mirror of https://github.com/ArduPilot/ardupilot
88 lines
5.7 KiB
Plaintext
88 lines
5.7 KiB
Plaintext
ArduCopter Release Notes:
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------------------------------------------------------------------
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ArduCopter 2.9-rc2 31-Dec-2012
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Improvements over 2.9-rc2:
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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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------------------------------------------------------------------ |