mirror of https://github.com/ArduPilot/ardupilot
586 lines
24 KiB
Plaintext
586 lines
24 KiB
Plaintext
Release 3.0.1, 17 June 2016
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===========================
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The ArduPilot development team is proud to announce the release of
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version 3.0.1 of APM:Rover. This is a minor release with small but
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important bug fix changes.
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The two main motivations for this release
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1. Fixing the arming for skid steering Rovers
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2. Fix to the rover steering that should really improve steering of
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all rovers.
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Skid Steering Arming
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--------------------
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Fixed arming for Skid Steering rovers. You should now be able to arm
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your skid steering rover using the steering stick. NOTE skid steering
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Rovers - you will not be able to disarm. The reason for this is zero
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throttle full left turn is a perfectly valid move for a skid steering
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rover as it can turn on the spot. You don't want to be executing this
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and have the rover disarm part way through your turn so we have
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disabled disarming via the steering stick. You can still disarm from
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the GCS. Thanks to Pierre Kancir for working on this.
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Improved Steering Control
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-------------------------
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For historical reason's the steering controller was using the raw GPS
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data for ground speed without any filtering. If you have every graphed
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this data you will see on a rover its very spiky and all over the
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place. This spiky'ness was feeding into the lateral accel demand and
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causing inaccuracies/jitters. Now we using the EKF GPS filtered data
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which is much smoother and accurate and the steering control has
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greatly improved.
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Improved Cornering
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------------------
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Previously when corning we didn't take into account any "lean or tilt"
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in the rover - we assumed the turns were always flat. We have changed
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this to now take into account any lean so turning should be more
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accurate. Boat users should really benefit from this too.
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MAVLink2 support has been added
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-------------------------------
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See this post by Tridge -
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http://discuss.ardupilot.org/t/mavlink2-is-in-ardupilot-master/9188/1
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The other changes in this release are:
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- setting your sonar_trigger_cm to 0 will now log the sonar data but
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not use it for vehicle avoidance.
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- the throttle PID is now being logged
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- range finder input is now being captured (thanks to Allan Matthew)
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- added LOG_DISARMED parameter
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- merge upstream PX4Firmware changes
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- numerous waf build improvements
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- numerous EKF2 improvements
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Release 3.0.0, 5 April 2016
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===========================
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The ArduPilot development team is proud to announce the release of
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version 3.0.0 of APM:Rover. This is a major release with a lot of
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changes so please read the notes carefully!
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A huge thanks to ALL the ArduPilot developers. The Rover code
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benefits tremendously from all the hard work that goes into the Copter
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and Plane vehicle code. Most of the code changes in this
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release were not specifically for Rover however because of the
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fantastic architecture of the ArduPilot code Rover automatically get's
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those enhancements anyway.
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Note that the documentation hasn't yet caught up with all the changes
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in this release. We are still working on that, but meanwhile if you
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see a feature that interests you and it isn't documented yet then
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please ask.
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The 3.x.x releases and above DON'T support APM1/APM2
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----------------------------------------------------
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This release DOES NOT SUPPORT the old APM1/APM2 AVR based boards. The
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issue is the amount of effort required to keep the new code ported to
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the old platforms. We are very sorry this has to occur and if there
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is someone who is willing and technically capable of doing this work
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then please let us know.
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There will be a discussion created on ArduPilot forums where people
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can request features in the new code be backported to the APM code to
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run on the AVR boards and if it is reasonably easy and they are
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willing to do the beta testing we will do our best to make it happen.
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EKF2 - New Kalman Filter
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------------------------
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Paul Riseborough has been working hard recently on the new
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EKF2 variant which fixes many issues seen with the old estimator. The
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key improvements are:
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- support for separate filters on each IMU for multi-IMU boards
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(such as the Pixhawk), giving a high degree of redundency
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- much better handling of gyro drift estimation, especially on
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startup
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- much faster recovery from attitude estimation errors
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After extensive testing of the new EKF code we decided to make it the
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default for this release. You can still use the old EKF if you want to
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by setting AHRS_EKF_TYPE to 1, although it is recommended that the new
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EKF be used for all vehicles.
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In order to use the EKF we need to be a bit more careful about the
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setup of the vehicle. That is why we enabled arming and pre-arm checks
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by default. Please don't disable the arming checks, they are there for
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very good reasons.
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UAVCAN new protocol
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-------------------
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The uavcan change to the new protocol has been a long time coming, and
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we'd like to thank Holger for both his great work on this and his
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patience given how long it has taken to be in a release. This adds
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support for automatic canbus node assignment which makes setup much
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easier, and also supports the latest versions of the Zubax canbus GPS.
