
- enable EKF by default on rover
|
|
- Improve gyro bias learning rate for plane and rover
|
|
- Allow switching primary GPS instance with 1 sat difference
|
|
- added NSH over MAVLink support
|
|
- added support for mpu9250 on pixhawk and pixhawk2
|
|
- Add support for logging ublox RXM-RAWX messages
|
|
- lots of updates to improve support for Linux based boards
|
|
- added ORGN message in dataflash
|
|
- added support for new "blue label" Lidar
|
|
- switched to real hdop in uBlox driver
|
|
- improved auto-config of uBlox
|
|
- raise accel discrepancy arming threshold to 0.75
|
|
- improved support for tcp and udp connections on Linux
|
|
- switched to delta-velocity and delta-angles in DCM
|
|
- improved detection of which accel to use in EKF
|
|
- improved auto-detections of flow control on pixhawk UARTs
|
|
- added HDOP to uavcan GPS driver
|
|
- improved sending of autopilot version
|
|
- log zero rangefinder distance when unhealthy
|
|
- added PRU firmware files for BeagleBoneBlack port
|
|
- fix for recent STORM32 gimbal support
|
|
- changed sending of STATUSTEXT severity to use correct values
|
|
- added new RSSI library with PWM input support
|
|
- fixed MAVLink heading report for UAVCAN GPS
|
|
- support LightWare I2C rangefinder on Linux
|
|
- improved staging of parameters and formats on startup to dataflash
|
|
- added new on-board compass calibrator
|
|
- improved RCOutput code for NavIO port
|
|
- added support for Septentrio GPS receiver
|
|
- support DO_MOUNT_CONTROl via command-long interface
|
|
- added CAM_RELAY_ON parameter
|
|
- moved SKIP_GYRO_CAL functionality to INS_GYR_CAL
|
|
- new waf build system
|
|
- new async accel calibrator
|
|
- better rangefinder power control
|
|
- dataflash over mavlink support
|
|
- settable main loop rate
|
|
- hideable parameters
|
|
- improved logging for dual-GPS setups
|
|
- improvements to multiple RTK GPS drivers
|
|
- numerous HAL_Linux improvements
|
|
- improved logging of CAM messages
|
|
- added support for IMU heaters in HAL_Linux
|
|
- support for RCInput over UDP in HAL_Linux
|
|
- improved EKF startup checks for GPS accuracy
|
|
- added raw IMU logging for all platforms
|
|
- configurable RGB LED brightness
|
|
- improvements to the lsm303d driver for Linux
|
|
|
|
|
|
Release 2.50, 19 June 2015
|
|
==========================
|
|
|
|
The ardupilot development team has released version 2.50 of
|
|
APM:Rover. This release is mostly a backend improvement to ArduPilot
|
|
but a few new features and bug fixes are included.
|
|
|
|
Re-do Accelerometer Calibration
|
|
-------------------------------
|
|
Due to a change in the maximum accelerometer range on the Pixhawk all
|
|
users must re-do their accelerometer calibration for this release.
|
|
|
|
|
|
Only 3D accel calibration
|
|
-------------------------
|
|
The old "1D" accelerometer calibration method has now been removed, so
|
|
you must use the 3D accelerometer calibration method. The old method
|
|
was removed because a significant number of users had poor experiences.
|
|
|
|
|
|
Changes in this release are:
|
|
|
|
- CLI_ENABLED parameter added so the CLI can now be accessed
|
|
in Rover
|
|
- PID logging for the steering controller. It its now
|
|
possible to graph what the P, I and D are doing as your
|
|
driving the rover around to enable much better tuning of the
|
|
vehicle.
|
|
- Transition from .pde file to .cpp files for improved
|
|
development.
|
|
- GIT Submodules created for PX4Firmware, PX4Nuttx and uavcan
|
|
git repositories for improved development.
|
|
- Followme mode now works for Rover
|
|
- GUIDED mode significantly improved. If you have a GCS which is in
|
|
Followme mode if the user then changes mode with the RC transmitter to
|
|
HOLD or anything else then the Rover will STOP listening to the
|
|
Followme updated guided mode waypoints.
