mirror of https://github.com/ArduPilot/ardupilot
1285 lines
78 KiB
Plaintext
1285 lines
78 KiB
Plaintext
ArduPilot Copter Release Notes:
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------------------------------------------------------------------
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Copter 3.5.5-rc1 24-Jan-2018
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Changes from 3.5.4
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1) ICM20948 compass orientation fix
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2) LIS3MDL compass support on Pixracer
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3) support for easy embedding of defaults in firmware binary
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4) do-mount-control control command sets copter yaw when using 2-axis gimbal
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5) TradHeli fix for direct drive variable pitch tail rotors
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------------------------------------------------------------------
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Copter 3.5.4 23-Nov-2017 / 3.5.4-rc2 17-Nov-2017
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Changes from 3.5.3
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1) Compass improvements / bug fixes:
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a) probe for LIS3MDL on I2C address 0x1e
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b) bug fix pixracer compass detection
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------------------------------------------------------------------
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Copter 3.5.4-rc1 08-Nov-2017
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Changes from 3.5.3
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1) Compass improvements:
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a) support added for QMC5883L, LIS3MDL, IST8310
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b) COMPASS_TYPEMASK parameter allows enabling/disabling individual compass drivers
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2) LightWare and MaxBotix range finders supported on both I2C buses
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3) Serial port 5 can be used for telemetry or sensors (previously was only for NuttX console)
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4) px4pro flight controller supported
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5) TradHeli fixes:
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a) motor runup check applies to all flight modes (previously only loiter, poshold, althold)
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b) swashplate behaviour changes when on ground in acro, stabilize and althold
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c) servo test function fixed
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d) direct drive fixed pitch tail fix
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e) Z-axis Accel P gain default lowered to 0.3
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6) EKF origin set using SET_GPS_GLOBAL_ORIGIN mavlink message instead of SET_HOME_POSITION
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7) Intel Aero supports 921600 baud rate between main flight controller and companion computer
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8) Bug fix to I2C race condition on Pixhawk that could occasionally cause I2C device to not be detected
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------------------------------------------------------------------
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Copter 3.5.3 21-Sep-2017 / Copter 3.5.3-rc1 12-Sep-2017
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Changes from 3.5.2
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1) Guided mode support yaw and yaw-rate fields from set-position-target message
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2) Optical Flow startup retries 10 times
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3) Bug fixes:
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a) Septentrio RTK GPS driver robustness improvements for long messages
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b) dataflash not-logging checks if not initialised
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c) fix reporting of relative-position-NE-to-home (most users will not notice this difference)
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------------------------------------------------------------------
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Copter 3.5.2 14-Aug-2017 / Copter 3.5.2-rc1 05-Aug-2017
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Changes from 3.5.1
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1) GPS glitch arming check and notification (flashing blue-yellow LED, message on HUD)
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2) Arming check for minimum voltage (see ARMING_VOLT_MIN parameter)
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3) Landing Gear startup behaviour now configurable (see LGR_STARTUP parameter)
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4) Solo LED fix when using "boat" mode
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5) Intel Aero RTF gets one more I2C bus
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6) Bug fixes:
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a) resolve barometer floating point exception when ground pressure set to be negative
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b) resolve freeze if SERVOx_FUNCTION is set above 80
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------------------------------------------------------------------
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Copter 3.5.1 31-July-2017 / 3.5.1-rc1 24-July-2017
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Changes from 3.5.0
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1) fix to RC input corruption when using Spektrum DSMx with Pixracer
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------------------------------------------------------------------
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Copter 3.5.0 17-July-2017 / 3.5.0-rc11 12-July-2017
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Changes from 3.5-rc10
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1) GPS fixes:
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a) Re-enable auto detection of NMEA GPS (revert change from -rc9)
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b) Fix SBF race condition on start (this should resolve SBF GPS detection issues for some users)
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2) SF40c driver fix to ignore zero distances
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------------------------------------------------------------------
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Copter 3.5.0-rc10 08-July-2017
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Changes from 3.5-rc9
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1) Intel Aero build and default parameter updates
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2) EKF final yaw reset lowered from 5m to 2.5m to speed up bad compass detection after takeoff
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------------------------------------------------------------------
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Copter 3.5.0-rc9 03-July-2017
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Changes from 3.5-rc8
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1) AutoTune improvement when using position hold (twitches in body-frame instead of earth-frame)
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2) GPS fixes:
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a) RTK GPS fix when large RTK correction messages are sent
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b) auto-detection for NMEA disabled (NMEA users must explicitly set GPS_TYPE to 5)
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3) EKF bug fixes:
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a) fix bug preventing use of optical flow for terrain height estimation
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b) fix bug affecting accuracy of optical flow estimated height during climb/descent
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c) fix range beacon fusion bugs
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4) return accel filter (INS_ACCEL_FILT) to 20hz (some users were seeing oscillations at 10hz)
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------------------------------------------------------------------
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Copter 3.5.0-rc8 15-Jun-2017
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Changes from 3.5-rc7
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1) Solo on Master:
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a) add/fix tones and LED support
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b) resolve dataflash health reporting issue
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2) Allow flight controller to boot even if critical sensors fail (previously stopped at startup and displayed message people could rarely see)
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3) Minor enhancements:
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a) Landing Gear retracts/deploys only when pilot first moves switch (previously would always deploy on startup)
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b) BeagleBoneBlue supports external compass, OLED display
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4) Bug fixes:
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a) increase pilot stick dead zones for roll, pitch and yaw (still slightly more narrow than AC3.4)
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b) increase default roll, pitch and yaw rate IMAX values to 0.5, reduce default yaw rate filter to 2.5hz
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c) reduce accel filter from 20hz to 10hz (smoothes throttle in AltHold)
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d) fix EKF declination fusion
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e) object avoidance fix to ignore old distance measurements and out-of-range distances from range finder
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f) fix poxyz west-east processing (it was backwards)
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------------------------------------------------------------------
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Copter 3.5-rc7 25-May-2017
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Changes from 3.5-rc6
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1) Bug fixes and minor enhancements:
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a) fix OneShot ESC calibration and compass-mot calibration
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b) fix Navio2 and ErleBrain crashes caused by insufficient memory allocated to scheduler
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c) AutoTune with position hold only resets target position when roll and/or pitch sticks moved
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d) fix Acro, Sport trainer mode to stop attitude targets going beyond angle limits
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e) sanity check WPNAV_RADIUS is non-zero
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f) MarvelMind driver fixes (still a work-in-progress)
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g) Sanity check command when resuming mission in Auto
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------------------------------------------------------------------
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Copter 3.5-rc6 15-May-2017
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Changes from 3.5-rc5
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1) Bug fixes and minor enhancements:
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a) ESC calibration fix when not using safety switch (was waiting for safety switch to be pushed)
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b) Parameter loading improvements (responds sooner after startup, counts parameters in separate thread)
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c) Pilot radio passthrough fix for tradheli, single copter, coax copter
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------------------------------------------------------------------
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Copter 3.5-rc5 03-May-2017
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Changes from 3.5-rc4
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1) Intel Aero RTF support