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Support for 4 new Boards
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------------------------
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The porting of ArduPilot to more boards continues, with support
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for 3 new boards in this release. They are:
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- the BHAT board
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- the PXFmini
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- the QualComm Flight
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- the Pixracer
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More information about the list of supported boards is available here:
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http://dev.ardupilot.org/wiki/supported-autopilot-controller-boards/
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Startup on a moving platform
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----------------------------
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One of the benefits of the new EKF2 estimator is that it allows for
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rapid estimation of gyro offset without doing a gyro calibration on
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startup. This makes it possible to startup and arm on a moving
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platform by setting the INS_GYR_CAL parameter to zero (to disable gyro
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calibration on boot). This should be a big help for boats.
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Improved Camera Trigger Logging
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-------------------------------
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This release adds new CAM_FEEDBACK_PIN and CAM_FEEDBACK_POL
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parameters. These add support for separate CAM and TRIG log messages,
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where TRIG is logged when the camera is triggered and the CAM message
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is logged when an external pin indicates the camera has actually
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fired. This pin is typically based on the flash hotshoe of a camera
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and provides a way to log the exact time of camera triggering more
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accurately. Many thanks to Dario Andres and Jaime Machuca for their
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work on this feature.
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PID Tuning
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----------
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You can now see the individual contributions of the P, I and D
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components for the Steering PID in the logs (PIDY), allowing you to
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get a much better picture of the performance.
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Vibration Logging
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-----------------
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This release includes a lot more options for diagnosing vibration
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issues. You will notice new VIBRATION messages in MAVLink and VIBE
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messages in the dataflash logs. Those give you a good idea of your
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(unfiltered) vibration levels. For really detailed analysis you can
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setup your LOG_BITMASK to include raw logging, which gives you every
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accel and gyro sample on your Pixhawk. You can then do a FFT on the
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result and plot the distribution of vibration level with
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frequency. That is great for finding the cause of vibration
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issues. Note that you need a very fast microSD card for that to work!
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More Sensors
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------------
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This release includes support for a bunch more sensors. It now supports
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3 different interfaces for the LightWare range of Lidars (serial, I2C
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and analog), and also supports the very nice Septentrio RTK
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dual-frequency GPS (the first dual-frequency GPS we have support
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for). It also supports the new "blue label" Lidar from Pulsed Light
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(both on I2C and PWM).
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For the uBlox GPS, we now have a lot more configurability of the
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driver, with the ability to set the GNSS mode for different
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constellations. Also in the uBlox driver we support logging of the raw
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carrier phase and pseudo range data, which allows for post RTK
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analysis with raw-capable receivers for really accurate photo
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missions.
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Better Linux support
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--------------------
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This release includes a lot of improvements to the Linux based
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autopilot boards, including the NavIO+, the PXF and ERLE boards and
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the BBBMini and the new RasPilot board.
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On-board compass calibrator
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---------------------------
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We also have a new on-board compass calibrator, which also adds calibration
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for soft iron effects, allowing for much more accurate compass
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calibration.
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Lots of other changes!
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----------------------
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The above list is just a taste of the changes that have gone into this
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release. Thousands of small changes have gone into this release with
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dozens of people contributing. Many thanks to everyone who helped!
