mirror of https://github.com/ArduPilot/ardupilot
531 lines
33 KiB
Plaintext
531 lines
33 KiB
Plaintext
ArduCopter Release Notes:
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------------------------------------------------------------------
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ArduCopter 3.2-rc5 15-Aug-2014
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Changes from 3.2-rc4
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1) Pixhawk's max num waypoints increased to 718
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2) Smoother take-off in AltHold, Loiter, PosHold (including removing initial 20cm jump when taking off)
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3) ACRO mode roll, pitch, yaw EXPO added for faster rotation when sticks are at extremes (see ACRO_EXPO parameter)
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4) ch7/ch8 relay option replaces ch6 option (ch6 is reserved for tuning not switching things on/off)
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5) Safety Items:
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a) Baro glitch check relaxed to 5m distance, 15m/s/s max acceleration
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b) EKF/INav check relaxed to 80cm/s/s acceleration correct (default remains as 0.6 but this now means 80cm/s/s)
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c) When GPS or Baro glitch clears, the inertial nav velocities are *not* reset reducing chance of sudden vehicle lean
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d) Baro altitude calculation checked for divide-by-zero and infinity
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6) Bug Fixes:
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a) AltHold jump bug fixed (altitude target reset when landed)
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b) Rally point bug fix so it does not climb excessively before flying to rally point
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c) body-frame rate controller z-axis bug fix (fast rotation in z-axis would cause wobble in roll, pitch)
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------------------------------------------------------------------
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ArduCopter 3.2-rc4 01-Aug-2014
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Changes from 3.2-rc3
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1) Pre-takeoff throttle feedback in AltHold, Loiter, PosHold
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2) Terrain altitude retrieval from ground station (informational purposes only so far, Pixhawk only)
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3) Safety Items:
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a) "EKF check" will switch to LAND mode if EKF's compass or velocity variance over 0.6 (configurable with EKFCHECK_THRESH param)
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When EKF is not used inertial nav's accelerometer corrections are used as a substitute
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b) Barometer glitch protection added. BAROGLTCH_DIST and BAROGLTCH_ACCEL parameters control sensitivity similar to GPSGLITCH protection
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When glitching occurs barometer values are temporarily ignored
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c) Throttle/radio and battery failsafes now disarm vehicle when landed regardless of pilot's throttle position
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d) auto-disarm extended to Drift, Sport and OF_Loiter flight modes
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e) APM2 buzzer notification added for arming failure
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f) APM2 arming buzz made longer (now matches Pixhawk)
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g) do-set-servo commands cannot interfere with motor output
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4) Bug Fixes:
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a) Drift slow yaw response fixed
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b) AC3.2-rc3 failsafe bug resolved. In -rc3 the throttle failsafe could be triggered even when disabled or motors armed (although vehicle would not takeoff)
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------------------------------------------------------------------
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ArduCopter 3.2-rc3 16-Jul-2014
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Changes from 3.2-rc2
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1) Hybrid renamed to PosHold
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2) Sonar (analog, i2c) and PulsedLight Range Finders enabled on Pixhawk (Allyson, Tridge)
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3) Landing changes:
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a) disable pilot repositioning while landing in RTL, Auto (set LAND_REPOSITION to 1 to re-enable) (JonathanC)
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b) delay 4 seconds before landing due to failsafe (JonathanC)
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4) Secondary compass calibration enabled, pre-arm check that offsets match current devices (Randy, Tridge, MichaelO)
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5) Control improvements:
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a) use bias adjusted gyro rates - helps in cases of severe gyro drift (Jonathan)
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b) bug-fixes when feed-forward turned off (Leonard)
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6) TradHeli improvements (RobL):
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a) bug fix to use full collective range in stabilize and acro flight modes
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b) filter added to main rotor input (ch8) to ensure momentary blip doesn't affect main rotor speed
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7) Safety items:
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a) increased default circular Fence radius to 300m to reduce chance of breach when GPS lock first acquired