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2) Smart battery fetches serial number, temperature and individual cell voltages
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3) Vehicle heads towards target point instead of next waypoint during straight line waypoint mission commands in AUTO
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4) Visual Odometry supported using VISION_POSITION_DELTA mavlink message
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5) Do-Set-Home sets EKF origin allowing user to specify vehicle starting position without GPS
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6) Object avoidance parameter (AVOID_MARGIN) allows configuring distance to maintain from objects
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7) Motor output can be duplicated to multiple channels
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8) IRLock can be connected to any I2C bus
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9) Piksi "Multi" GPS support
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10) Performance Improvements:
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a) inter-EKF scheduling cooperation (improves load balancing when using multiple EKFs)
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b) parameter requests from GCS processed asynchronously (resolves bad flight behaviour when fetching params in-flight)
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c) display performance improvements
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1) Bug fixes including:
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a) LSM303D (Pixhawk's backup IMU) timing fixes
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b) auxiliary PWM outputs update even when RC input stops
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c) dataflash log over mavlink fixes
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d) EKF recovery from severe errors
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e) reduce twitch when transitioning from spline to straight line waypoints in AUTO
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f) enable motors after initialisation completes (resolves some BLHeli ESC initialisation and calibration issues)
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------------------------------------------------------------------
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Copter 3.5-rc4 08-Apr-2017
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Changes from 3.5-rc3
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1) Bug fixes including:
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a) Baro based altitude estimate fixes including limiting ground temperature to reasonable value
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b) Fix 0.6ms lag reduction
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c) Fix Invensense IMU driver temperature reading
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d) Fix semaphore take during interrupts that may have caused very occasional main loop rate issues
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e) Return Home if GCS asks for first (i.e. zero-ith) mission command (required for Solo)
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------------------------------------------------------------------
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Copter 3.5-rc3 24-Mar-2017
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Changes from 3.5-rc2
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1) OLED Display fixes:
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a) can be connected to either I2C bus
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b) last character on line correctly cleared
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2) bug fix to detect SBUS failsafe on Pixracer
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3) bug fix to Gimbal servo reversing
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4) ensure WPNAV_LOIT_SPEED is non-zero to avoid divide-by-zero
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5) Fence pre-arm check failure messages clarified
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------------------------------------------------------------------
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Copter 3.5-rc2 13-Mar-2017
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Changes from 3.5-rc1
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1) Improved dual GPS support including blending (set GPS_TYPE2=1, GPS_AUTO_SWITCH=2)
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2) AutoTune with position hold (enter AutoTune from Loiter or PosHold modes to enable light position hold)
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3) New boards/drivers:
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a) PixhawkMini support
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b) AUAV2.1 board support (for AUAV2.1 set BRD_TYPE to 20 to distinguish from PixhawkMini)
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c) Garmin LidarLiteV3 support
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d) Maxell Smart Battery support
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e) Invensense ICM-20602 IMU and ST L3GD20H gyro drivers added
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4) IMU to Motor lag reduced by 0.6ms
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5) Object Avoidance:
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a) support TeraRanger Tower sensor
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b) support using normal (1-dimensional lidar/sonar)
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6) Minor changes/enhancements:
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a) add MOT_SPOOL_TIME parameter to allow users to control spool-up time of motors
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b) remove Solo gimbal from -v2 because of 1MB Flash limit on many Pixhawk1s
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c) altitude check for Guided mode takeoff (must be at least 1m)
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d) auxiliary switch to arm/disarm vehicle (set CH7_OPT to 41)
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e) change battery alarm tone to reduce impact on IMU
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f) add battery monitor health reporting
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g) support DO-FENCE-ENABLE mission command to enable/disable fence during missions
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7) Bug Fixes:
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a) OLED Display clears messages after 10seconds
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b) Servo Gimbal output range fix (could attempt to push servos beyond their limits)
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c) fix do-set-servo
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d) fix dataflash log time (was always appearing as 1970)
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------------------------------------------------------------------
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Copter 3.5-rc1 28-Jan-2017
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Changes from 3.4.4
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1) Multicopter firmware consolidated into single binary, users must set FRAME_CLASS parameter (1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri)
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2) PixRacer specific items:
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a) board LEDs supported
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b) ESC calibration start problem resolved (was sometimes not detecting high throttle from pilot)
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3) Relaxed compass calibration and compass consistency checks
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4) Sensor and Optional Hardware Improvements:
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a) IMU sampling rate for MPU9250, ICM20608 IMUs to 8kHz for improved vibration resistance (Pixracer, Pixhawk2)
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b) Onboard Display (http://ardupilot.org/copter/docs/common-display-onboard.html)
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c) Here+ RTK GPS (UBlox M8P RTK) support
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d) LightWare I2C drivers usable on Copter (thanks to in-tree drivers below)
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e) MaxBotix sonar with serial interface now supported
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f) Bebop optical flow (but sonar not yet operational making this feature currently impossible to use)
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5) Precision Loiter using IRLock sensor (set CH7_OPT to 39)
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6) Delivery improvements:
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a) Servo gripper (http://ardupilot.org/copter/docs/common-gripper-servo.html)
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b) Package_Place mission command (drops package without vehicle landing)
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7) Pozyx support for Non-GPS flight (http://ardupilot.org/copter/docs/common-pozyx.html)
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8) EKF improvements:
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a) improved blending of optical flow and GPS
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b) EKF3 added in ride-along. Enable by setting EK3_ENABLE=1
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c) improvements when using range finder as primary height reference
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9) Object Avoidance improvements (http://ardupilot.org/dev/docs/code-overview-object-avoidance.html):
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a) uses mini-fence
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b) accepts MAVLink distance-sensor messages
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c) simple avoidance in AltHold mode
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10) Other improvements:
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a) pre-arm check that logging is working
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b) better reporting of battery failsafe to ground stations
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c) reduced minimum waypoint speed to 20cm/s
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d) Flight time recorder (http://ardupilot.org/copter/docs/common-flight-time-recorder.html)
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e) UBlox GPS baud rate fix (was occasionally selecting wrong rate)
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11) Technical improvements (users may not see a functional change):
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a) in-tree drivers lead to improved sharing of drivers with Linux boards
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b) copter arming checks consolidated with other vehicles
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------------------------------------------------------------------
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Copter 3.4.6 15-Mar-2017
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Changes from 3.4.5
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1) ensure WPNAV_LOIT_SPEED is non-zero to avoid divide-by-zero
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------------------------------------------------------------------
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Copter 3.4.5 11-Feb-2017
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Changes from 3.4.4
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1) Bug fix to Guided mode that could lead to crash after take-off completes if MOT_THST_HOVER too high
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------------------------------------------------------------------
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Copter 3.4.4 06-Jan-2017 / Copter 3.4.4-rc1 21-Dec-2016
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Changes from 3.4.3
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1) Bug Fixes / Minor Enhancements:
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a) prevent unwanted EKF core switching at startup
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b) helicopter prevented from taking off in position hold mode before rotors at full speed
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c) battery resistance calculations fixed
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d) avoid unnecessary parameter change notifications to ground station