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Other key changes
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-----------------
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- fixed the MAV_CMD_DO_SET_HOME (thanks salonijain12)
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- fixed bug when reverse throttle would increase speed in AUTO
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- fixed a bug going into guided and rover still moving
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- loitering at a waypoint if Param1 is non-zero
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- update uavcan to new protocol
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- fixed reporting of armed state with safety switch
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- added optional arming check for minimum voltage
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- improved text message queueing to ground stations
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- re-organisation of HAL_Linux bus API
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- improved NMEA parsing in GPS driver
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- improved autoconfig of uBlox GPS driver
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- support a wider range of Lightware serial Lidars
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- improved non-GPS performance of EKF2
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- improved compass fusion in EKF2
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- improved support for Pixracer board
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- improved NavIO2 support
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- added BATT_WATT_MAX parameter
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- enable messages for MAVLink gimbal support
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- use 64 bit timestamps in dataflash logs
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- added realtime PID tuning messages and PID logging
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- fixed a failure case for the px4 failsafe mixer
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- added DSM binding support on Pixhawk
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- added vibration level logging
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- ignore low voltage failsafe while disarmed
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- added delta velocity and delta angle logging
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- allow steering disarm based on ARMING_RUDDER parameter
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- prevent mode switch changes changing WP tracking
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- fixed parameter documentation spelling errors
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- send MISSION_ITEM_REACHED messages on waypoint completion
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- enable EKF by default on rover
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- Improve gyro bias learning rate for plane and rover
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- Allow switching primary GPS instance with 1 sat difference
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- added NSH over MAVLink support
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- added support for mpu9250 on pixhawk and pixhawk2
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- Add support for logging ublox RXM-RAWX messages
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- lots of updates to improve support for Linux based boards
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- added ORGN message in dataflash
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- added support for new "blue label" Lidar
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- switched to real hdop in uBlox driver
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- improved auto-config of uBlox
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- raise accel discrepancy arming threshold to 0.75
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- improved support for tcp and udp connections on Linux
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- switched to delta-velocity and delta-angles in DCM
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- improved detection of which accel to use in EKF
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- improved auto-detections of flow control on pixhawk UARTs
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- added HDOP to uavcan GPS driver
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- improved sending of autopilot version
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- log zero rangefinder distance when unhealthy
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- added PRU firmware files for BeagleBoneBlack port
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- fix for recent STORM32 gimbal support
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- changed sending of STATUSTEXT severity to use correct values
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- added new RSSI library with PWM input support
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- fixed MAVLink heading report for UAVCAN GPS
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- support LightWare I2C rangefinder on Linux
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- improved staging of parameters and formats on startup to dataflash
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- added new on-board compass calibrator
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- improved RCOutput code for NavIO port
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- added support for Septentrio GPS receiver
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- support DO_MOUNT_CONTROl via command-long interface
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- added CAM_RELAY_ON parameter
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- moved SKIP_GYRO_CAL functionality to INS_GYR_CAL
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- new waf build system
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- new async accel calibrator
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- better rangefinder power control
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- dataflash over mavlink support
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- settable main loop rate
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- hideable parameters
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- improved logging for dual-GPS setups
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- improvements to multiple RTK GPS drivers
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- numerous HAL_Linux improvements
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- improved logging of CAM messages
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- added support for IMU heaters in HAL_Linux
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- support for RCInput over UDP in HAL_Linux
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- improved EKF startup checks for GPS accuracy
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- added raw IMU logging for all platforms
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- configurable RGB LED brightness
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- improvements to the lsm303d driver for Linux
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Release 2.50, 19 June 2015
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==========================
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The ardupilot development team has released version 2.50 of
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APM:Rover. This release is mostly a backend improvement to ArduPilot
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but a few new features and bug fixes are included.
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Re-do Accelerometer Calibration
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-------------------------------
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Due to a change in the maximum accelerometer range on the Pixhawk all
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users must re-do their accelerometer calibration for this release.
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Only 3D accel calibration
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-------------------------
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The old "1D" accelerometer calibration method has now been removed, so
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you must use the 3D accelerometer calibration method. The old method
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was removed because a significant number of users had poor experiences.
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Changes in this release are:
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- CLI_ENABLED parameter added so the CLI can now be accessed
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in Rover
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- PID logging for the steering controller. It its now
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possible to graph what the P, I and D are doing as your
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driving the rover around to enable much better tuning of the
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vehicle.
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- Transition from .pde file to .cpp files for improved
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development.
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- GIT Submodules created for PX4Firmware, PX4Nuttx and uavcan
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git repositories for improved development.
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- Followme mode now works for Rover
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- GUIDED mode significantly improved. If you have a GCS which is in
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Followme mode if the user then changes mode with the RC transmitter to
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HOLD or anything else then the Rover will STOP listening to the
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Followme updated guided mode waypoints.
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- When going into GUIDED mode the rover went into RTL - this
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is fixed.
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- Added EKF_STATUS_REPORT MAVLink message
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- 64-bit timestamps in dataflash logs
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- Numerous EKF improvements
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- Added support for 4th Mavlink channel
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- Added support for raw IMU logging
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- updated Piksi RTK GPS driver
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- improved support for GPS data injection (for Piksi RTK GPS)
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- The SITL software in the loop simulation system has been completely
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rewritten for this release. A major change is to make it possible to
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run SITL on native windows without needing a Linux virtual
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machine. (thanks Tridge)
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Release 2.49, March 4th 2015
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----------------------------
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The ardupilot development team has released version 2.49 of
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APM:Rover. This release is a bug fix release with two important bugs
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found by Marco Walther - Thanks Marco!