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b) radio failsafe timeout for late frames reduced to 0.5sec for normal receivers or 2.0sec when flying with joystick (Craig)
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c) accelerometer pre-arm check for all active accelerometers (previously only checked the primary accelerometer)
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8) Other features:
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a) ch7/ch8 option to retract mount (svefro)
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b) Do-Set-ROI supported in Guided, RTL mode
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c) Condition-Yaw accepted in Guided, RTL modes (MoussSS)
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d) CAMERA dataflash message includes relative and absolute altitude (Craig)
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9) Red Balloon Popper support (Randy, Leonard):
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a) Velocity controller added to Guided mode
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b) NAV_GUIDED mission command added
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10) Bug fixes:
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a) bug fix to flip on take-off in stabilize mode when landing flag cleared slowly (JonathanC)
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b) allow disarming in AutoTune (JonathanC)
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c) bug fix to unpredictable behaviour when two spline points placed directly ontop of each other
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------------------------------------------------------------------
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ArduCopter 3.2-rc2 27-May-2014
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Changes from 3.2-rc1
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1) Hybrid mode initialisation bug fix
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2) Throttle pulsing bug fix on Pixhawk
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3) Parachute enabled on Pixhawk
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4) Rally Points enabled on Pixhawk
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------------------------------------------------------------------
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ArduCopter 3.2-rc1 9-May-2014
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Changes from 3.1.4
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1) Hybrid mode - position hold mode but with direct response to pilot input during repositioning (JulienD, SandroT)
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2) Spline waypoints (created by David Dewey, modified and integrated by Leonard, Randy)
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3) Drift mode uses "throttle assist" for altitude control (Jason)
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4) Extended Kalman Filter for potentially more reliable attitude and position control (Pixhawk only) (Paul Riseborough). Set AHRS_EKF_USE to 1 to enable or use Ch7/8 switch to enable/disable in flight.
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5) Manual flight smoothness:
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a) Smoother roll, pitch response using RC_FEEL_RP parameter (100 = crisp, 0 = extremely soft)
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b) Adjustable max rotation rate (ATC_RATE_RP_MAX, ATC_RATE_Y_MAX) and acceleration (ATC_ACCEL_RP_MAX, ATC_ACCEL_Y_MAX)
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6) Autopilot smoothness:
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a) Vertical acceleration in AltHold, Loiter, Hybrid modes can be configured with PILOT_ACCEL_Z parameter (higher = faster acceleration)
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b) Maximum roll and pitch angle acceleration in Loiter mode can be configured with WPNAV_LOIT_JERK (higher = more responsive but potentially jerky)
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c) Yaw speed can be adjusted with ATC_SLEW_YAW parameter (higher = faster)
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d) smoother takeoff with configurable acceleration using WPNAV_ACCEL_Z parameter
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e) Twitches removed during guided mode or when entering Loiter or RTL from high speeds
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7) Mission improvements:
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a) mission will be resumed from last active command when pilot switches out and then back into Auto mode (prev behaviour can be restored by setting MIS_RESTART param to 1)
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b) DO_SET_ROI persistent across waypoints. All-zero DO_SET_ROI command restores default yaw behaviour
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c) do-jump fixed
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d) conditional_distance fixed
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e) conditional_delay fixed
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f) do-change-speed command takes effect immediately during mission
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g) vehicle faces directly at next waypoint (previously it could be about 10deg off)
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h) loiter turns fix to ensure it will circle around lat/lon point specified in mission command (previously it could be off by CIRCLE_RADIUS)
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8) Safety improvements:
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a) After a fence breach, if the pilot re-takes control he/she will be given a minimum of 10 seconds and 20m to recover before the autopilot will invoke RTL or LAND
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b) Parachute support including automatic deployment during mechanical failures
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9) Other enhancements:
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a) V-tail quad support