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e) default power module definitions for Navio boards
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f) on-board compass calibration capability bit added (tells ground stations that onboard calibration is supported)
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------------------------------------------------------------------
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Copter 3.4.3 08-Dec-2016 / Copter 3.4.3-rc1 01-Dec-2016
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Changes from 3.4.2
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1) Bug Fixes:
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a) reduce unnecessary EKF core switching and fix position reset
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b) attitude control does not limit rate if ATC_ACCEL_MAX is zero
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c) ignore arm command from GCS if already armed
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d) set land-complete to false during auto takeoff
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e) onboard compass calibration memory init fix that could lead to failure to complete
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2) Minor Improvements:
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a) LeddarOne driver robustness improvements
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b) allow MOT_THR_MIX_MAX to be as high as 2.0
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c) uavcan bus settle time increased to 2sec
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d) helicopters do not hold position during auto takeoff until rotor is at full speed
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------------------------------------------------------------------
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Copter 3.4.2 16-Nov-2016 / Copter 3.4.2-rc1/rc2 07-Nov-2016
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Changes from 3.4.1
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1) Minor Improvements:
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a) ACRO_Y_EXPO applies to all flight modes (but is defaulted to zero)
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b) Autotune timeout increased (helps with large copters)
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c) AltHold filter applied to P (was previously only for D)
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d) arming check for compass health (was previously only a pre-arm check)
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2) Bug Fixes:
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a) compass calibration (onboard) fix to return completion status
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b) LeddarOne driver busy-wait fix
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c) SBF GPS altitude and accuracy reporting fix
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d) MAV GPS uses existing configured baud rate instead of auto detecting
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------------------------------------------------------------------
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Copter 3.4.1 01-Nov-2016
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Changes from 3.4.0
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1) Pixracer PPM RC input fix
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------------------------------------------------------------------
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Copter 3.4.0 31-Oct-2016
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Changes from 3.4.0-rc7
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1) Disabled LeddarOne driver (will be fixed in AC3.4.1 within a couple of weeks)
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------------------------------------------------------------------
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Copter 3.4.0-rc7 25-Oct-2016
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Changes from 3.4.0-rc6
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1) Bug fixes, minor improvements:
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a) more DSM binding fixes for pixracer
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b) allow non-motor channels to move before safety switch is pressed
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c) fix Bebop motor order
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d) fix MAVLink system id for first few messages
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e) fix throw mode throttle while rotating to level
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------------------------------------------------------------------
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Copter 3.4.0-rc6 15-Oct-2016
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Changes from 3.4.0-rc5
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1) Object Avoidance with SF40c 360 lidar
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2) ACRO_Y_EXPO parameter allows exponential yaw in ACRO mode (slow yaw at mid stick but fast response at full stick)
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3) ACRO_THR_MID parameter allows custom mid throttle for ACRO mode
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4) Precision Landing reliability and accuracy improvements using mini EKF and adding IRLock lens distortion correction
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5) Bug fixes, minor improvements:
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a) fix DSM binding on Pixracer
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b) resolved position jump caused by EKF core change (also added logging and reporting to GCS)
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c) EKF failsafe while in LAND triggers non-GPS LAND
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d) small throttle jump removed when switching between AltHold, Loiter
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6) Safety:
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a) EKF falls back to optical flow if GPS fails
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b) pre-arm check that GPS configuration has completed
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------------------------------------------------------------------
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Copter 3.4.0-rc5 14-Sep-2016
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Changes from 3.4.0-rc4
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1) Sprayer enabled by default
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2) Bug fixes, minor improvements:
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a) EKF fix for yaw angle reset fix when switching between cores (AC3.4 runs multiple EKFs simultaneously)
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b) EKF fixes when fusing range finder into height estimate
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c) pixracer clone board IMU hardware issue work around
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d) dataflash time-going-backwards fix
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e) fix rate PID conversion (AC3.3->AC3.4) for single, coax and tricopters
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------------------------------------------------------------------
|
|
Copter 3.4.0-rc4 06-Sep-2016
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Changes from 3.4.0-rc3
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1) Intel Aero flight controller support (not Intel Aero RTF, that was done in a later release)
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2) Bug fixes, minor improvements:
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a) resolve unlikely endless-climb in AltHold, Loiter by ensuring Z-axis accelerometer IMAX can always overpower hover throttle
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b) fix auto build issue that could lead to parameter corruption
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c) fix EKF2 gyro estimation error when switching between IMUs
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d) sanity check MOT_THST_MIX_MIN, MAX parameters
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e) increase likelihood that parachute will release by reducing counter instead of resetting counter if vehicle becomes temporarily upright
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------------------------------------------------------------------
|
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Copter 3.4.0-rc3 31-Aug-2016
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Changes from 3.4.0-rc2
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1) Landing detector improvements:
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a) checks that descent rate is less than 1m/s (avoids disarms when vehicle is obviously still descending)
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b) tradheli fix for landing detector
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2) WP_NAVALT_MIN parameter limits maximum lean angle when vehicle is below the specified alt while taking off or landing. Only applies in LAND mode, final stage of RTL and during take-off in AUTO mode
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3) GND_EFFECT_COMP parameter allows turning on EKF compensation for ground effect during take-off and landing
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4) Advanced Failsafe for use in OutBack challenge (see http://ardupilot.org/plane/docs/advanced-failsafe-configuration.html)
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5) AutoTune minor improvement to reduce step size on vehicles with very low hover throttle (i.e. high power-to-weight ratio)
|
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6) Bug fixes, minor improvement:
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|
a) OneShot ESC calibration fix
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b) LAND_SPEED_HIGH allows specifying vertical descent speed separate from WPNAV_SPEED_DN during the initial descent in LAND mode (and final stage of RTL)
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c) improved USB driver reliability for windows users (NuttX change)
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|
d) report dataflash logging health to ground station
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e) Guided mode accepts yaw rate from SET_ATTITUDE_TARGET message
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc2 08-Aug-2016
|
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Changes from 3.4.0-rc1
|
|
1) ADSB based avoidance of manned aircraft
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2) Polygon fence (works seamlessly with circular and altitude fences)
|
|
3) Throttle related changes:
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a) motors speed feedback to pilot while landed - motors only spin up to minimum throttle as throttle stick is brought to mid (previously spun up to 25%)
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b) MOT_HOVER_LEARN allows MOT_THST_HOVER to be learned in flight
|
|
c) THR_MIN becomes MOT_SPIN_MIN
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d) THR_MID becomes MOT_THST_HOVER
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4) Precision landing:
|
|
a) control improved by reducing lag from sensor and correcting math errors
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b) descent rate slows to allow time to correct horizontal position error
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5) Guided mode:
|
|
a) velocity controller accelerates/decelerates smoothly to target
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b) Guided_NoGPS flight mode added to allow companion computer control in non-GPS environments
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c) stop at fence if using velocity controller, reject points outside fence if using position controller
|
|
6) Throw Mode:
|
|
a) THROW_NEXTMODE parameter allows copter to switch to Auto, Guided, RTL, Land or Brake after throw is complete
|
|
b) Throw mode fixes so motors reliably start
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7) Attitude controller:
|
|
a) use Quaternions instead of Euler angles
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b) ATC_ANG_LIM_TC allows controlling rate at which lean angles are limited to preserve altitude in AltHold, Loiter
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|
8) EKF can use range finder as primary height source if EKF2_RNG_USE_HGT parameter is set to 70
|
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9) Bug fixes
|
|
a) AutoTune fix so that gains don't fall too low
|
|