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The bug fixes in this release are:
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- fixed a sonar problem where objects to the left wouldn't be
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identified - thanks Marco Walther!
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- Fixed the ordering of the AP_Notify call so the main indicator
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light would be correct on startup - thanks Marco Walther!
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Release 2.48, February 20th 2015
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--------------------------------
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The ardupilot development team has released version 2.48 of
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APM:Rover. This release is a bug fix release with some important bugs
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found by the users of ardupilot.
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The changes in this release are:
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- fixed a bug that could cause short term loss of RC control with
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some receiver systems and configurations
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- allowed for shorter sync pulse widths for PPM-SUM receivers on
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APM1 and APM2
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- fix an issue where battery reporting could be intermittent (thanks
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Georgii Staroselskii!)
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- fixed a mission handling bug that could cause a crash if jump
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commands form an infinite loop (thanks to Dellarb for reporting
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this bug)
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- improved support for in-kernel SPI handling on Linux (thanks to John Williams)
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- support UAVCAN based ESCs and GPS modules on Pixhawk (thanks to
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Pavel, Holger and and PX4 dev team)
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- Multiple updates for the NavIO+ cape on RaspberryPi (thanks to
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Emlid)
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- Lots of EKF changes
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- added support for MAVLink packet routing
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- added detection and recovery from faulty gyro and accel sensors
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- added support for BBBMini Linux port
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- increased number of AVR input channels from 8 to 11
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- auto-set system clock based on GPS in Linux ports
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- added SBUS FrSky telemetry support (thanks to Mathias)
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- Added AK8963 MAG support (thanks Staroselskii Georgii)
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- Added support for second battery
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- Auto formatting of SDCard if it cannot be accessed on startup
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- A number of significant performance improvements for the PX4 platform
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The most important bug fix is the one for short term loss of RC
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control. This is a very long standing bug which didn't have a
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noticeable impact for most people, but could cause loss of RC control
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for around 1 or 2 seconds for some people in certain circumstances.
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The bug was in the the AP_HAL RCInput API. Each HAL backend has a flag
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that says whether there is a new RC input frame available. That flag
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was cleared by the read() method (typically hal.rcin->read()). Callers
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would check for new input by checking the boolean
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hal.rcin->new_input() function.
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The problem was that read() was called from multiple places. Normally
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this is fine as reads from other than the main radio input loop happen
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before the other reads, but if the timing of the new radio frame
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exactly matched the loop frequency then a read from another place
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could clear the new_input flag and we would not see the new RC input
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frame. If that happened enough times we would go into a short term RC
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failsafe and ignore RC inputs, even in manual mode.
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The fix was very simple - it is the new_input() function itself that
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should clear the flag, not read().
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Many thanks to MarkM for helping us track down this bug by providing
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us with sufficient detail on how to reproduce it. In Marks case his
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OpenLRSng configuration happened to produce exactly the worst case
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timing needed to reproduce the issue. Once Tridge copied his OpenLRS
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settings to his TX/RX he was able to reproduce the problem and it was
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easy to find and fix.
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A number of users have reported occasional glitches in manual control
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where servos pause for short periods in past releases. It is likely
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that some of those issues were caused by this bug. The dev team would
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like to apologise for taking so long to track down this bug!
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The other main change was also related to RC input. Some receivers use
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a PPM-SUM sync pulse width shorter than what the APM1/APM2 code was
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setup to handle. The OpenLRSng default sync pulse width is 3000
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microseconds, but the APM1/APM2 code was written for a mininum sync
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pulse width of 4000 microseconds. For this release we have changed the
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APM1/APM2 driver to accept a sync pulse width down to 2700
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microseconds.
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Auto format of SD Card
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======================
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From time to time the SD cards in the PX4 autopilots get corrupted.
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This isn't a surprise considering what we do to them. Your all
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familiar with the windows "please unmount or eject your SDCard before
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removing" process. Well we don't do that. In fact normal operation
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is to just pull the power on the SDCard - whilst its being written
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too!! Not to metion the horrible vibration rich environment the
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SDCard exists in. If the autopilot is setup in the internal innards
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of your plane/copter/rover this can be a nightmare to get to. To
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resolve that problem Tridge has added code at startup so when
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ArduPilot tries to mount to SDCard to access it - if that fails it
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will then try to format the SDCard and if successful mount the card
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and proceed. If the format fails then you will get the usual SOS
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Audio that makes most of us want to find the buzzer and rip its heart
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out.
