Plane: updated release notes for 3.9.8-beta1
# Conflicts: # ArduPlane/release-notes.txt
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Andrew Tridgell
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Release 3.9.8-beta1, 22nd April 2019
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------------------------------------
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This is a minor release with some important safety fixes. The fixes
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relate to two issues:
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- implement hardware support to reset the CPU if a software or hardware
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failure causes the main loop to stop running
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- fixed a bug in the handling of a failure of the primary IMU in a
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multi-IMU system
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The first fix relates to a flyaway that happened on a RadioLink
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mini-pix flight controller. The mini-pix suffered a major hardware
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failure that led to the main loop stopping. As the mini-pix does not
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have an IO co-processor this resulted in fixed control surface outputs
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and fixed motor output, which led to a flyaway. The plane was found,
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but we want to ensure that if this ever happens again that the motor
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will stop and that the pilot will regain control of the aircraft.
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The fix is to enable an option in the STM32 processor called
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"Independent Watchdog" (IWDG). The IWDG provides a mechanism to
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automatically reset the CPU on software or hardware failure resulting
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in the main loop stopping. When this happens the hardware also
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provides a mechanism for ArduPilot to know that it is booting after a
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watchdog reset, in which case it does the following:
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- if the ChibiOS bootloader has been updated then it skips the normal
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5 second delay in the bootloader
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- it skips baromoter, gyro and airspeed calibration, allowing for
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very fast boot
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- the home position and attitude estimate of the vehicle is restored
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to a point less than 0.3 seconds before the lockup
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- the pilot regains full control, and if the pilot requests arming
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then arming checks are automatically bypassed
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We have tested this on an aircraft with a deliberately induced full
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CPU lockup. The aircraft recovered and flew normally within 3 seconds
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of lockup, with the pilot having full control. This was with a board
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with no IOMCU. A board that does have an IOMCU (such as a Hex cube)
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would have had full manual control on FMU lockup without the changes
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in this new release. For those boards with IOMCU the advantage of the
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new release is that the pilot will regain the ability to use
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stabilised and auto modes (including RTL) after a full CPU lockup.
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The additional protections of the IWDG support only apply to the
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ChibiOS builds. The IWDG is not supported in NuttX builds.
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The second key fix in this release relates to IMU failure on multi-IMU
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systems. If the IMU that is associated with the currently active EKF
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lane failed then the fixed wing attitude controller would lose
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attitude control and the aircraft will crash unless the pilot takes
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manual control. This has been fixed to ensure that IMU failover
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operates correctly.
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Other changes in this release:
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- added support for the CUAVv5Nano board
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- added retries to flash storage of parameters
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- fixed pullups on some fmuv3 based boards that lack hardware pullups
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on sdcard data lines
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- fixed fallback to microSD for parameter storage if a board with
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FRAM storage has a failed FRAM device
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Happy flying!
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Release 3.9.7, 1st April 2019
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-----------------------------
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This is a minor release to fix a single important bug in speed/height
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handling. The bug was in the TECS (total energy control system) and
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could cause a sustained pitch down due to a transient glitch in
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airspeed demand resulting in a large negative pitch integrator.
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The log that found the bug was of a quadplane in CRUISE mode, and
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resulted in the aircraft forcing nose down for long enough to crash.
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The fix includes both protections for the pitch integrator and a fix
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for the cause of the transient in airspeed demand affecting the TECS
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demanded airspeed.
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Happy flying!
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Release 3.9.6, 4th March 2019
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-----------------------------
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This is a minor release with some important fixes for VTOL landings
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and EKF handling of compass switching.
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- fixed throttle slew on dual-motor planes
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- handle VTOL landings with incorrect height (or failed rangefinder)
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- fixed EKF alt datum reset on barometer reset
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- probe all I2C buses for rangefinders (fixes I2C lidar on boards
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with more than 2 I2C buses)
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- fixed lightware serial detection for newer lidars such as LW20
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- fixed motor relax code on VTOL landing to prevent motors powering
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up after touchdown
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- fixed forward motor in quadplane landing transition to allow motors
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when landing at a height lower than takeoff height
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- fixed throttle mix handling for VTOL planes on descent
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- use WP altitude for height of ground in VTOL landing, allowing for
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good landings at heights well above or below takeoff height
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- fixed EKF compass switching with 3 compasses
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- fixed mini-pix UART order to match case markings
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- added generated git hash to apj file
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- fixed apj generation to not change based on time of build
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- fixed thread creation to use any heap, fixing a bug on
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MatekF405-Wing with a compass
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Happy flying!