b) Rally points with altitudes no longer cause vehicle to climb above fence during RTL
|
|
c) various EKF fixes including bug in initialisation of declination co-variances
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|
d) SingleCopter, CoaxCopter flag gains
|
|
10) Small enhancements:
|
|
a) Rally points outside fence are ignored
|
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b) AP_Button support added to allow ground station to see if user has pushed a button on the flight controller
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|
c) support for PLAY_TUNE and LED_CONTROL mavlink messages to cause vehicle to play tune or change colour of LED
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|
d) support for GPS_INPUT mavlink message to allow supplying vehicle position data from other sources
|
|
e) NAV_DELAY mission command to delay start of mission (or individual command) until a specified absolute time
|
|
e) TKOFF_NAV_ALT param allows take-off with no horizontal position hold until vehicle reaches specified altitude (intended mostly for helicopters)
|
|
f) SCHED_LOOP_RATE param allows slowing main loop rate from default of 400 (intended for developers only)
|
|
11) Safety (in addition to Fence improvements above):
|
|
a) Motors begin spinning 2 seconds after arming (previously motors spun immediately)
|
|
------------------------------------------------------------------
|
|
Copter 3.4.0-rc1 28-May-2016
|
|
Changes from 3.3.3
|
|
1) EKF2 allows "boat mode" (attitude initialisation without gyro calibration)
|
|
2) Throw mode
|
|
3) Terrain following:
|
|
a) support terrain altitudes during missions using GCS's map data or rangefinder (i.e. Lidar)
|
|
b) LightWare range finder driver fixes (I2C works)
|
|
c) Bebop sonar support
|
|
4) Precision Landing using IRLock sensor
|
|
5) Attitude controller re-organisation (all parameter changes automatically moved and scales adjusted)
|
|
a) RATE_ parameters become ATC_RAT_ (i.e. RATE_RLL_P becomes ATC_RAT_RLL_P)
|
|
b) Rate Roll, Pitch, Yaw P, D are reduced by 10% for X, V, H frames, increased by 27% for all other frames
|
|
c) STB_ parameters becomes ATC_ANG_ (i.e. STB_RLL_P becomes ATC_ANG_RLL_P)
|
|
6) Motors library improvements:
|
|
a) support OneShot ESCs (set MOT_PWM_TYPE to 0 for Normal, 1 for OneShot or 2 for OneShot125)
|
|
b) TriCopter compensates for tail servo angle
|
|
c) SingleCopter, CoaxCopter adjust control surfaces based on throttle output
|
|
d) MOT_PWM_MIN, MAX allow specifying output ranges to ESCs which are difference from throttle input channel (i.e. RC3)
|
|
e) TradHeli servo objects moved into heli class (HSV_ parameters become H_SV_)
|
|
7) uAvionix Ping sensor support (ADS-B vehicles appear on GCS, avoidance will come in future release)
|
|
8) Safety:
|
|
a) warning if GPS update rate is slow (under 5hz, does not stop arming)
|
|
------------------------------------------------------------------
|
|
Copter 3.3.3 24-Feb-2016 / 3.3.3-rc2 27-Jan-2016
|
|
Changes from 3.3.3-rc1
|
|
1) bug fix to Guided mode's velocity controller to run at 400hz
|
|
2) bug fix to MAVLink routing to allow camera messages to reach MAVLink enabled cameras and gimbals (including SToRM32)
|
|
------------------------------------------------------------------
|
|
Copter 3.3.3-rc1 4-Jan-2016
|
|
Changes from 3.3.2
|
|
1) Restrict mode changes in helicopter when rotor is not at speed
|
|
2) add ATC_ANGLE_BOOST param to allow disabling angle boost for all flight modes
|
|
3) add LightWare range finder support
|
|
------------------------------------------------------------------
|
|
Copter 3.3.2 01-Dec-2015 / 3.3.2-rc2 18-Nov-2015
|
|
Changes from 3.3.2-rc1
|
|
1) Bug fix for desired climb rate initialisation that could lead to drop when entering AltHold, Loiter, PosHold
|
|
2) Fix to hard landings when WPNAV_SPEED_DN set high in RTL, Auto (resolved by using non-feedforward alt hold)
|
|
3) Reduce Bad AHRS by filtering innovations
|
|
4) Allow arming without GPS if using Optical Flow
|
|
5) Smoother throttle output in Guided mode's velocity control (z-axis now 400hz)
|
|
------------------------------------------------------------------
|
|
Copter 3.3.2-rc1 4-Nov-2015
|
|
Changes from 3.3.1
|
|
1) Helicopter Improvements:
|
|
a) Fix Arming race condition
|
|
b) Fix servos to move after arming in Stabilize and Acro
|
|
c) Implement Pirouette Compensation
|
|
d) Add Rate I-Leak-Min functionality
|
|
e) Add new Stab Collective and Acro Expo Col functions
|
|
f) Add circular swashplate limits (Cyclic Ring)
|
|
g) Add new H_SV_Man functions
|
|
h) Add Hover Roll Trim function
|
|
i) Add Engine Run Enable Aux Channel function
|
|
j) Add servo boot test function
|
|
h) Add Disarm Delay parameter
|
|
------------------------------------------------------------------
|
|
Copter 3.3.1 26-Oct-2015 / 3.3.1-rc1 20-Oct-2015
|
|
Changes from 3.3
|
|
1) Bug fix to prevent potential crash if Follow-Me is used after an aborted takeoff
|
|
2) compiler upgraded to 4.9.3 (runs slightly faster than 4.7.2 which was used previously)
|
|
------------------------------------------------------------------
|
|
Copter 3.3 29-Sep-2015 / 3.3-rc12 22-Sep-2015
|
|
Changes from 3.3-rc11
|
|
1) EKF recovers from pre-arm "Compass variance" failure if compasses are consistent
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc11 10-Sep-2015
|
|
Changes from 3.3-rc10
|
|
1) PreArm "Need 3D Fix" message replaced with detailed reason from EKF
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc10 28-Aug-2015
|
|
Changes from 3.3-rc9
|
|
1) EKF improvements:
|
|
a) simpler optical flow takeoff check
|
|
2) Bug Fixes/Minor enhancements:
|
|
a) fix INS3_USE parameter eeprom location
|
|
b) fix SToRM32 serial protocol driver to work with recent versions
|
|
c) increase motor pwm->thrust conversion (aka MOT_THST_EXPO) to 0.65 (was 0.50)
|
|
d) Firmware version sent to GCS in AUTOPILOT_VERSION message
|
|
3) Safety:
|
|
a) pre-arm check of compass variance if arming in Loiter, PosHold, Guided
|
|
b) always check GPS before arming in Loiter (previously could be disabled if ARMING_CHECK=0)
|
|
c) sanity check locations received from GCS for follow-me, do-set-home, do-set-ROI
|
|
d) fix optical flow failsafe (was not always triggering LAND when optical flow failed)
|
|
e) failsafe RTL vs LAND decision based on hardcoded 5m from home check (previously used WPNAV_RADIUS parameter)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc9 19-Aug-2015
|
|
Changes from 3.3-rc8
|
|
1) EKF improvements:
|
|
a) IMU weighting based on vibration levels (previously used accel clipping)
|
|
b) fix blended acceleration (used for altitude control) in cases where first IMU fails
|
|
c) ensure unhealthy barometer values are never consumed
|
|
2) TradHeli: remove acceleration feed forward
|
|
3) Safety:
|
|
a) check accel, gyro and baro are healthy when arming (previously was only checked pre-arm)
|
|
b) Guided mode velocity controller timeout (vehicle stops) after 3 seconds with no update from GCS
|
|
4) Minor enhancements:
|
|
a) fix for AUAV board's usb-connected detection
|
|
b) add Lidar-Lite-V2 support
|
|
c) MOT_THR_MIN_MAX param added to control prioritisation of throttle vs attitude during dynamic flight
|
|
d) RALLY_INCL_HOME param allows always including home when using rally points
|
|
e) DO_FLIGHT_TERMINATION message from GCS acts as kill switch
|
|
5) Bug Fixes:
|
|
a) fix to ensure motors start slowly on 2nd spin-up
|
|
b) fix RTL_CLIMB_MIN feature (vehicle climbed too high above home)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc8 25-Jul-2015
|
|
Changes from 3.3-rc7
|
|
1) EKF improvements:
|
|
a) de-weight accelerometers that are clipping to improve resistance to high vibration
|
|
b) fix EKF to use primary compass instead of first compass (normally the same)
|
|
2) UBlox "HDOP" corrected to actually be hdop (was pdop) which leads to 40% lower value reported
|
|
3) TradHeli:
|
|
a) Motors library split into "Multicopter" and "TradHeli" so TradHeli does not see multicopter parameters
|
|
b) Heading target reset during landing to reduce vehicle fighting to rotate while on the ground
|
|
4) Minor enhancements:
|
|
a) SToRM32 gimbal can be connected to any serial port
|
|
b) log when baro, compass become unhealthy
|
|
c) ESC_CALIBRATION parameter can be set to "9" to disable esc calibration startup check
|
|
d) Circle rate adjustment with ch6 takes effect immediately
|
|
e) log home and origin
|
|
f) pre-arm check of battery voltage and fence
|
|
g) RTL_CLIMB_MIN parameter forces vehicle to climb at least this many cm when RTL is engaged (default is zero)
|
|
5) Bug fixes:
|
|
a) fix THR_MIN being incorrectly scaled as pwm value during low-throttle check
|
|
b) fence distance calculated from home (was incorrectly calculated from ekf-origin)
|
|
c) When flying with joystick and joystick is disconnected, control returns immediately to regular TX
|
|
d) dataflash's ATT yaw fixed to report heading as 0 ~ 360
|
|
e) fix to mission's first command being run multiple times during mission if it was a do-command
|
|
f) ekf-check is enabled only after ekf-origin is set (stops red-yellow flashing led when flying without GPS lock)
|
|
g) fix initialisation of mount's mode
|
|
h) start-up logging so parameters only logged once, mission always written
|
|
6) Linux:
|
|
a) bebop support
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc7 28-Jun-2015
|
|
Changes from 3.3-rc6
|
|
1) reduce EKF gyro bias uncertainty that caused attitude estimate errors
|
|
2) force 400hz IMU logging on (temporary for release candidate testing)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc6 25-Jun-2015
|
|
Changes from 3.3-rc5
|
|
1) EKF related changes:
|
|
a) reset altitude even when arming without GPS lock
|
|
b) fix yaw twitch caused by EKF heading estimate reset
|
|
c) fix IMU time scaling bug that caused height estimate to deviate from the baro
|
|
2) AutoTune improvements:
|
|
a) improved yaw tuning by increasing yaw step magnitude
|
|
b) added logging of accelerations
|
|
c) improvements to step tests
|
|
3) Improved crash check:
|
|
a) allow triggering even if pilot doesn't move throttle to zero
|
|
b) easier triggering by removing baro check and using angle error instead of absolute tilt angle
|
|
4) TradHeli:
|
|
a) swash moves while landed in AltHold mode
|
|
b) improvements to land detector
|
|
c) fixed RSC Runup Time calculation
|
|
d) Rate FF Low-pass Filter changed from 5Hz to 10Hz, more responsive
|
|
5) support Linux builds for NAVIO+ and Erle-Brain (http://firmware.diydrones.com/Copter/beta/)
|
|
6) Other improvements / Bug Fixes:
|
|
a) sonar pre-arm checks only enforced if using optical flow
|
|
b) fix EKF failsafe bug that would not allow recovery
|
|
c) full rate IMU logging for improved vibration analysis (set LOG_BITMASK to All+FullIMU)
|
|
d) new VIBE dataflash message records vibration levels
|
|
e) default MNT_TYPE to "1" if servo gimbal rc outputs were defined
|
|
f) RC_FEEL defaults to medium
|
|
g) addition of SToRM32 serial support (supports mount angle feedback to GCS)
|
|
h) new tricopter's tail servo parameters (MOT_YAW_SV_MIN, MAX, TRIM, REV)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc5 23-May-2015
|
|
Changes from 3.3-rc4
|
|
1) Fix AHRS bad gyro health message caused by timing jitter and log IMU health
|
|
2) TradHeli:
|
|
a) better default rate PIDs
|
|
b) Collective pitch output now operates even when disarmed
|
|
3) Small changes/fixes:
|
|
a) GCS can use MAV_CMD_MISSION_START to start mission in AUTO even without pilot raising throttle
|
|
b) GCS can force disarming even in flight by setting param2 to "21196"
|
|
c) rc-override timeout reduced from 2 seconds to 1 (applies when using GCS joysticks to control vehicle)
|
|
d) do-set-speed fix so it takes effect immediately during missions
|
|
e) GCS failsafe disarms vehicle if already landed (previously it could RTL)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc4 17-May-2015
|
|
Changes from 3.3-rc3
|
|
1) AutoTune:
|
|
a) save roll, pitch, yaw rate acceleration limits along with gains
|
|
b) more conservative gains
|
|
2) Roll, pitch rate control feed-forward now on by default (set ATC_RATE_FF_ENAB to "0" to disable)
|
|
3) Serial ports increased to maximum of 4 (set SERIALX_PROTOCOL to 1)
|
|
4) MOT_THR_MIX_MIN param to control minimum throttle vs attitude during landing (higher = more attitude control but bumpier landing)
|
|
5) EKF fixes/improvements
|
|
a) prevent yaw errors during fast spins
|
|
b) bug fix preventing external selection of optical flow mode
|
|
6) Parachute:
|
|
a) servo/relay held open for 2sec when deploying (was 1sec)
|
|
b) fix altitude check to be alt-above-home (was alt-above ekf origin which could be slightly different)
|
|
7) TradHeli:
|
|
a) parameters moved to stop possibility of corruption if board is switched between tradheli and multicopter firmware. Heli users may need to re-setup some heli-specific params.
