From 4a47127c580aeaaf1d82f8df7f1b06e06c413612 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 22 Apr 2019 17:08:03 +1000 Subject: [PATCH] Plane: updated release notes for 3.9.8-beta1 # Conflicts: # ArduPlane/release-notes.txt --- ArduPlane/release-notes.txt | 276 ++++++++++++++++++++++++++++++++++++ 1 file changed, 276 insertions(+) diff --git a/ArduPlane/release-notes.txt b/ArduPlane/release-notes.txt index 1409143439..8785fff434 100644 --- a/ArduPlane/release-notes.txt +++ b/ArduPlane/release-notes.txt @@ -1,3 +1,279 @@ +Release 3.9.8-beta1, 22nd April 2019 +------------------------------------ + +This is a minor release with some important safety fixes. The fixes +relate to two issues: + + - implement hardware support to reset the CPU if a software or hardware + failure causes the main loop to stop running + + - fixed a bug in the handling of a failure of the primary IMU in a + multi-IMU system + +The first fix relates to a flyaway that happened on a RadioLink +mini-pix flight controller. The mini-pix suffered a major hardware +failure that led to the main loop stopping. As the mini-pix does not +have an IO co-processor this resulted in fixed control surface outputs +and fixed motor output, which led to a flyaway. The plane was found, +but we want to ensure that if this ever happens again that the motor +will stop and that the pilot will regain control of the aircraft. + +The fix is to enable an option in the STM32 processor called +"Independent Watchdog" (IWDG). The IWDG provides a mechanism to +automatically reset the CPU on software or hardware failure resulting +in the main loop stopping. When this happens the hardware also +provides a mechanism for ArduPilot to know that it is booting after a +watchdog reset, in which case it does the following: + + - if the ChibiOS bootloader has been updated then it skips the normal + 5 second delay in the bootloader + + - it skips baromoter, gyro and airspeed calibration, allowing for + very fast boot + + - the home position and attitude estimate of the vehicle is restored + to a point less than 0.3 seconds before the lockup + + - the pilot regains full control, and if the pilot requests arming + then arming checks are automatically bypassed + +We have tested this on an aircraft with a deliberately induced full +CPU lockup. The aircraft recovered and flew normally within 3 seconds +of lockup, with the pilot having full control. This was with a board +with no IOMCU. A board that does have an IOMCU (such as a Hex cube) +would have had full manual control on FMU lockup without the changes +in this new release. For those boards with IOMCU the advantage of the +new release is that the pilot will regain the ability to use +stabilised and auto modes (including RTL) after a full CPU lockup. + +The additional protections of the IWDG support only apply to the +ChibiOS builds. The IWDG is not supported in NuttX builds. + +The second key fix in this release relates to IMU failure on multi-IMU +systems. If the IMU that is associated with the currently active EKF +lane failed then the fixed wing attitude controller would lose +attitude control and the aircraft will crash unless the pilot takes +manual control. This has been fixed to ensure that IMU failover +operates correctly. + +Other changes in this release: + + - added support for the CUAVv5Nano board + + - added retries to flash storage of parameters + + - fixed pullups on some fmuv3 based boards that lack hardware pullups + on sdcard data lines + + - fixed fallback to microSD for parameter storage if a board with + FRAM storage has a failed FRAM device + +Happy flying! + + +Release 3.9.7, 1st April 2019 +----------------------------- + +This is a minor release to fix a single important bug in speed/height +handling. The bug was in the TECS (total energy control system) and +could cause a sustained pitch down due to a transient glitch in +airspeed demand resulting in a large negative pitch integrator. + +The log that found the bug was of a quadplane in CRUISE mode, and +resulted in the aircraft forcing nose down for long enough to crash. + +The fix includes both protections for the pitch integrator and a fix +for the cause of the transient in airspeed demand affecting the TECS +demanded airspeed. + +Happy flying! + + +Release 3.9.6, 4th March 2019 +----------------------------- + +This is a minor release with some important fixes for VTOL landings +and EKF handling of compass switching. + + - fixed throttle slew on dual-motor planes + + - handle VTOL landings with incorrect height (or failed rangefinder) + + - fixed EKF alt datum reset on barometer reset + + - probe all I2C buses for rangefinders (fixes I2C lidar on boards + with more than 2 I2C buses) + + - fixed lightware serial detection for newer lidars such as LW20 + + - fixed