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Rover: 3.2.0-rc1 release notes

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Randy Mackay 2017-08-25 14:40:01 +09:00
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APMrover2/release-notes.txt
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APMrover2 Release Notes:
========================
APM:Rover V3.2.0-rc1 25-Aug-2017
Changes from 3.1.2:
1) Skid-steering vehicle support added (i.e. tank track or R2D2 style vehicles)
2) Brushless motor support
3) Improved speed/throttle and steering controllers:
a) layered P and PID controllers with optional feedforward, input filtering and saturation handling (reduces unnecessary I-term build-up)
b) forward-back acceleration limited (see ATC_ACCEL_MAX parameter)
c) pro-active slowing before waypoint in order to keep overshoot at or below WP_OVERSHOOT distance
d) proper output scaling for skid-steering vs regular car steering controls
e) TURN_RADIUS parameter added to allow better control of turn in Steering mode
f) speed along forward-back axis used instead of total ground speed (resolves unusual behaviour for boats being washed downstream)
4) Auxiliary switch changes (see CH7_OPTION parameter):
a) "Save Waypoint" saves the current location as a waypoint in all modes except AUTO if the vehicle is armed. If disarmed the mission is cleared and home is set to the current location.
b) "Learn Cruise" sets the THROTTLE_CRUISE and SPEED_CRUISE parameter values to the vehicle's current speed and throttle level
5) Wheel encoder supported for non-GPS navigation (can also be used with GPS)
6) Visual Odometry support for non-GPS navigation (can also be used with GPS)
7) Guided mode improvements:
a) for SET_ATTITUDE_TARGET accepts quaternions for target heading, valid thrust changed to -1 ~ +1 range (was previously 0 ~ 1)
b) COMMAND_LONG.SET_YAW_SPEED support fixes (thrust field accepted as target speed in m/s)
c) SET_POSITION_TARGET_GLOBAL_INT, _LOCAL_NED fixes and added support for yaw and yaw-rate fields
8) Bug Fixes:
a) resolve occasional start of motors after power-on
b) steering mode turn direction fix while reversing
c) reversing in auto mode fixes (see DO_REVERSE mission command)
----------------------------------------------------------
Release 3.1.2, 15 March 2017
============================
Minor bugfix release.