|
|
b) H_COLYAW param can be float
|
|
8) Small Improvements / Bug Fixes:
|
|
a) reduced spline overshoot after very long track followed by very short track
|
|
b) log entire mission to dataflash whenever it's uploaded
|
|
c) altitude reported if vehicle takes off before GPS lock
|
|
d) high speed logging of IMU
|
|
e) STOP flight mode renamed to BRAKE and aux switch option added
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc2/rc3 02-May-2015
|
|
Changes from 3.3-rc1
|
|
1) AutoTune reliability fixes (improved filtering to reduce noise interference)
|
|
2) Optical flow improvements:
|
|
a) Range Finder pre-arm check - lift vehicle between 50cm ~ 2m before arming. Can be disabled by setting ARMING_CHECK to "Skip Params/Sonar"
|
|
b) Vehicle altitude limited to range finder altitude when optical flow is enabled
|
|
3) AltHold & Take-off changes:
|
|
a) feed-forward controller and jerk limiting should result in slightly snappier performance and smoother take-offs
|
|
b) vehicle climbs automatically to PILOT_TKOFF_ALT alt when taking off in Loiter, AltHold, PosHold, Sport (disabled by default, pilot's throttle input overrides takeoff)
|
|
c) PILOT_THR_FILT allows enforcing smoother throttle response in manual flight modes (defaults to 0 = off)
|
|
d) TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick
|
|
e) GCS can initiate takeoff even in Loiter, AltHold, PosHold and sport by issuing NAV_TAKEOFF mavlink command
|
|
4) Stop flight mode - causes vehicle to stop quickly, and does not respond to user input or waypoint movement via MAVLink. Requires GPS, will be renamed to Brake mode.
|
|
5) Aux channel features:
|
|
a) Emergency Stop - stops all motors immediately and disarms in 5 seconds
|
|
b) Motor Interlock - opposite of Emergency Stop, must be on to allow motors to spin motors, must be off to arm
|
|
6) Air pressure gain scaling (of roll, pitch, yaw) should mostly remove need to re-tune when flying at very different altitudes
|
|
7) landing detector simplified to only check vehicle is not accelerating & motors have hit their lower limit
|
|
8) Loiter tuning params to remove "freight train" stops:
|
|
raising WPNAV_LOIT_MAXA makes vehicle start and stop faster
|
|
raising WPNAV_LOIT_MINA makes vehicle stop more quickly when sticks centered
|
|
9) Other items:
|
|
a) faster EKF startup
|
|
b) Camera control messages sent via MAVLink to smart cameras. Allow control of camera zoom for upcoming IntelEdison/Sony QX1 camera control board
|
|
c) Lost Copter Alarm can be triggered by holding throttle down, roll right, pitch back
|
|
10) Bug fixes:
|
|
a) Home position set to latest arm position (it was being set to previous disarm location or first GPS lock position)
|
|
b) bug fix to mission Jump to command zero
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc1 11-Apr-2015
|
|
Changes from 3.2.1
|
|
1) Only support fast CPUs boards (Pixhawk, VRBrain, etc) and drop support for APM1, APM2 (sorry!)
|
|
2) AutoTune for yaw
|
|
3) Smooth throttle curve which should reduce wobbles during fast climbs and descents
|
|
4) ch7/ch8 aux switches expanded to ch9 ~ ch12 (see CH9_OPT ~ CH12_OPT params)
|
|
5) PX4Flow support in Loiter mode (still somewhat experimental)
|
|
6) Safety features:
|
|
a) EKF on by default replacing DCM/InertialNav which should improve robustness
|
|
b) increased accelerometer range from 8G to 16G to reduce chance of climb due to high vibrations (requires accel calibration)
|
|
7) Landing features:
|
|
a) improved landing on slopes
|
|
b) retractable landing gear (see LGR_ parameters)
|
|
8) Camera Gimbal features:
|
|
a) SToRM32 gimbal support (using MAVLink)
|
|
b) AlexMos gimbal support (using AlexMos serial interface)
|
|
c) do-mount-control commands supported in missions (allows controlling gimbal angle in missions)
|
|
9) Battery related features:
|
|
a) PID scaling for battery voltage (disabled by default, see MOT_THST_BAT_ parameters)
|
|
b) smart battery support
|
|
10) Other:
|
|
a) support do-set-home command (allows return-to-me and locked home position once GCS enhancements are completed)
|
|
b) performance improvements for Pixhawk reduce CPU load from 80% to 15%
|
|
c) firmware string name changed from ArduCopter to APM:Copter
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2.1 11-Feb-2015 / 3.2.1-rc2 30-Jan-2015
|
|
Changes from 3.2.1-rc1
|
|
1) Bug Fixes:
|
|
a) prevent infinite loop with linked jump commands
|
|
b) Pixhawk memory corruption fix when connecting via USB
|
|
c) vehicle stops at fence altitude limit in Loiter, AltHold, PosHold
|
|
d) protect against multiple arming messages from GCS causing silent gyro calibration failure
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2.1-rc1 08-Jan-2015
|
|
Changes from 3.2
|
|
1) Enhancements:
|
|
a) reduced twitch when passing Spline waypoints
|
|
b) Faster disarm after landing in Auto, Land, RTL
|
|
c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
|
|
2) Safety Features:
|
|
a) Add desired descent rate check to reduce chance of false-positive on landing check
|
|
b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
|
|
c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
|
|
d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
|
|
e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
|
|
3) Bug Fixes:
|
|
a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
|
|
b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
|
|
c) PosHold wind compensation fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2 07-Nov2014 / 3.2-rc14 31-Oct-2014
|
|
Changes from 3.2-rc13
|
|
1) Safety Features:
|
|
a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
|
|
2) Bug fixes:
|
|
a) DCM-check to require one continuous second of bad heading before triggering LAND
|
|
b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
|
|
c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
|
|
d) use primary GPS for LED status (instead of always using first GPS)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc13 23-Oct-2014
|
|
Changes from 3.2-rc12
|
|
1) DCM check triggers LAND if yaw disagrees with GPS by > 60deg (configure with DCM_CHECK_THRESH param) and in Loiter, PosHold, Auto, etc
|
|
2) Safety features:
|
|
a) landing detector checks baro climbrate between -1.5 ~ +1.5 m/s
|
|
b) sanity check AHRS_RP_P and AHRS_YAW_P are never less than 0.05
|
|
c) check set-mode requests from GCS are for this vehicle
|
|
3) Bug fixes:
|
|
a) fix ch6 tuning of wp-speed (was getting stuck at zero)
|
|
b) parachute servo set to off position on startup
|
|
c) Auto Takeoff timing bug fix that could cause severe lean on takeoff
|
|
d) timer fix for "slow start" of motors on Pixhawk (timer was incorrectly based on 100hz APM2 main loop speed)
|
|
4) reduced number of relays from 4 to 2 (saves memory and flash required on APM boards)
|
|
5) reduced number of range finders from 2 to 1 (saves memory and flash on APM boards)
|
|
6) allow logging from startup when LOG_BITMASK set to "All+DisarmedLogging"
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc12 10-Oct-2014
|
|
Changes from 3.2-rc11
|
|
1) disable sonar on APM1 and TradHeli (APM1 & APM2) to allow code to fit
|
|
2) Add pre-arm and health check that gyro calibration succeeded
|
|
3) Bug fix to EKF reporting invalid position and velocity when switched on in flight with Ch7/Ch8 switch
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc11 06-Oct-2014
|
|
Changes from 3.2-rc10
|
|
1) reduce lean on take-off in Auto by resetting horizontal position targets
|
|
2) TradHeli landing check ignores overall throttle output
|
|
3) reduce AHRS bad messages by delaying 20sec after init to allow EKF to settle (Pixhawk only)
|
|
4) Bug fixes:
|
|
a) fix THR_MIN scaling issue that could cause landing-detector to fail to detect landing when ch3 min~max > 1000 pwm
|
|
b) fix Mediatek GPS configuration so update rate is set correctly to 5hz
|
|
c) fix to Condition-Yaw mission command to support relative angles
|
|
d) EKF bug fixes when recovering from GPS glitches (affects only Pixhawks using EKF)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc10 24-Sep-2014
|
|
Changes from 3.2-rc9
|
|
1) two-stage land-detector to reduce motor run-up when landing in Loiter, PosHold, RTL, Auto
|
|
2) Allow passthrough from input to output of channels 9 ~ 14 (thanks Emile!)
