mirror of https://github.com/ArduPilot/ardupilot
182 lines
12 KiB
Plaintext
182 lines
12 KiB
Plaintext
ArduCopter Release Notes:
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------------------------------------------------------------------
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ArduCopter 3.0.0-rc3 22-May-2013
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Improvements over 3.0.0-rc2
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1) bug fix for dataflash erasing unnecessarily
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2) smoother transition to waypoints, loiter:
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intermediate point's speed initialised from copter's current speed
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3) Ch8 auxiliary function switch (same features as Ch7)
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4) safety checks:
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Warning to GCS of reason for pre-arm check failure
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ARMING_CHECK parameter added to allow disabling pre-arm checks
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Added compass health and offset check to pre-arm check
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compassmot procedure displays interference as percentage of total mag field
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5) WPNAV dataflash message combined into NTUN message
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6) allow TriCopters to use ESC calibration
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------------------------------------------------------------------
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ArduCopter 3.0.0-rc2 13-May-2013
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Improvements over 3.0.0-rc1:
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1) smoother transition to waypoints, loiter:
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reduced loiter max acceleration to smooth waypoints
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bug fix to uninitialised roll/pitch when entering RTL, AUTO, LOITER
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2) fast waypoints - copter does not stop at waypoints unless delay is specified
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3) WPNAV_LOIT_SPEED added to allow faster/slower loiter repositioning
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4) removed speed limits on auto missions
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5) enhance LAND mission command takes lat/lon coordinates
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6) bug fix for RTL not pointing home sometimes
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7) centrifugal correction disabled when copter is disarmed to stop HUD moving
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8) centrifugal correction disabled when sat count less than 6 (AHRS_GPS_MINSATS)
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9) compass calibration reliability improvements when run from mission planner
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10) bug fix to allow compassmot to be run from mission planner terminal screen
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11) add support for H-quad frame
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12) add COMPASS_ORIENT parameter to support external compass in any orientation
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------------------------------------------------------------------
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ArduCopter 3.0.0-rc1 01-May-2013
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Improvements over 2.9.1b:
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1) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan)
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2) 3D waypoint navigation library (Leonard/Randy)
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WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL
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WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL
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3) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team)
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4) Safety improvements:
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Tin-can shaped fence (set FENCE_ENABLED to 1 and copter will RTL if alt > 150m or horizontal distance from home > 300m) (Randy/Tridge/Leonard)
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GCS failsafe (set FS_GCS_ENABLED to 1 and if you are using a tablet to fly your copter it will RTL and return control to the radio 3 seconds after losing telemetry) (Randy)
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pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy)
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5) motor interference compensation for compass (Jonathan/Randy)
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6) Circle mode improvements:
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set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates)
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CIRCLE_RATE parameter allows controlling direction and speed of rotation in CIRCLE mode and LOITER_TURNS (can also be adjusted in flight from CH6 knob)
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7) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy)
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8) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig)
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9) performance improvements to dataflash logging (Tridge)
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10) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge)
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11) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy)
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12) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex)
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------------------------------------------------------------------
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ArduCopter 2.9.1b 30-Feb-2013
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Improvements over 2.9.1:
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1) reduce INS_MPU6K_FILTER to 20hz
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2) reduce InertialNav Z-axis time constant to 5 (was 7)
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3) increased max InertialNav accel correction to 3 m/s (was 1m/s)
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4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew
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5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
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6) reduce yaw_rate P default to 0.20 (was 0.25)
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------------------------------------------------------------------
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ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013
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Improvements over 2.9.1-rc1:
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1) small corretion to use of THR_MID to scale lower end of manual throttle between THR_MIN and 500 instead of 0 and 500
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2) bug fix for longitude scaling being incorrectly calculated using Next Waypoint instead of home which could lead to scaling being 1
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3) ESC calibration change to set update rate to ESCs to 50hz to allow simonk ESC to be calibrated
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------------------------------------------------------------------
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ArduCopter 2.9.1-rc1 31-Jan-2013
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Improvements over 2.9:
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1) THR_MID parameter added to allow users to adjust the manual throttle so that vehicle hovers at about mid stick
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2) bug fix for autotrim - roll axis was backwards
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3) bug fix to set sonar_alt_health to zero when sonar is disabled
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4) capture level roll and pitch trims as part of accel calibration
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5) bug fix to ppm encoder false positives
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------------------------------------------------------------------
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ArduCopter 2.9 & 2.9-rc5 14-Jan-2013
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Improvements over 2.9-rc4:
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1) add constraint to loiter commanded roll and pitch angles
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2) relax altitude requirement for take-off command to complete
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------------------------------------------------------------------
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ArduCopter 2.9-rc4 12-Jan-2013
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Improvements over 2.9-rc3:
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1) Smoother transition between manual and auto flight modes (Leonard)
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2) bug fix for LAND not actually landing when initiated from failsafe (Randy/Craig)
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------------------------------------------------------------------
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ArduCopter 2.9-rc3 11-Jan-2013
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Improvements over 2.9-rc2:
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1) alt hold with sonar improvements - now on by default (Leonard/Randy)
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2) performance and memory useage improvements (Tridge/Randy)
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3) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold (Randy)
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4) bug fix: altitude error reported to GCS (Randy)
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5) limit inertial nav's max accel offset correction to 100cm/s/s to speed up recovery after hard impacts (Randy)_
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6) moved rate controllers to run after ins read (Tridge/Randy)
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------------------------------------------------------------------
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ArduCopter 2.9-rc2 31-Dec-2012
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Improvements over 2.9-rc1:
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1) increased throttle rate gains from 1.0 to 6.0
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2) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library)
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------------------------------------------------------------------
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ArduCopter 2.9-rc1 23-Dec-2012
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Improvements over 2.8.1:
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1) altitude hold improvements:
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a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason]
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b)accel based throttle controller [Leonard/Randy]
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c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt]
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d)parameters to control climb rate:
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AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s)
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PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s)
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2) landing improvements [Leonard/Randy]
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LAND_SPEED - allows you to set the landing speed in cm/s
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3) camera related improvements:
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a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno]
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b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy]
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c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy]
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YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never)
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4) trad heli improvements [Rob]
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a) code tested and brought back into the fold (2.8.1 was never released for trad helis)
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b) enabled rate controller (previously only used angle controllers)
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c) fix to rotor speed controllers - now operates by switching off channel 8
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d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode
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e) removed angle boost function because it created more problems than it solved
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f) bug fix to allow collective pitch to use the entire range of servos
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5) mediatek gps driver improvements [Craig]
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a) added support for 1.9 firmware
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b) bug fix to start-up routine so sbas can be enabled
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6) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland]
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a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming
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b) failsafe triggered in unlikely case of a PPM encoder failure
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c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered
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7) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge]
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8) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland]
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9) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard]
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ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level
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ACRO_TRAINER - 1 to enable the auto-bring-upright feature
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10) other changes and bug fixes:
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a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason]
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#define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees
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#define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees
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b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason]
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c) event and state logging [Jason]
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d) allow cli to be used over telemetry link [Tridge]
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e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy]
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f) bug fix so do_set_servo command works [Randy]
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g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge]
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h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason]
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i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy]
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j) removed unused stab_d from roll and pitch controller [Jason]
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k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy]
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l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others]
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------------------------------------------------------------------
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ArduCopter 2.8.1 22-Oct-2012
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Improvements over 2.8:
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- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM2
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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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------------------------------------------------------------------ |