motor relax code on VTOL landing to prevent motors powering + up after touchdown + + - fixed forward motor in quadplane landing transition to allow motors + when landing at a height lower than takeoff height + + - fixed throttle mix handling for VTOL planes on descent + + - use WP altitude for height of ground in VTOL landing, allowing for + good landings at heights well above or below takeoff height + + - fixed EKF compass switching with 3 compasses + + - fixed mini-pix UART order to match case markings + + - added generated git hash to apj file + + - fixed apj generation to not change based on time of build + + - fixed thread creation to use any heap, fixing a bug on + MatekF405-Wing with a compass + +Happy flying! + + +Release 3.9.5, 27th January 2019 +-------------------------------- + +This is a minor update over the 3.9.4 release. This release includes +the following changes: + + - fixed orientation of 2nd IMU for OmnibusF7V2 + + - fixed LEDs on Pixhawk4 and Pixhawk4-mini + + - fixed safety switch on Pixhawk4-mini + + - improved robustness of microSD support under ChibiOS + + - support insert of a microSD after boot but before logging starts + under ChibiOS + + - added BRD_SD_SLOWDOWN parameter to allow microSD cards to be run at + a lower clock to improve reliability + + - fixed VTOL takeoff in quadplanes to ignore latitude/longitude in + the mission item and always takeoff vertically + + - added CubePurple (also known as PH2Slim) builds + + - added DrotekP3Pro builds + + - RC protocol decoding for SRXL, SUMD and ST24 extended to all boards + including pixracer and ChibiOS-only boards + + - fixed CAN on Pixhawk4 + + - fixed EKF yaw reset in quadplanes + + - fixed bug handling corruption of DSM RC protocols + + - fixed internal amber LED on CubeBlack + +Happy flying! + + +Release 3.9.4, 10th December 2018 +--------------------------------- + +This is a minor update over the 3.9.3 release. Changes are: + + - fixed a critical bug in SBUS handling on the Pixhawk4 + + - fixed bugs in benewake rangefinder driver + + - added support for garmin LidarLite-V3HP + + - improved error handling for TeraRanger Lidar + + - fixed a bug in DSM handling for more than 7 channels on some boards + + - fixed default voltage and current scaling for Pixhawk4 and PH4-mini + +Happy flying! + +Release 3.9.3, 10th November 2018 +--------------------------------- + +The ArduPilot development team are delighted to announce the 3.9.3 +stable release of the ArduPilot plane code. This release includes a +number of small but important fixes over 3.9.2: + + - fixed error handling for corrupt RC input that could lead to a + crash in unusual circumstances + + - fixed a race condition in IOMCU event startup that could lead to + the safety not being disabled on boot with BRD_SAFETYENABLE=0 + + - ensure surface speed scaling covers full range of configured + airspeeds + + - added builds for new boards F35Lightning, omnibusf4v6, mRoX21-777 + + - updated GPIO numbers on AUX pins on all boards to be consistent + with docs + + - updated KakuteF7 UARTs and buzzer + + - added ESC sensor uart on OmnibusNanoV6 + + - fix for Benewake rangefinder at long ranges + + - prevent attempts to erase dataflash logs while armed + +Many thanks to the people who tested this release! + +Happy flying! + + +Release 3.9.3beta1, 6th November 2018 +------------------------------------- + +This is the first beta release for the 3.9.3 firmware. This release +has the following changes over 3.9.2: + + - fixed error handling for corrupt RC input that could lead to a + crash in unusual circumstances + + - fixed a race condition in IOMCU event startup that could lead to + the safety not being disabled on boot with BRD_SAFETYENABLE=0 + + - ensure surface speed scaling covers full range of configured + airspeeds + + - added builds for new boards F35Lightning, omnibusf4v6, mRoX21-777 + + - updated GPIO numbers on AUX pins on all boards to be consistent + with docs + + - updated KakuteF7 UARTs and buzzer + + - added ESC sensor uart on OmnibusNanoV6 + +Happy flying! + + +Release 3.9.2, 10th October 2018 +-------------------------------- + +The ArduPilot development team are delighted to announce the 3.9.2 +stable release of the ArduPilot plane code. This release includes a +number of small but important fixes over 3.9.1. + +The changes since the 3.9.2beta3 release are: + + - fixed a DShot send bug that could lead to board lockup + + - fixed RGB LED display on Pixracer under both NuttX and ChibiOS + + - fixed safety switch option handling bug + +Thanks for the bug reports and testing by all users for the 3.9.2beta +series! + +Happy flying! + + +>>>>>>> a9d5581378... Plane: updated release notes for 3.9.8-beta1 Release 3.9.2beta3, 20th September 2018 ---------------------------------------