|
|
3) Add 4hz filter to vertical velocity error during AltHold
|
|
4) Safety Feature:
|
|
a) increase Alt Disparity pre-arm check threshold to 2m (was 1m)
|
|
b) reset battery failsafe after disarming/arming (thanks AndKe!)
|
|
c) EKF only apply centrifugal corrections when GPS has at least 6 satellites (Pixhawk with EKF enabled only)
|
|
5) Bug fixes:
|
|
a) to default compass devid to zero when no compass connected
|
|
b) reduce motor run-up while landing in RTL
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc9 11-Sep-2014
|
|
Changes from 3.2-rc8
|
|
1) FRAM bug fix that could stop Mission or Parameter changes from being saved (Pixhawk, VRBrain only)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc8 11-Sep-2014
|
|
Changes from 3.2-rc7
|
|
1) EKF reduced ripple to resolve copter motor pulsing
|
|
2) Default Param changes:
|
|
a) AltHold Rate P reduced from 6 to 5
|
|
b) AltHold Accel P reduced from 0.75 to 0.5, I from 1.5 to 1.0
|
|
c) EKF check threshold increased from 0.6 to 0.8 to reduce false positives
|
|
3) sensor health flags sent to GCS only after initialisation to remove false alerts
|
|
4) suppress bad terrain data alerts
|
|
5) Bug Fix:
|
|
a)PX4 dataflash RAM usage reduced to 8k so it works again
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc7 04-Sep-2014
|
|
Changes from 3.2-rc6
|
|
1) Safety Items:
|
|
a) Landing check made more strict (climb rate requirement reduced to 30cm/s, overall throttle < 25%, rotation < 20deg/sec)
|
|
b) pre-arm check that accels are consistent (Pixhawk only, must be within 1m/sec/sec of each other)
|
|
c) pre-arm check that gyros are consistent (Pixhawk only, must be within 20deg/sec of each other)
|
|
d) report health of all accels and gyros (not just primary) to ground station
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc6 31-Aug-2014
|
|
Changes from 3.2-rc5
|
|
1) Spline twitch when passing through a waypoint largely resolved
|
|
2) THR_DZ param added to allow user configuration of throttle deadzone during AltHold, Loiter, PosHold
|
|
3) Landing check made more strict (climb rate must be -40~40cm/s for 1 full second)
|
|
4) LAND_REPOSITION param default set to 1
|
|
5) TradHeli with flybar passes through pilot inputs directly to swash when in ACRO mode
|
|
6) Safety Items:
|
|
a) EKF check disabled when using inertial nav (caused too many false positives)
|
|
b) pre-arm check of internal vs external compass direction (must be within 45deg of each other)
|
|
7) Bug Fixes:
|
|
a) resolve NaN in angle targets when vehicle hits gimbal lock in ACRO mode
|
|
b) resolve GPS driver buffer overflow that could lead to missed GPS messages on Pixhawk/PX4 boards
|
|
c) resolve false "compass not calibrated" warnings on Pixhawk/PX4 caused by missing device id initialisation
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc5 15-Aug-2014
|
|
Changes from 3.2-rc4
|
|
1) Pixhawk's max num waypoints increased to 718
|
|
2) Smoother take-off in AltHold, Loiter, PosHold (including removing initial 20cm jump when taking off)
|
|
3) ACRO mode roll, pitch, yaw EXPO added for faster rotation when sticks are at extremes (see ACRO_EXPO parameter)
|
|
4) ch7/ch8 relay option replaces ch6 option (ch6 is reserved for tuning not switching things on/off)
|
|
5) Safety Items:
|
|
a) Baro glitch check relaxed to 5m distance, 15m/s/s max acceleration
|
|
b) EKF/INav check relaxed to 80cm/s/s acceleration correct (default remains as 0.6 but this now means 80cm/s/s)
|
|
c) When GPS or Baro glitch clears, the inertial nav velocities are *not* reset reducing chance of sudden vehicle lean
|
|
d) Baro altitude calculation checked for divide-by-zero and infinity
|
|
6) Bug Fixes:
|
|
a) AltHold jump bug fixed (altitude target reset when landed)
|
|
b) Rally point bug fix so it does not climb excessively before flying to rally point
|
|
c) body-frame rate controller z-axis bug fix (fast rotation in z-axis would cause wobble in roll, pitch)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc4 01-Aug-2014
|
|
Changes from 3.2-rc3
|
|
1) Pre-takeoff throttle feedback in AltHold, Loiter, PosHold
|
|
2) Terrain altitude retrieval from ground station (informational purposes only so far, Pixhawk only)
|
|
3) Safety Items:
|
|
a) "EKF check" will switch to LAND mode if EKF's compass or velocity variance over 0.6 (configurable with EKFCHECK_THRESH param)
|
|
When EKF is not used inertial nav's accelerometer corrections are used as a substitute
|
|
b) Barometer glitch protection added. BAROGLTCH_DIST and BAROGLTCH_ACCEL parameters control sensitivity similar to GPSGLITCH protection
|
|
When glitching occurs barometer values are temporarily ignored
|
|
c) Throttle/radio and battery failsafes now disarm vehicle when landed regardless of pilot's throttle position
|
|
d) auto-disarm extended to Drift, Sport and OF_Loiter flight modes
|
|
e) APM2 buzzer notification added for arming failure
|
|
f) APM2 arming buzz made longer (now matches Pixhawk)
|
|
g) do-set-servo commands cannot interfere with motor output
|
|
4) Bug Fixes:
|
|
a) Drift slow yaw response fixed
|
|
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)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc3 16-Jul-2014
|
|
Changes from 3.2-rc2
|
|
1) Hybrid renamed to PosHold
|
|
2) Sonar (analog, i2c) and PulsedLight Range Finders enabled on Pixhawk (Allyson, Tridge)
|
|
3) Landing changes:
|
|
a) disable pilot repositioning while landing in RTL, Auto (set LAND_REPOSITION to 1 to re-enable) (JonathanC)
|
|
b) delay 4 seconds before landing due to failsafe (JonathanC)
|
|
4) Secondary compass calibration enabled, pre-arm check that offsets match current devices (Randy, Tridge, MichaelO)
|
|
5) Control improvements:
|
|
a) use bias adjusted gyro rates - helps in cases of severe gyro drift (Jonathan)
|
|
b) bug-fixes when feed-forward turned off (Leonard)
|
|
6) TradHeli improvements (RobL):
|
|
a) bug fix to use full collective range in stabilize and acro flight modes
|
|
b) filter added to main rotor input (ch8) to ensure momentary blip doesn't affect main rotor speed
|
|
7) Safety items:
|
|
a) increased default circular Fence radius to 300m to reduce chance of breach when GPS lock first acquired
|
|
b) radio failsafe timeout for late frames reduced to 0.5sec for normal receivers or 2.0sec when flying with joystick (Craig)
|
|
c) accelerometer pre-arm check for all active accelerometers (previously only checked the primary accelerometer)
|
|
8) Other features:
|
|
a) ch7/ch8 option to retract mount (svefro)
|
|
b) Do-Set-ROI supported in Guided, RTL mode
|
|
c) Condition-Yaw accepted in Guided, RTL modes (MoussSS)
|
|
d) CAMERA dataflash message includes relative and absolute altitude (Craig)
|
|
9) Red Balloon Popper support (Randy, Leonard):
|
|
a) Velocity controller added to Guided mode
|
|
b) NAV_GUIDED mission command added
|
|
10) Bug fixes:
|
|
a) bug fix to flip on take-off in stabilize mode when landing flag cleared slowly (JonathanC)
|
|
b) allow disarming in AutoTune (JonathanC)
|
|
c) bug fix to unpredictable behaviour when two spline points placed directly ontop of each other
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc2 27-May-2014
|
|
Changes from 3.2-rc1
|
|
1) Hybrid mode initialisation bug fix
|
|
2) Throttle pulsing bug fix on Pixhawk
|
|
3) Parachute enabled on Pixhawk
|
|
4) Rally Points enabled on Pixhawk
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc1 9-May-2014
|
|
Changes from 3.1.4
|
|
1) Hybrid mode - position hold mode but with direct response to pilot input during repositioning (JulienD, SandroT)
|
|
2) Spline waypoints (created by David Dewey, modified and integrated by Leonard, Randy)
|
|
3) Drift mode uses "throttle assist" for altitude control (Jason)
|
|
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.
