mirror of https://github.com/ArduPilot/ardupilot
394 lines
24 KiB
Plaintext
394 lines
24 KiB
Plaintext
ArduCopter Release Notes:
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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)
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vi) bug fix for alt-hold mode spinning motors before pilot has raised throttle
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8) bug fixes:
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i) fixed position mode so it responding to pilot input
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ii) baro cli test
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iii) moved cli motor test to test sub menu and minor change to throttle output
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iv) guided mode yaw control fix
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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
|
|
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)
|
|
------------------------------------------------------------------
|