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b) Dual GPS support (secondary GPS output is simply logged, not actually used yet)
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c) Electro Permanent Magnet (aka Gripper) support
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d) Servo pass through for channels 6 ~ 8 (set RC6_FUNCTION to 1)
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e) Remove 80m limit on RTL's return altitude but never let it be above fence's max altitude
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10) Other bug fixes:
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a) Bug fix for LAND sometimes getting stuck at 10m
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b) During missions, vehicle will maintain altitude even if WPNAV_SPEED is set above the vehicle's capabilities
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c) when autopilot controls throttle (i.e. Loiter, Auto, etc) vehicle will reach speeds specified in PILOT_VELZ_MAX and WPNAV_SPEED_UP, WPNAV_SPEED_DN parameters
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11) CLI removed from APM1/2 to save flash space, critical functions moved to MAVLink:
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a) Individual motor tests (see MP's Initial Setup > Optional Hardware > Motor Test)
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b) compassmot (see MP's Initial Setup > Optional Hardware > Compass/Motor Calib)
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c) parameter reset to factory defautls (see MP's Config/Tuning > Full Parameter List > Reset to Default)
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------------------------------------------------------------------
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ArduCopter 3.1.5 27-May-2014 / 3.1.5-rc2 20-May-2014
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Changes from 3.1.5-rc1
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1) Bug Fix to broken loiter (pixhawk only)
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2) Workaround to read from FRAM in 128byte chunks to resolve a few users boot issues (Pixhawk only)
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------------------------------------------------------------------
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ArduCopter 3.1.5-rc1 14-May-2014
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Changes from 3.1.4
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1) Bug Fix to ignore roll and pitch inputs to loiter controller when in radio failsafe
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2) Bug Fix to allow compassmot to work on Pixhawk
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------------------------------------------------------------------
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ArduCopter 3.1.4 8-May-2014 / 3.1.4-rc1 2-May-2014
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Changes from 3.1.3
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1) Bug Fix for Pixhawk/PX4 NuttX I2C memory corruption when errors are found on I2C bus
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------------------------------------------------------------------
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ArduCopter 3.1.3 7-Apr-2014
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Changes from 3.1.2
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1) Stability patch fix which could cause motors to go to min at full throttle and with large roll/pitch inputs
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------------------------------------------------------------------
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ArduCopter 3.1.2 13-Feb-2014 / ArduCopter 3.1.2-rc2 12-Feb-2014
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Changes from 3.1.2-rc1
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1) GPS Glitch detection disabled when connected via USB
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2) RC_FEEL_RP param added for adjusting responsiveness to pilot roll/pitch input in Stabilize, Drift, AltHold modes
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------------------------------------------------------------------
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ArduCopter 3.1.2-rc1 30-Jan-2014
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Changes from 3.1.1
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1) Pixhawk baro bug fix to SPI communication which could cause large altitude estimate jumps at high temperatures
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------------------------------------------------------------------
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ArduCopter 3.1.1 26-Jan-2014 / ArduCopter 3.1.1-rc2 21-Jan-2014
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Changes from 3.1.1-rc1
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1) Pixhawk improvements (available for APM2 when AC3.2 is released):
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a) Faster arming
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b) AHRS_TRIM fix - reduces movement in loiter when yawing
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c) AUX Out 5 & 6 turned into general purpose I/O pins
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d) Three more relays added (relays are pins that can be set to 0V or 5V)
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e) do-set-servo fix to allow servos to be controlled from ground station
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f) Motorsync CLI test
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g) PX4 parameters moved from SD card to eeprom
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h) additional pre-arm checks for baro & inertial nav altitude and lean angle
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------------------------------------------------------------------
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ArduCopter 3.1.1-rc1 14-Jan-2014
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Changes from 3.1
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1) Pixhawk improvements:
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a) Telemetry port 2 enabled (for MinimOSD)
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b) SD card reliability improvements
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c) parameters moved to FRAM
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d) faster parameter loading via USB
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e) Futaba SBUS receiver support
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2) Bug fixes:
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a) Loiter initialisation fix (Loiter would act like AltHold until flight mode switch changed position)
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b) ROI commands were not returning Lat, Lon, Alt to mission planner when mission was loaded from APM
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3) TradHeli only fixes:
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a) Drift now uses same (reduced) collective range as stabilize mode
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b) AutoTune disabled (for tradheli only)
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c) Landing collective (smaller than normal collective) used whenever copter is not moving
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------------------------------------------------------------------
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ArduCopter 3.1 14-Dec-2013
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Changes from 3.1-rc8
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1) Pixhawk improvements:
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a) switch to use MPU6k as main accel/gyro
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b) auto loading of IO-board firmware on startup
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2) RTL fixes:
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a) initialise waypoint leash length (first RTL stop would be more aggressive than 2nd)
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b) reduce projected stopping distance for higher speed stops
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------------------------------------------------------------------
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ArduCopter 3.1-rc8 9-Dec-2013
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Changes from 3.1-rc7
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1) add Y6 motor mapping with all top props CW, bottom pros CCW (set FRAME = 10)
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2) Safety Changes:
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a) ignore yaw input during radio failsafe (previously the copter could return home spinning if yaw was full over at time of failsafe)
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b) Reduce GPSGLITCH_RADIUS to 2m (was 5m) to catch glitches faster
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3) Bug fixes:
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a) Optical flow SPI bus rates
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b) TradHeli main rotor ramp up speed fix
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------------------------------------------------------------------
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ArduCopter 3.1-rc7 22-Nov-2013
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Changes from 3.1-rc6
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1) MOT_SPIN_ARMED default to 70
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2) Smoother inertial nav response to missed GPS messages
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3) Safety related changes
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a) radio and battery failsafe disarm copter if landed in Loiter or AltHold (previously they would RTL)
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b) Pre-Arm check failure warning output to ground station every 30 seconds until they pass
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c) INS and inertial nav errors logged to dataflash's PM message
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d) pre-arm check for ACRO_BAL_ROLL, ACRO_BAL_PITCH
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------------------------------------------------------------------
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ArduCopter 3.1-rc6 16-Nov-2013
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Improvements over 3.1-rc5
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1) Heli improvements:
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a) support for direct drive tails (uses TAIL_TYPE and TAIL_SPEED parameters)
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b) smooth main rotor ramp-up for those without external govenor (RSC_RAMP_TIME)
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c) internal estimate of rotor speed configurable with RSC_RUNUP_TIME parameter to ensure rotor at top speed before starting missions
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d) LAND_COL_MIN collective position used when landed (reduces chance copter will push too hard into the ground when landing or before starting missions)
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e) reduced collective while in stabilize mode (STAB_COL_MIN, STAB_COL_MAX) for more precise throttle control
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f) external gyro parameter range changed from 1000~2000 to 0~1000 (more consistent with other parameters)
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g) dynamic flight detector switches on/off leaky-i term depending on copter speed
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2) SingleCopter airframe support (contribution from Bill King)
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3) Drift mode replaces TOY
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4) MPU6k SPI bus speed decreased to 500khz after 4 errors
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5) Safety related changes:
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a) crash detector cuts motors if copter upside down for more than 2 seconds