|
|
5) Manual flight smoothness:
|
|
a) Smoother roll, pitch response using RC_FEEL_RP parameter (100 = crisp, 0 = extremely soft)
|
|
b) Adjustable max rotation rate (ATC_RATE_RP_MAX, ATC_RATE_Y_MAX) and acceleration (ATC_ACCEL_RP_MAX, ATC_ACCEL_Y_MAX)
|
|
6) Autopilot smoothness:
|
|
a) Vertical acceleration in AltHold, Loiter, Hybrid modes can be configured with PILOT_ACCEL_Z parameter (higher = faster acceleration)
|
|
b) Maximum roll and pitch angle acceleration in Loiter mode can be configured with WPNAV_LOIT_JERK (higher = more responsive but potentially jerky)
|
|
c) Yaw speed can be adjusted with ATC_SLEW_YAW parameter (higher = faster)
|
|
d) smoother takeoff with configurable acceleration using WPNAV_ACCEL_Z parameter
|
|
e) Twitches removed during guided mode or when entering Loiter or RTL from high speeds
|
|
7) Mission improvements:
|
|
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)
|
|
b) DO_SET_ROI persistent across waypoints. All-zero DO_SET_ROI command restores default yaw behaviour
|
|
c) do-jump fixed
|
|
d) conditional_distance fixed
|
|
e) conditional_delay fixed
|
|
f) do-change-speed command takes effect immediately during mission
|
|
g) vehicle faces directly at next waypoint (previously it could be about 10deg off)
|
|
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)
|
|
8) Safety improvements:
|
|
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
|
|
b) Parachute support including automatic deployment during mechanical failures
|
|
9) Other enhancements:
|
|
a) V-tail quad support
|
|
b) Dual GPS support (secondary GPS output is simply logged, not actually used yet)
|
|
c) Electro Permanent Magnet (aka Gripper) support
|
|
d) Servo pass through for channels 6 ~ 8 (set RC6_FUNCTION to 1)
|
|
e) Remove 80m limit on RTL's return altitude but never let it be above fence's max altitude
|
|
10) Other bug fixes:
|
|
a) Bug fix for LAND sometimes getting stuck at 10m
|
|
b) During missions, vehicle will maintain altitude even if WPNAV_SPEED is set above the vehicle's capabilities
|
|
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
|
|
11) CLI removed from APM1/2 to save flash space, critical functions moved to MAVLink:
|
|
a) Individual motor tests (see MP's Initial Setup > Optional Hardware > Motor Test)
|
|
b) compassmot (see MP's Initial Setup > Optional Hardware > Compass/Motor Calib)
|
|
c) parameter reset to factory defautls (see MP's Config/Tuning > Full Parameter List > Reset to Default)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.5 27-May-2014 / 3.1.5-rc2 20-May-2014
|
|
Changes from 3.1.5-rc1
|
|
1) Bug Fix to broken loiter (pixhawk only)
|
|
2) Workaround to read from FRAM in 128byte chunks to resolve a few users boot issues (Pixhawk only)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.5-rc1 14-May-2014
|
|
Changes from 3.1.4
|
|
1) Bug Fix to ignore roll and pitch inputs to loiter controller when in radio failsafe
|
|
2) Bug Fix to allow compassmot to work on Pixhawk
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.4 8-May-2014 / 3.1.4-rc1 2-May-2014
|
|
Changes from 3.1.3
|
|
1) Bug Fix for Pixhawk/PX4 NuttX I2C memory corruption when errors are found on I2C bus
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.3 7-Apr-2014
|
|
Changes from 3.1.2
|
|
1) Stability patch fix which could cause motors to go to min at full throttle and with large roll/pitch inputs
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.2 13-Feb-2014 / ArduCopter 3.1.2-rc2 12-Feb-2014
|
|
Changes from 3.1.2-rc1
|
|
1) GPS Glitch detection disabled when connected via USB
|
|
2) RC_FEEL_RP param added for adjusting responsiveness to pilot roll/pitch input in Stabilize, Drift, AltHold modes
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.2-rc1 30-Jan-2014
|
|
Changes from 3.1.1
|
|
1) Pixhawk baro bug fix to SPI communication which could cause large altitude estimate jumps at high temperatures
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.1 26-Jan-2014 / ArduCopter 3.1.1-rc2 21-Jan-2014
|
|
Changes from 3.1.1-rc1
|
|
1) Pixhawk improvements (available for APM2 when AC3.2 is released):
|
|
a) Faster arming
|
|
b) AHRS_TRIM fix - reduces movement in loiter when yawing
|
|
c) AUX Out 5 & 6 turned into general purpose I/O pins
|
|
d) Three more relays added (relays are pins that can be set to 0V or 5V)
|
|
e) do-set-servo fix to allow servos to be controlled from ground station
|
|
f) Motorsync CLI test
|
|
g) PX4 parameters moved from SD card to eeprom
|
|
h) additional pre-arm checks for baro & inertial nav altitude and lean angle
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.1-rc1 14-Jan-2014
|
|
Changes from 3.1
|
|
1) Pixhawk improvements:
|
|
a) Telemetry port 2 enabled (for MinimOSD)
|
|
b) SD card reliability improvements
|
|
c) parameters moved to FRAM
|
|
d) faster parameter loading via USB
|
|
e) Futaba SBUS receiver support
|
|
2) Bug fixes:
|
|
a) Loiter initialisation fix (Loiter would act like AltHold until flight mode switch changed position)
|
|
b) ROI commands were not returning Lat, Lon, Alt to mission planner when mission was loaded from APM
|
|
3) TradHeli only fixes:
|
|
a) Drift now uses same (reduced) collective range as stabilize mode
|
|
b) AutoTune disabled (for tradheli only)
|
|
c) Landing collective (smaller than normal collective) used whenever copter is not moving
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1 14-Dec-2013
|
|
Changes from 3.1-rc8
|
|
1) Pixhawk improvements:
|
|
a) switch to use MPU6k as main accel/gyro
|
|
b) auto loading of IO-board firmware on startup
|
|
2) RTL fixes:
|
|
a) initialise waypoint leash length (first RTL stop would be more aggressive than 2nd)
|
|
b) reduce projected stopping distance for higher speed stops
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc8 9-Dec-2013
|
|
Changes from 3.1-rc7
|
|
1) add Y6 motor mapping with all top props CW, bottom pros CCW (set FRAME = 10)
|
|
2) Safety Changes:
|
|
a) ignore yaw input during radio failsafe (previously the copter could return home spinning if yaw was full over at time of failsafe)
|
|
b) Reduce GPSGLITCH_RADIUS to 2m (was 5m) to catch glitches faster
|
|
3) Bug fixes:
|
|
a) Optical flow SPI bus rates
|
|
b) TradHeli main rotor ramp up speed fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc7 22-Nov-2013
|
|
Changes from 3.1-rc6
|
|
1) MOT_SPIN_ARMED default to 70
|
|
2) Smoother inertial nav response to missed GPS messages
|
|
3) Safety related changes
|
|
a) radio and battery failsafe disarm copter if landed in Loiter or AltHold (previously they would RTL)
|
|
b) Pre-Arm check failure warning output to ground station every 30 seconds until they pass
|
|
c) INS and inertial nav errors logged to dataflash's PM message
|
|
d) pre-arm check for ACRO_BAL_ROLL, ACRO_BAL_PITCH
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc6 16-Nov-2013
|
|
Improvements over 3.1-rc5
|
|
1) Heli improvements:
|
|
a) support for direct drive tails (uses TAIL_TYPE and TAIL_SPEED parameters)
|
|
b) smooth main rotor ramp-up for those without external govenor (RSC_RAMP_TIME)
|
|
c) internal estimate of rotor speed configurable with RSC_RUNUP_TIME parameter to ensure rotor at top speed before starting missions
|
|
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)
|
|
e) reduced collective while in stabilize mode (STAB_COL_MIN, STAB_COL_MAX) for more precise throttle control
|
|
f) external gyro parameter range changed from 1000~2000 to 0~1000 (more consistent with other parameters)
|
|
g) dynamic flight detector switches on/off leaky-i term depending on copter speed
|
|
2) SingleCopter airframe support (contribution from Bill King)