|
|
- When going into GUIDED mode the rover went into RTL - this
|
|
is fixed.
|
|
- Added EKF_STATUS_REPORT MAVLink message
|
|
- 64-bit timestamps in dataflash logs
|
|
- Numerous EKF improvements
|
|
- Added support for 4th Mavlink channel
|
|
- Added support for raw IMU logging
|
|
- updated Piksi RTK GPS driver
|
|
- improved support for GPS data injection (for Piksi RTK GPS)
|
|
- The SITL software in the loop simulation system has been completely
|
|
rewritten for this release. A major change is to make it possible to
|
|
run SITL on native windows without needing a Linux virtual
|
|
machine. (thanks Tridge)
|
|
|
|
|
|
|
|
Release 2.49, March 4th 2015
|
|
----------------------------
|
|
|
|
The ardupilot development team has released version 2.49 of
|
|
APM:Rover. This release is a bug fix release with two important bugs
|
|
found by Marco Walther - Thanks Marco!
|
|
|
|
The bug fixes in this release are:
|
|
|
|
- fixed a sonar problem where objects to the left wouldn't be
|
|
identified - thanks Marco Walther!
|
|
- Fixed the ordering of the AP_Notify call so the main indicator
|
|
light would be correct on startup - thanks Marco Walther!
|
|
|
|
|
|
|
|
Release 2.48, February 20th 2015
|
|
--------------------------------
|
|
|
|
The ardupilot development team has released version 2.48 of
|
|
APM:Rover. This release is a bug fix release with some important bugs
|
|
found by the users of ardupilot.
|
|
|
|
The changes in this release are:
|
|
|
|
- fixed a bug that could cause short term loss of RC control with
|
|
some receiver systems and configurations
|
|
- allowed for shorter sync pulse widths for PPM-SUM receivers on
|
|
APM1 and APM2
|
|
- fix an issue where battery reporting could be intermittent (thanks
|
|
Georgii Staroselskii!)
|
|
- fixed a mission handling bug that could cause a crash if jump
|
|
commands form an infinite loop (thanks to Dellarb for reporting
|
|
this bug)
|
|
- improved support for in-kernel SPI handling on Linux (thanks to John Williams)
|
|
- support UAVCAN based ESCs and GPS modules on Pixhawk (thanks to
|
|
Pavel, Holger and and PX4 dev team)
|
|
- Multiple updates for the NavIO+ cape on RaspberryPi (thanks to
|
|
Emlid)
|
|
- Lots of EKF changes
|
|
- added support for MAVLink packet routing
|
|
- added detection and recovery from faulty gyro and accel sensors
|
|
- added support for BBBMini Linux port
|
|
- increased number of AVR input channels from 8 to 11
|
|
- auto-set system clock based on GPS in Linux ports
|
|
- added SBUS FrSky telemetry support (thanks to Mathias)
|
|
- Added AK8963 MAG support (thanks Staroselskii Georgii)
|
|
- Added support for second battery
|
|
- Auto formatting of SDCard if it cannot be accessed on startup
|
|
- A number of significant performance improvements for the PX4 platform
|
|
|
|
The most important bug fix is the one for short term loss of RC
|
|
control. This is a very long standing bug which didn't have a
|
|
noticeable impact for most people, but could cause loss of RC control
|
|
for around 1 or 2 seconds for some people in certain circumstances.
|
|
|
|
The bug was in the the AP_HAL RCInput API. Each HAL backend has a flag
|
|
that says whether there is a new RC input frame available. That flag
|
|
was cleared by the read() method (typically hal.rcin->read()). Callers
|
|
would check for new input by checking the boolean
|
|
hal.rcin->new_input() function.
|
|
|
|
The problem was that read() was called from multiple places. Normally
|
|
this is fine as reads from other than the main radio input loop happen
|
|
before the other reads, but if the timing of the new radio frame
|
|
exactly matched the loop frequency then a read from another place
|
|
could clear the new_input flag and we would not see the new RC input
|
|
frame. If that happened enough times we would go into a short term RC
|
|
failsafe and ignore RC inputs, even in manual mode.