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b) INS (accel and gyro) health check in pre-arm checks
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c) ARMING_CHECK allows turning on/off individual checks for baro, GPS, compass, parameters, board voltage, radio
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d) detect Ublox GPS running at less than 5hz and resend configuration
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e) GPSGlitch acceptable radius reduced to 5m (stricter detection of glitches)
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f) range check roll, pitch input to ensure crazy radio values don't get through to stabilize controller
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g) GPS failsafe options to trigger AltHold instead of LAND or to trigger LAND even if in flight mode that does not require GPS
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h) Battery failsafe option to trigger RTL instead of LAND
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i) MOT_SPIN_ARMED set to zero by default
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6) Bug fixes:
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a) missing throttle controller initialisation would mean Stabilize mode's throttle could be non-tilt-compensated
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b) inertial nav baro and gps delay compensation fix (contribution from Neurocopter)
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c) GPS failsafe was invoking LAND mode which still used GPS for horizontal control
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------------------------------------------------------------------
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ArduCopter 3.1-rc5 22-Oct-2013
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Improvements over 3.1-rc4
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1) Pixhawk USB reliability improvements
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2) AutoTune changes:
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a) enabled by default
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b) status output to GCS
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c) use 2 pos switch only
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3) ch7/ch8 LAND
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4) Tricopter stability patch improvements [thanks to texlan]
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5) safety improvements:
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a) slower speed up of motors after arming
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b) pre-arm check that copter is moving less than 50cm/s if arming in Loiter or fence enabled
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------------------------------------------------------------------
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ArduCopter 3.1-rc4 13-Oct-2013
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Improvements over 3.1-rc3
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1) Performance improvements to resolve APM alt hold issues for Octacopters:
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a) SPI bus speed increased from 500khz to 8Mhz
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b) Telemetry buffer increased to 512bytes
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c) broke up medium and slow loops into individual scheduled tasks and increased priority of alt hold tasks
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2) Bug fix for Pixhawk USB connection
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3) GPS Glitch improvements:
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a) added GPS glitch check to arming check
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b) parameters for vehicle max acceleration (GPSGLITCH_ACCEL) and always-ok radius (GPSGLICH_RADIUS)
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------------------------------------------------------------------
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ArduCopter 3.1-rc3 09-Oct-2013
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Improvements over 3.1-rc2
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1) GPS Glitch protection - gps positions are compared with the previous gps position. Position accepted if within 10m or copter could have reached the position with max accel of 10m/s/s.
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2) Bug fix for pixhawk SPI bus contention that could lead to corrupted accelerometer values on pixhawk resolved
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3) Auto Tuning (compile time option only add "#define AUTOTUNE ENABLED" to APM_Config.h and set CH7_Opt or CH8_Opt parameter to 17)
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4) CPU Performance improvement when reading from MPU6k for APM
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5) SUPER_SIMPLE parameter changed to a bit map to allow some flight modes to use super simpler while others use regular simple (MP release to allow easier selection will go out with AC3.1 official release)
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6) Safety changes:
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a) safety button must be pushed before arming on pixhawk
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b) RGB LED (aka toshiba led) changed so that disarmed flashes, armed is either blue (if no gps lock) or green (if gps lock)
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c) sensor health bitmask sent to groundstations
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------------------------------------------------------------------
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ArduCopter 3.1-rc2 18-Sep-2013
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Improvements over 3.1-rc1
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1) bug fix for MOT_SPIN_ARMED to allow it to be higher than 127
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2) PX4/pixhawk auto-detect internal/external compass so COMPASS_ORIENT should be set to ORIENTATION_NONE if using GPS+compass module
