Plane: prepare for 3.2.0 release
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Andrew Tridgell
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduPlane V3.1.2beta3"
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#define THISFIRMWARE "ArduPlane V3.2.0"
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/*
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Lead developer: Andrew Tridgell
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@ -1,10 +1,115 @@
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Release 3.1.2beta2, November 16th 2014
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----------------------------------
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Release 3.2.0, November 25th 2014
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---------------------------------
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The ardupilot development team is proud to announce the release of
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version 3.1.2 of APM:Plane. This is a major release with a lot of
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version 3.2.0 of APM:Plane. This is a major release with a lot of
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new features.
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The changes span a lot of different areas of the code, but arguably
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the most important changes are:
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- automatic stall prevention code
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- PX4IO based RC override code on FMU failure
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- I2C crash bugfix
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- new autoland code from Michael Day
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- compass independent auto takeoff
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I'll go into each of these changes in a bit more detail.
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Automatic Stall Prevention
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--------------------------
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The automatic stall prevention code is code that uses the aerodynamic
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load factor (calculated from demanded bank angle) to adjust both the
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maximum roll angle and the minimum airspeed. You can enable/disable
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this code with the STALL_PREVENTION parameter which defaults to
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enabled.
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When in stabilised manual throttle modes this option has the effect of
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limiting how much bank angle you can demand when close to the
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configured minimum airspeed (from ARSPD_FBW_MIN). That means when in
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FBWA mode if you try to turn hard while close to ARSPD_FBW_MIN it will
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limit the bank angle to an amount that will keep the speed above
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ARSPD_FBW_MIN times the aerodynamic load factor. It will always allow
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you at bank at least 25 degrees however, to ensure you keep some
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maneuverability if the airspeed estimate is incorrect.
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When in auto-throttle modes (such as AUTO, RTL, CRUISE etc) it will
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additionally raise the minimum airspeed in proportion to the
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aerodynamic load factor. That means if a mission demands a sharp turn
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at low speed then initially the turn will be less sharp, and the TECS
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controller will add power to bring the airspeed up to a level that can
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handle the demanded turn. After the turn is complete the minimum
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airspeed will drop back to the normal level.
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This change won't completely eliminate stalls of course, but it should
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make them less likely if you properly configure ARSPD_FBW_MIN for your
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aircraft.
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PX4IO based RC override code
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----------------------------
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This releases adds support for PX4IO based RC override. This is a
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safety feature where the stm32 IO co-processor on the PX4 and Pixhawk
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will give the pilot manual control if the main ArduPilot
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micro-controller fails (or the autopilot code crashes). This is
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particularly useful when testing new code that may not be stable.
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As part of this new RC override support we also have a new
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OVERRIDE_CHAN parameter, which allows you to specify a RC input
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channel which can be used to test the RC override support. See the
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documentation on OVERRIDE_CHAN for details.
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I2C bugfix
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----------
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This release fixes another I2C bug in NuttX which could cause the
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Pixhawk to lock up under high I2C load with noise on I2C cables. This
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bug has caused at least two aircraft to crash, so it is an important
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fix. I hope this will be the last I2C crash bug we find in NuttX! An
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audit of the code was done to try to confirm that no more bugs of this
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type are present.
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New Autoland code
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-----------------
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This release incorporates some new autoland capabilities contributed
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by Michael Day. The key new feature is the ability to trigger an
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automatic landing when a RTL completes, which for the first time
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allows a user to setup their aircraft to land using only transmitter
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control.
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The way it works is there is a new parameter RTL_AUTOLAND. If that is
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set to 1 and the aircraft reaches its target location in an RTL it
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will look for DO_LAND_START mission item in the mission. If that is
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found then the aircraft will switch to AUTO starting at that section
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of the mission. The user sets up their land mission commands starting
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with a DO_LAND_START mission item.
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There is more to do in this autoland support. We have been discussing
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more advanced go-around capabilities and also better path planning for
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landing. The code in this release is an important first step though,
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and will be a good basis for future work.
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Compass independent takeoff code
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--------------------------------
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The auto-takeoff code has been changed to make it more independent of
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compass settings, allowing for reliable takeoff down a runway with
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poor compass offsets. The new takeoff code uses the gyroscope as the
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primary heading control for the first part of the takeoff, until the
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aircraft gains enough speed for a GPS heading to be reliable.
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Many thanks to all the contributors, especially:
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- Paul and Jon for EKF and TECS updates
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- Bret and Grant for stall prevention testing
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- Michael for all his autoland work
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- all the work on NavIO, PXF and Zynq by John, Victor, George and Siddarth
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- The PX4 team for all the PX4 updates
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More complete list of changes:
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- allow GCS to enable/disable PX4 safety switch
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- make auto-takeoff independent of compass errors
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- report gyro unhealthy if calibration failed
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@ -22,7 +127,7 @@ new features.
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- added STALL_PREVENTION parameter
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- fixed handling of TKOFF_THR_MAX parameter
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- added ARSPD_SKIP_CAL parameter
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- fixed flaperon trim handling (WARNING: need to retrim flaperons)
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- fixed flaperon trim handling (WARNING: may need to retrim flaperons)
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- EKF robustness improvements, especially for MAG handling
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- lots of HAL_Linux updates
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- support wider range of I2C Lidars
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@ -32,6 +137,22 @@ new features.
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- AP_Mount: added lead filter to improve servo gimbals
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- Zynq and NavIO updates
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- fixed preflight calibration to prevent losing 3D accel cal
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- perform a gyro calibration when doing 3D accel cal
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- added DO_CONTINUE_AND_CHANGE_ALT mission command
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- added support for DO_FENCE_ENABLE mission command
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- allow gyro calibration to take up to 30 seconds
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- improved health checks in the EKF for DCM fallback
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Note: If you use flaperons you may need to re-trim them before you
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fly due to the change in flaperon trim handling.
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I hope that everyone enjoys flying this new APM:Plane release as much
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as we enjoyed producing it! It is a major milestone in the development
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of the fixed wing code for APM, and I think puts us in a great
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position for future development.
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Happy flying!
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Release 3.1.1, September 12th 2014
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@ -665,5 +786,5 @@ as we enjoyed producing it! It is a major milestone in the development
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of the fixed wing code for APM, and I think puts us in a great
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position for future development.
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Happy flying!
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Happy flying!
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