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I mention this in case anyone has precious logs saved on the SDCard or
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they are using the SDCard out of their phone with their wedding
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photo's on it. Probably best not to do that and assume any data on
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the SDCard can be deleted.
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We are also looking to add a parameter to control whether the card is
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auto formatted on startup or not but it isn't in there yet.
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Release 2.47, November 15th 2014
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--------------------------------
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The ardupilot development team is proud to announce the release of
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version 2.47 of APM:Rover. This is a minor bug fix release. The most
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important change in this release is the fixing of the skid steering
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support but there have been a number of fixes in other areas as well.
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Full changes list for this release:
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- add support for controlling safety switch on Pixhawk from ground station
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- prevent reports of failed AHRS during initialisation
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- fixed skid steering that was broken in the last release
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- report gyro unhealthy if gyro calibration failed
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- fixed dual sonar support in CLI sonar test
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- fixed Nuttx crash on Pixhawk with bad I2C cables
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- added GPS_SBAS_MODE parameter - turns on/off satellite based augemtation system for GPS
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- added GPS_MIN_ELEV parameter - specifiy the elevation mask for GPS satellites
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- added RELAY_DEFAULT parameter to control default of relay on startup
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- fixed bug in FRAM storage on Pixhawk that could cause parameters changes not to be saved
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- better handling of compass errors in the EKF (Extended Kalman Filter)
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- improved support for linux based autopilots
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- added support for PulsedLight LIDAR as a range finder
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Many thanks to everyone who contributed to this release, especially
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Tom Coyle and Linus Penzlien for their excellent testing and feedback.
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Happy driving!
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Release 2.46, August 26th 2014
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------------------------------
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The ardupilot development team is proud to announce the release of
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version 2.46 of APM:Rover. This is a major release with a lot of new
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features and bug fixes.
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This release is based on a lot of development and testing that
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happened prior to the AVC competition where APM based vehicles
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performed very well.
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Full changes list for this release:
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- added support for higher baudrates on telemetry ports, to make it
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easier to use high rate telemetry to companion boards. Rates of up
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to 1.5MBit are now supported to companion boards.
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- new Rangefinder code with support for a wider range of rangefinder
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types including a range of Lidars (thanks to Allyson Kreft)
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- added logging of power status on Pixhawk
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- added PIVOT_TURN_ANGLE parameter for pivot based turns on skid
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steering rovers
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- lots of improvements to the EKF support for Rover, thanks to Paul
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Riseborough and testing from Tom Coyle. Using the EKF can greatly
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improve navigation accuracy for fast rovers. Enable with
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AHRS_EKF_USE=1.
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- improved support for dual GPS on Pixhawk. Using a 2nd GPS can
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greatly improve performance when in an area with an obstructed
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|
view of the sky
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- support for up to 14 RC channels on Pihxawk
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- added BRAKING_PERCENT and BRAKING_SPEEDERR parameters for better
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breaking support when cornering
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- added support for FrSky telemetry via SERIAL2_PROTOCOL parameter
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(thanks to Matthias Badaire)
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- added support for Linux based autopilots, initially with the PXF
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BeagleBoneBlack cape and the Erle robotics board. Support for more
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boards is expected in future releases. Thanks to Victor, Sid and
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Anuj for their great work on the Linux port.
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- added StorageManager library, which expands available FRAM storage
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on Pixhawk to 16 kByte. This allows for 724 waypoints, 50 rally
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points and 84 fence points on Pixhawk.
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- improved reporting of magnetometer and barometer errors to the GCS
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- fixed a bug in automatic flow control detection for serial ports
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in Pixhawk
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- fixed use of FMU servo pins as digital inputs on Pixhawk
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- imported latest updates for VRBrain boards (thanks to Emile
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Castelnuovo and Luca Micheletti)
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- updates to the Piksi GPS support (thanks to Niels Joubert)
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- improved gyro estimate in DCM (thanks to Jon Challinger)
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- improved position projection in DCM in wind (thanks to Przemek
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Lekston)
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- several updates to AP_NavEKF for more robust handling of errors
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(thanks to Paul Riseborough)
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- lots of small code cleanups thanks to Daniel Frenzel
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- initial support for NavIO board from Mikhail Avkhimenia
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- fixed logging of RCOU for up to 12 channels (thanks to Emile
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Castelnuovo)
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- code cleanups from Silvia Nunezrivero
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- improved parameter download speed on radio links with no flow
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control
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Many thanks to everyone who contributed to this release, especially
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|
Tom Coyle and Linus Penzlien for their excellent testing and feedback.
|
|
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|
Happy driving!
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