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------------------------------------------------------------------
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ArduCopter 3.1-rc1 9-Sep-2013
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Improvements over 3.0.1
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1) Support for Pixhawks board
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2) Arm, Disarm, Land and Takeoff in Loiter and AltHold
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3) Improved Acro
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a) ACRO_RP_P, ACRO_YAW_P parameters added to control speed of rotation
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b) ACRO_BAL_ROLL, ACRO_BAL_PITCH controls speed at which copter returns to level
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c) ACRO_TRAINER can be set to 0:disable trainer, 1:auto leveling when sticks released, 2:auto leveling and lean angle limited to ANGLE_MAX
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d) Ch7 & Ch8 switch to set ACRO_TRAINER options in-flight
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4) SPORT mode - equivalent of earth frame Acro with support for simple mode
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5) Sonar ground tracking improvements and bug fixes that reduce reaction to bad sonar data
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6) Safety improvements
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a) motors always spin when armed (speed can be controlled with MOT_SPIN_ARMED, set to 0 to disable)
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b) vehicle's maximum lean angle can be reduced (or increased) with the ANGLE_MAX parameter
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c) arming check that GPS hdop is > 2.0 (disable by setting GPS_HDOP parameter to 900)
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d) slow take-off in AUTO, LOITER, ALTHOLD to reduce chance of motor/esc burn-out on large copters
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7) Bug fixes:
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a) Optical flow sensor initialisation fix
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b) altitude control fix for Loiter_turns mission command (i.e. mission version of CIRCLE mode)
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c) DO_SET_ROI fix (do not use "ROI")
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8) Distribute Loiter & Navigation calcs over 4 cycles to reduce impact on a single 100hz loop
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9) RCMAP_ parameters allow remapping input channels 1 ~ 4
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------------------------------------------------------------------
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ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-2013
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Improvements over 3.0.1-rc1
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1) Rate Roll, Pitch and Yaw I fix when we hit motor limits
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2) pre-arm check changes:
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a) double flash arming light when pre-arm checks fail
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b) relax mag field checks to 35% min, 165% max of expected field
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3) loiter and auto changes:
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a) reduced Loiter speed to 5 m/s
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b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s)
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c) rounding error fix in loiter controller
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d) bug fix to stopping point calculation for RTL and loiter during missions
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4) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw
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------------------------------------------------------------------
|
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ArduCopter 3.0.1-rc1 26-Jun-2013
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Improvements over 3.0.0
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1) bug fix to Fence checking position after GPS lock was lost
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2) bug fix to LAND so that it does not attempt to maintain horizontal position without GPS lock
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------------------------------------------------------------------
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ArduCopter 3.0.0 / 3.0.0-rc6 16-Jun-2013
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Improvements over 3.0.0-rc5
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1) bug fix to Circle mode's start position (was moving to last loiter target)
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2) WP_ACCEL parameter added to allow user to adjust acceleration during missions
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3) loiter acceleration set to half of LOIT_SPEED parameter value (was hard-coded)
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4) reduce AltHold P to 1.0 (was 2.0)
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------------------------------------------------------------------
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ArduCopter 3.0.0-rc5 04-Jun-2013
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Improvements over 3.0.0-rc4
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1) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location
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2) bug fix to Circle mode to allow counter-clockwise rotation
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3) bug fix to heading change in Loiter, RTL, Missions when pilot's throttle is zero
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4) bug fix for mission sticking at take-off command when pilot's throttle is zero
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5) bug fix for parameters not saving when new value is same as default value