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Release 3.9.5, 27th January 2019
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--------------------------------
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This is a minor update over the 3.9.4 release. This release includes
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the following changes:
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- fixed orientation of 2nd IMU for OmnibusF7V2
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- fixed LEDs on Pixhawk4 and Pixhawk4-mini
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- fixed safety switch on Pixhawk4-mini
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- improved robustness of microSD support under ChibiOS
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- support insert of a microSD after boot but before logging starts
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under ChibiOS
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- added BRD_SD_SLOWDOWN parameter to allow microSD cards to be run at
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a lower clock to improve reliability
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- fixed VTOL takeoff in quadplanes to ignore latitude/longitude in
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the mission item and always takeoff vertically
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- added CubePurple (also known as PH2Slim) builds
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- added DrotekP3Pro builds
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- RC protocol decoding for SRXL, SUMD and ST24 extended to all boards
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including pixracer and ChibiOS-only boards
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- fixed CAN on Pixhawk4
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- fixed EKF yaw reset in quadplanes
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- fixed bug handling corruption of DSM RC protocols
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- fixed internal amber LED on CubeBlack
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Happy flying!
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Release 3.9.4, 10th December 2018
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---------------------------------
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This is a minor update over the 3.9.3 release. Changes are:
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- fixed a critical bug in SBUS handling on the Pixhawk4
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- fixed bugs in benewake rangefinder driver
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- added support for garmin LidarLite-V3HP
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- improved error handling for TeraRanger Lidar
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- fixed a bug in DSM handling for more than 7 channels on some boards
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- fixed default voltage and current scaling for Pixhawk4 and PH4-mini
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Happy flying!
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Release 3.9.3, 10th November 2018
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---------------------------------
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The ArduPilot development team are delighted to announce the 3.9.3
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stable release of the ArduPilot plane code. This release includes a
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number of small but important fixes over 3.9.2:
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- fixed error handling for corrupt RC input that could lead to a
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crash in unusual circumstances
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- fixed a race condition in IOMCU event startup that could lead to
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the safety not being disabled on boot with BRD_SAFETYENABLE=0
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- ensure surface speed scaling covers full range of configured
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airspeeds
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- added builds for new boards F35Lightning, omnibusf4v6, mRoX21-777
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- updated GPIO numbers on AUX pins on all boards to be consistent
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with docs
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- updated KakuteF7 UARTs and buzzer
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- added ESC sensor uart on OmnibusNanoV6
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- fix for Benewake rangefinder at long ranges
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- prevent attempts to erase dataflash logs while armed
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Many thanks to the people who tested this release!
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Happy flying!
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Release 3.9.3beta1, 6th November 2018
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-------------------------------------
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This is the first beta release for the 3.9.3 firmware. This release
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has the following changes over 3.9.2:
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- fixed error handling for corrupt RC input that could lead to a
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crash in unusual circumstances
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- fixed a race condition in IOMCU event startup that could lead to
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the safety not being disabled on boot with BRD_SAFETYENABLE=0
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- ensure surface speed scaling covers full range of configured
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airspeeds
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- added builds for new boards F35Lightning, omnibusf4v6, mRoX21-777
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- updated GPIO numbers on AUX pins on all boards to be consistent
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with docs
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- updated KakuteF7 UARTs and buzzer
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- added ESC sensor uart on OmnibusNanoV6
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Happy flying!
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Release 3.9.2, 10th October 2018
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--------------------------------
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The ArduPilot development team are delighted to announce the 3.9.2
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stable release of the ArduPilot plane code. This release includes a
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number of small but important fixes over 3.9.1.
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The changes since the 3.9.2beta3 release are:
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- fixed a DShot send bug that could lead to board lockup
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- fixed RGB LED display on Pixracer under both NuttX and ChibiOS
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- fixed safety switch option handling bug
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Thanks for the bug reports and testing by all users for the 3.9.2beta
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series!
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Happy flying!
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>>>>>>> a9d5581378... Plane: updated release notes for 3.9.8-beta1
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Release 3.9.2beta3, 20th September 2018
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---------------------------------------
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