|
|
|
|
The fix was very simple - it is the new_input() function itself that
|
|
should clear the flag, not read().
|
|
|
|
Many thanks to MarkM for helping us track down this bug by providing
|
|
us with sufficient detail on how to reproduce it. In Marks case his
|
|
OpenLRSng configuration happened to produce exactly the worst case
|
|
timing needed to reproduce the issue. Once Tridge copied his OpenLRS
|
|
settings to his TX/RX he was able to reproduce the problem and it was
|
|
easy to find and fix.
|
|
|
|
A number of users have reported occasional glitches in manual control
|
|
where servos pause for short periods in past releases. It is likely
|
|
that some of those issues were caused by this bug. The dev team would
|
|
like to apologise for taking so long to track down this bug!
|
|
|
|
The other main change was also related to RC input. Some receivers use
|
|
a PPM-SUM sync pulse width shorter than what the APM1/APM2 code was
|
|
setup to handle. The OpenLRSng default sync pulse width is 3000
|
|
microseconds, but the APM1/APM2 code was written for a mininum sync
|
|
pulse width of 4000 microseconds. For this release we have changed the
|
|
APM1/APM2 driver to accept a sync pulse width down to 2700
|
|
microseconds.
|
|
|
|
Auto format of SD Card
|
|
======================
|
|
From time to time the SD cards in the PX4 autopilots get corrupted.
|
|
This isn't a surprise considering what we do to them. Your all
|
|
familiar with the windows "please unmount or eject your SDCard before
|
|
removing" process. Well we don't do that. In fact normal operation
|
|
is to just pull the power on the SDCard - whilst its being written
|
|
too!! Not to metion the horrible vibration rich environment the
|
|
SDCard exists in. If the autopilot is setup in the internal innards
|
|
of your plane/copter/rover this can be a nightmare to get to. To
|
|
resolve that problem Tridge has added code at startup so when
|
|
ArduPilot tries to mount to SDCard to access it - if that fails it
|
|
will then try to format the SDCard and if successful mount the card
|
|
and proceed. If the format fails then you will get the usual SOS
|
|
Audio that makes most of us want to find the buzzer and rip its heart
|
|
out.
|
|
|
|
I mention this in case anyone has precious logs saved on the SDCard or
|
|
they are using the SDCard out of their phone with their wedding
|
|
photo's on it. Probably best not to do that and assume any data on
|
|
the SDCard can be deleted.
|
|
|
|
We are also looking to add a parameter to control whether the card is
|
|
auto formatted on startup or not but it isn't in there yet.
|
|
|
|
|
|
|
|
Release 2.47, November 15th 2014
|
|
--------------------------------
|
|
|
|
The ardupilot development team is proud to announce the release of
|
|
version 2.47 of APM:Rover. This is a minor bug fix release. The most
|
|
important change in this release is the fixing of the skid steering
|
|
support but there have been a number of fixes in other areas as well.
|
|
|
|
Full changes list for this release:
|
|
|
|
- add support for controlling safety switch on Pixhawk from ground station
|
|
|
|
- prevent reports of failed AHRS during initialisation
|
|
|
|
- fixed skid steering that was broken in the last release
|
|
|
|
- report gyro unhealthy if gyro calibration failed
|
|
|
|
- fixed dual sonar support in CLI sonar test
|
|
|
|
- fixed Nuttx crash on Pixhawk with bad I2C cables
|
|
|
|
- added GPS_SBAS_MODE parameter - turns on/off satellite based augemtation system for GPS
|
|
|
|
- added GPS_MIN_ELEV parameter - specifiy the elevation mask for GPS satellites
|
|
|
|
- added RELAY_DEFAULT parameter to control default of relay on startup
|
|
|
|
- fixed bug in FRAM storage on Pixhawk that could cause parameters changes not to be saved
|
|
|
|
- better handling of compass errors in the EKF (Extended Kalman Filter)
|
|
|
|
- improved support for linux based autopilots
|
|
|
|
- added support for PulsedLight LIDAR as a range finder
|
|
|
|
Many thanks to everyone who contributed to this release, especially
|
|
Tom Coyle and Linus Penzlien for their excellent testing and feedback.
