mirror of https://github.com/ArduPilot/ardupilot
31 lines
1.7 KiB
Plaintext
31 lines
1.7 KiB
Plaintext
ArduCopter Release Notes:
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ArduCopter 2.8.1 22-Oct-2012
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Improvements over 2.8:
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- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM2
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Improvements over 2.7.3:
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- Improved ACRO mode (Leonard Hall)
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- Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)
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- Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)
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- Less bouncy Stabilize yaw control (Leonard)
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- OpticalFlow sensor support for APM2.5 (Randy)
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- DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)
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- Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)
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- Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)
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- More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)
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- GPS NMEA bug fix (Alexey Kozin)
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- Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)
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Bug Fixes / Parameter changes:
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- fixed skipping of last waypoint (Jason)
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- resolved twitching when no GPS attached (Tridge)
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- fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)
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- moved Roll-Pitch I terms from Stabilize controllers to Rate controllers
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- TILT_COMPENSATION param tuned for TradHeli (Rob)
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Code Cleanup:
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- HAL changes for platform portability (Pat Hickey)
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- Removed INSTANT_PWM (Randy)
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