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6) reduce pre-arm board min voltage check to 4.3V (was 4.5V)
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7) remove throttle controller's ability to limit lean angle in loiter, rtl, auto
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------------------------------------------------------------------
|
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ArduCopter 3.0.0-rc4 02-Jun-2013
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Improvements over 3.0.0-rc3
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1) loiter improvements:
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i) repositioning enhanced with feed forward
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ii) use tan to convert desired accel to lean angle
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2) stability patch improvements for high powered copters or those with roll-pitch rate gains set too high
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3) auto mode vertical speed fix (it was not reaching the desired speeds)
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4) alt hold smoothed by filtering feed forward input
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5) circle mode fix to initial position and smoother initialisation
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6) RTL returns to initial yaw heading before descending
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7) safe features:
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i) check for gps lock when entering failsafe
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ii) pre-arm check for mag field lenght
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iii) pre-arm check for board voltage between 4.5v ~ 5.8V
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iv) beep twice during arming
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v) GPS failsafe enabled by default (will LAND if loses GPS in Loiter, AUTO, Guided modes)
|
|
vi) bug fix for alt-hold mode spinning motors before pilot has raised throttle
|
|
8) bug fixes:
|
|
i) fixed position mode so it responding to pilot input
|
|
ii) baro cli test
|
|
iii) moved cli motor test to test sub menu and minor change to throttle output
|
|
iv) guided mode yaw control fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc3 22-May-2013
|
|
Improvements over 3.0.0-rc2
|
|
1) bug fix for dataflash erasing unnecessarily
|
|
2) smoother transition to waypoints, loiter:
|
|
intermediate point's speed initialised from copter's current speed
|
|
3) Ch8 auxiliary function switch (same features as Ch7)
|
|
4) safety checks:
|
|
Warning to GCS of reason for pre-arm check failure
|
|
ARMING_CHECK parameter added to allow disabling pre-arm checks
|
|
Added compass health and offset check to pre-arm check
|
|
compassmot procedure displays interference as percentage of total mag field
|
|
5) WPNAV dataflash message combined into NTUN message
|
|
6) allow TriCopters to use ESC calibration
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc2 13-May-2013
|
|
Improvements over 3.0.0-rc1:
|
|
1) smoother transition to waypoints, loiter:
|
|
reduced loiter max acceleration to smooth waypoints
|
|
bug fix to uninitialised roll/pitch when entering RTL, AUTO, LOITER
|
|
2) fast waypoints - copter does not stop at waypoints unless delay is specified
|
|
3) WPNAV_LOIT_SPEED added to allow faster/slower loiter repositioning
|
|
4) removed speed limits on auto missions
|
|
5) enhance LAND mission command takes lat/lon coordinates
|
|
6) bug fix for RTL not pointing home sometimes
|
|
7) centrifugal correction disabled when copter is disarmed to stop HUD moving
|
|
8) centrifugal correction disabled when sat count less than 6 (AHRS_GPS_MINSATS)
|
|
9) compass calibration reliability improvements when run from mission planner
|
|
10) bug fix to allow compassmot to be run from mission planner terminal screen
|
|
11) add support for H-quad frame
|
|
12) add COMPASS_ORIENT parameter to support external compass in any orientation
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc1 01-May-2013
|
|
Improvements over 2.9.1b:
|
|
1) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan)
|
|
2) 3D waypoint navigation library (Leonard/Randy)
|
|
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL
|
|
WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL
|
|
3) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team)
|
|
4) Safety improvements:
|
|
Tin-can shaped fence (set FENCE_ENABLED to 1 and copter will RTL if alt > 150m or horizontal distance from home > 300m) (Randy/Tridge/Leonard)
|
|
GCS failsafe (set FS_GCS_ENABLED to 1 and if you are using a tablet to fly your copter it will RTL and return control to the radio 3 seconds after losing telemetry) (Randy)
|
|
pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy)
|
|
5) motor interference compensation for compass (Jonathan/Randy)
|
|
6) Circle mode improvements:
|
|
set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates)
|
|
CIRCLE_RATE parameter allows controlling direction and speed of rotation in CIRCLE mode and LOITER_TURNS (can also be adjusted in flight from CH6 knob)
|
|
7) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy)
|
|
8) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig)
|
|
9) performance improvements to dataflash logging (Tridge)
|
|
10) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge)
|
|
11) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy)
|
|
12) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1b 30-Feb-2013
|
|
Improvements over 2.9.1:
|
|
1) reduce INS_MPU6K_FILTER to 20hz
|
|
2) reduce InertialNav Z-axis time constant to 5 (was 7)
|
|
3) increased max InertialNav accel correction to 3 m/s (was 1m/s)
|
|
4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew
|
|
5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
|
|
6) reduce yaw_rate P default to 0.20 (was 0.25)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013
|
|
Improvements over 2.9.1-rc1:
|
|
1) small corretion to use of THR_MID to scale lower end of manual throttle between THR_MIN and 500 instead of 0 and 500