|
|
|
|
Happy driving!
|
|
|
|
|
|
|
|
Release 2.46, August 26th 2014
|
|
------------------------------
|
|
|
|
The ardupilot development team is proud to announce the release of
|
|
version 2.46 of APM:Rover. This is a major release with a lot of new
|
|
features and bug fixes.
|
|
|
|
This release is based on a lot of development and testing that
|
|
happened prior to the AVC competition where APM based vehicles
|
|
performed very well.
|
|
|
|
Full changes list for this release:
|
|
|
|
- added support for higher baudrates on telemetry ports, to make it
|
|
easier to use high rate telemetry to companion boards. Rates of up
|
|
to 1.5MBit are now supported to companion boards.
|
|
|
|
- new Rangefinder code with support for a wider range of rangefinder
|
|
types including a range of Lidars (thanks to Allyson Kreft)
|
|
|
|
- added logging of power status on Pixhawk
|
|
|
|
- added PIVOT_TURN_ANGLE parameter for pivot based turns on skid
|
|
steering rovers
|
|
|
|
- lots of improvements to the EKF support for Rover, thanks to Paul
|
|
Riseborough and testing from Tom Coyle. Using the EKF can greatly
|
|
improve navigation accuracy for fast rovers. Enable with
|
|
AHRS_EKF_USE=1.
|
|
|
|
- improved support for dual GPS on Pixhawk. Using a 2nd GPS can
|
|
greatly improve performance when in an area with an obstructed
|
|
view of the sky
|
|
|
|
- support for up to 14 RC channels on Pihxawk
|
|
|
|
- added BRAKING_PERCENT and BRAKING_SPEEDERR parameters for better
|
|
breaking support when cornering
|
|
|
|
- added support for FrSky telemetry via SERIAL2_PROTOCOL parameter
|
|
(thanks to Matthias Badaire)
|
|
|
|
- added support for Linux based autopilots, initially with the PXF
|
|
BeagleBoneBlack cape and the Erle robotics board. Support for more
|
|
boards is expected in future releases. Thanks to Victor, Sid and
|
|
Anuj for their great work on the Linux port.
|
|
|
|
- added StorageManager library, which expands available FRAM storage
|
|
on Pixhawk to 16 kByte. This allows for 724 waypoints, 50 rally
|
|
points and 84 fence points on Pixhawk.
|
|
|
|
- improved reporting of magnetometer and barometer errors to the GCS
|
|
|
|
- fixed a bug in automatic flow control detection for serial ports
|
|
in Pixhawk
|
|
|
|
- fixed use of FMU servo pins as digital inputs on Pixhawk
|
|
|
|
- imported latest updates for VRBrain boards (thanks to Emile
|
|
Castelnuovo and Luca Micheletti)
|
|
|
|
- updates to the Piksi GPS support (thanks to Niels Joubert)
|
|
|
|
- improved gyro estimate in DCM (thanks to Jon Challinger)
|
|
|
|
- improved position projection in DCM in wind (thanks to Przemek
|
|
Lekston)
|
|
|
|
- several updates to AP_NavEKF for more robust handling of errors
|
|
(thanks to Paul Riseborough)
|
|
|
|
- lots of small code cleanups thanks to Daniel Frenzel
|
|
|
|
- initial support for NavIO board from Mikhail Avkhimenia
|
|
|
|
- fixed logging of RCOU for up to 12 channels (thanks to Emile
|
|
Castelnuovo)
|
|
|
|
- code cleanups from Silvia Nunezrivero
|
|
|
|
- improved parameter download speed on radio links with no flow
|
|
control
|
|
|
|
Many thanks to everyone who contributed to this release, especially
|
|
Tom Coyle and Linus Penzlien for their excellent testing and feedback.
|
|
|
|
Happy driving!
|