From 1e8b99ad1743f0b87ec5717b6e8755876eda4894 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 9 May 2014 13:29:59 +0900 Subject: [PATCH] Copter: update release notes for AC3.2-rc1 --- ArduCopter/ReleaseNotes.txt | 43 +++++++++++++++++++++++++++++++++++++ 1 file changed, 43 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index e5f32d4441..1160c09ff5 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,4 +1,47 @@ ArduCopter Release Notes: +------------------------------------------------------------------ +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 3.1.4 8-May-2014 / 3.1.4-rc1 2-May-2014 Changes from 3.1.3