|
|
2) bug fix for longitude scaling being incorrectly calculated using Next Waypoint instead of home which could lead to scaling being 1
|
|
3) ESC calibration change to set update rate to ESCs to 50hz to allow simonk ESC to be calibrated
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1-rc1 31-Jan-2013
|
|
Improvements over 2.9:
|
|
1) THR_MID parameter added to allow users to adjust the manual throttle so that vehicle hovers at about mid stick
|
|
2) bug fix for autotrim - roll axis was backwards
|
|
3) bug fix to set sonar_alt_health to zero when sonar is disabled
|
|
4) capture level roll and pitch trims as part of accel calibration
|
|
5) bug fix to ppm encoder false positives
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9 & 2.9-rc5 14-Jan-2013
|
|
Improvements over 2.9-rc4:
|
|
1) add constraint to loiter commanded roll and pitch angles
|
|
2) relax altitude requirement for take-off command to complete
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc4 12-Jan-2013
|
|
Improvements over 2.9-rc3:
|
|
1) Smoother transition between manual and auto flight modes (Leonard)
|
|
2) bug fix for LAND not actually landing when initiated from failsafe (Randy/Craig)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc3 11-Jan-2013
|
|
Improvements over 2.9-rc2:
|
|
1) alt hold with sonar improvements - now on by default (Leonard/Randy)
|
|
2) performance and memory useage improvements (Tridge/Randy)
|
|
3) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold (Randy)
|
|
4) bug fix: altitude error reported to GCS (Randy)
|
|
5) limit inertial nav's max accel offset correction to 100cm/s/s to speed up recovery after hard impacts (Randy)_
|
|
6) moved rate controllers to run after ins read (Tridge/Randy)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc2 31-Dec-2012
|
|
Improvements over 2.9-rc1:
|
|
1) increased throttle rate gains from 1.0 to 6.0
|
|
2) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc1 23-Dec-2012
|
|
Improvements over 2.8.1:
|
|
1) altitude hold improvements:
|
|
a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason]
|
|
b)accel based throttle controller [Leonard/Randy]
|
|
c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt]
|
|
d)parameters to control climb rate:
|
|
AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s)
|
|
PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s)
|
|
2) landing improvements [Leonard/Randy]
|
|
LAND_SPEED - allows you to set the landing speed in cm/s
|
|
3) camera related improvements:
|
|
a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno]
|
|
b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy]
|
|
c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy]
|
|
YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never)
|
|
4) trad heli improvements [Rob]
|
|
a) code tested and brought back into the fold (2.8.1 was never released for trad helis)
|
|
b) enabled rate controller (previously only used angle controllers)
|
|
c) fix to rotor speed controllers - now operates by switching off channel 8
|
|
d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode
|
|
e) removed angle boost function because it created more problems than it solved
|
|
f) bug fix to allow collective pitch to use the entire range of servos
|
|
5) mediatek gps driver improvements [Craig]
|
|
a) added support for 1.9 firmware
|
|
b) bug fix to start-up routine so sbas can be enabled
|
|
6) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland]
|
|
a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming
|
|
b) failsafe triggered in unlikely case of a PPM encoder failure
|
|
c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered
|
|
7) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge]
|
|
8) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland]
|
|
9) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard]
|
|
ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level
|
|
ACRO_TRAINER - 1 to enable the auto-bring-upright feature
|
|
10) other changes and bug fixes:
|
|
a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason]
|
|
#define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees
|
|
#define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees
|
|
b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason]
|
|
c) event and state logging [Jason]
|
|
d) allow cli to be used over telemetry link [Tridge]
|
|
e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy]
|
|
f) bug fix so do_set_servo command works [Randy]
|
|
g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge]
|
|
h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason]
|
|
i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy]
|
|
j) removed unused stab_d from roll and pitch controller [Jason]
|
|
k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy]
|
|
l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others]
|
|
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.8.1 22-Oct-2012
|
|
Improvements over 2.8:
|
|
- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM2
|
|
|
|
Improvements over 2.7.3:
|
|
- Improved ACRO mode (Leonard Hall)
|
|
- Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)
|
|
- Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)
|
|
- Less bouncy Stabilize yaw control (Leonard)
|
|
- OpticalFlow sensor support for APM2.5 (Randy)
|
|
- DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)
|
|
- Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)
|
|
- Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)
|
|
- More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)
|
|
- GPS NMEA bug fix (Alexey Kozin)
|
|
- Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)
|
|
|
|
Bug Fixes / Parameter changes:
|
|
- fixed skipping of last waypoint (Jason)
|
|
- resolved twitching when no GPS attached (Tridge)
|
|
- fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)
|
|
- moved Roll-Pitch I terms from Stabilize controllers to Rate controllers
|
|
- TILT_COMPENSATION param tuned for TradHeli (Rob)
|
|
|
|
Code Cleanup:
|
|
- HAL changes for platform portability (Pat Hickey)
|
|
- Removed INSTANT_PWM (Randy)
|
|
------------------------------------------------------------------
|