|
|
3) Drift mode replaces TOY
|
|
4) MPU6k SPI bus speed decreased to 500khz after 4 errors
|
|
5) Safety related changes:
|
|
a) crash detector cuts motors if copter upside down for more than 2 seconds
|
|
b) INS (accel and gyro) health check in pre-arm checks
|
|
c) ARMING_CHECK allows turning on/off individual checks for baro, GPS, compass, parameters, board voltage, radio
|
|
d) detect Ublox GPS running at less than 5hz and resend configuration
|
|
e) GPSGlitch acceptable radius reduced to 5m (stricter detection of glitches)
|
|
f) range check roll, pitch input to ensure crazy radio values don't get through to stabilize controller
|
|
g) GPS failsafe options to trigger AltHold instead of LAND or to trigger LAND even if in flight mode that does not require GPS
|
|
h) Battery failsafe option to trigger RTL instead of LAND
|
|
i) MOT_SPIN_ARMED set to zero by default
|
|
6) Bug fixes:
|
|
a) missing throttle controller initialisation would mean Stabilize mode's throttle could be non-tilt-compensated
|
|
b) inertial nav baro and gps delay compensation fix (contribution from Neurocopter)
|
|
c) GPS failsafe was invoking LAND mode which still used GPS for horizontal control
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc5 22-Oct-2013
|
|
Improvements over 3.1-rc4
|
|
1) Pixhawk USB reliability improvements
|
|
2) AutoTune changes:
|
|
a) enabled by default
|
|
b) status output to GCS
|
|
c) use 2 pos switch only
|
|
3) ch7/ch8 LAND
|
|
4) Tricopter stability patch improvements [thanks to texlan]
|
|
5) safety improvements:
|
|
a) slower speed up of motors after arming
|
|
b) pre-arm check that copter is moving less than 50cm/s if arming in Loiter or fence enabled
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc4 13-Oct-2013
|
|
Improvements over 3.1-rc3
|
|
1) Performance improvements to resolve APM alt hold issues for Octacopters:
|
|
a) SPI bus speed increased from 500khz to 8Mhz
|
|
b) Telemetry buffer increased to 512bytes
|
|
c) broke up medium and slow loops into individual scheduled tasks and increased priority of alt hold tasks
|
|
2) Bug fix for Pixhawk USB connection
|
|
3) GPS Glitch improvements:
|
|
a) added GPS glitch check to arming check
|
|
b) parameters for vehicle max acceleration (GPSGLITCH_ACCEL) and always-ok radius (GPSGLICH_RADIUS)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc3 09-Oct-2013
|
|
Improvements over 3.1-rc2
|
|
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.
|
|
2) Bug fix for pixhawk SPI bus contention that could lead to corrupted accelerometer values on pixhawk resolved
|
|
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)
|
|
4) CPU Performance improvement when reading from MPU6k for APM
|
|
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)
|
|
6) Safety changes:
|
|
a) safety button must be pushed before arming on pixhawk
|
|
b) RGB LED (aka toshiba led) changed so that disarmed flashes, armed is either blue (if no gps lock) or green (if gps lock)
|
|
c) sensor health bitmask sent to groundstations
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc2 18-Sep-2013
|
|
Improvements over 3.1-rc1
|
|
1) bug fix for MOT_SPIN_ARMED to allow it to be higher than 127
|
|
2) PX4/pixhawk auto-detect internal/external compass so COMPASS_ORIENT should be set to ORIENTATION_NONE if using GPS+compass module
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc1 9-Sep-2013
|
|
Improvements over 3.0.1
|
|
1) Support for Pixhawks board
|
|
2) Arm, Disarm, Land and Takeoff in Loiter and AltHold
|
|
3) Improved Acro
|
|
a) ACRO_RP_P, ACRO_YAW_P parameters added to control speed of rotation
|
|
b) ACRO_BAL_ROLL, ACRO_BAL_PITCH controls speed at which copter returns to level
|
|
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
|
|
d) Ch7 & Ch8 switch to set ACRO_TRAINER options in-flight
|
|
4) SPORT mode - equivalent of earth frame Acro with support for simple mode
|
|
5) Sonar ground tracking improvements and bug fixes that reduce reaction to bad sonar data
|
|
6) Safety improvements
|
|
a) motors always spin when armed (speed can be controlled with MOT_SPIN_ARMED, set to 0 to disable)
|
|
b) vehicle's maximum lean angle can be reduced (or increased) with the ANGLE_MAX parameter
|
|
c) arming check that GPS hdop is > 2.0 (disable by setting GPS_HDOP parameter to 900)
|
|
d) slow take-off in AUTO, LOITER, ALTHOLD to reduce chance of motor/esc burn-out on large copters
|
|
7) Bug fixes:
|
|
a) Optical flow sensor initialisation fix
|
|
b) altitude control fix for Loiter_turns mission command (i.e. mission version of CIRCLE mode)
|
|
c) DO_SET_ROI fix (do not use "ROI")
|
|
8) Distribute Loiter & Navigation calcs over 4 cycles to reduce impact on a single 100hz loop
|
|
9) RCMAP_ parameters allow remapping input channels 1 ~ 4
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-2013
|
|
Improvements over 3.0.1-rc1
|
|
1) Rate Roll, Pitch and Yaw I fix when we hit motor limits
|
|
2) pre-arm check changes:
|
|
a) double flash arming light when pre-arm checks fail
|
|
b) relax mag field checks to 35% min, 165% max of expected field
|
|
3) loiter and auto changes:
|
|
a) reduced Loiter speed to 5 m/s
|
|
b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s)
|
|
c) rounding error fix in loiter controller
|
|
d) bug fix to stopping point calculation for RTL and loiter during missions
|
|
4) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.1-rc1 26-Jun-2013
|
|
Improvements over 3.0.0
|
|
1) bug fix to Fence checking position after GPS lock was lost
|
|
2) bug fix to LAND so that it does not attempt to maintain horizontal position without GPS lock
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0 / 3.0.0-rc6 16-Jun-2013
|
|
Improvements over 3.0.0-rc5
|
|
1) bug fix to Circle mode's start position (was moving to last loiter target)
|
|
2) WP_ACCEL parameter added to allow user to adjust acceleration during missions
|
|
3) loiter acceleration set to half of LOIT_SPEED parameter value (was hard-coded)
|
|
4) reduce AltHold P to 1.0 (was 2.0)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc5 04-Jun-2013
|
|
Improvements over 3.0.0-rc4
|
|
1) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location
|
|
2) bug fix to Circle mode to allow counter-clockwise rotation
|
|
3) bug fix to heading change in Loiter, RTL, Missions when pilot's throttle is zero
|
|
4) bug fix for mission sticking at take-off command when pilot's throttle is zero
|
|
5) bug fix for parameters not saving when new value is same as default value
|
|
6) reduce pre-arm board min voltage check to 4.3V (was 4.5V)
|
|
7) remove throttle controller's ability to limit lean angle in loiter, rtl, auto
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc4 02-Jun-2013
|
|
Improvements over 3.0.0-rc3
|
|
1) loiter improvements:
|
|
i) repositioning enhanced with feed forward
|
|
ii) use tan to convert desired accel to lean angle
|
|
2) stability patch improvements for high powered copters or those with roll-pitch rate gains set too high
|
|
3) auto mode vertical speed fix (it was not reaching the desired speeds)
|
|
4) alt hold smoothed by filtering feed forward input
|
|
5) circle mode fix to initial position and smoother initialisation
|
|
6) RTL returns to initial yaw heading before descending
|
|
7) safe features:
|
|
i) check for gps lock when entering failsafe
|
|
ii) pre-arm check for mag field length
|
|
iii) pre-arm check for board voltage between 4.5v ~ 5.8V
|
|
iv) beep twice during arming
|
|
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 usage 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)
|
|
------------------------------------------------------------------
|