From d525c0bffb5a0d561dacef5eec154aed9d6ada26 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 25 Aug 2017 14:40:01 +0900 Subject: [PATCH] Rover: 3.2.0-rc1 release notes --- APMrover2/release-notes.txt | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/APMrover2/release-notes.txt b/APMrover2/release-notes.txt index ef5a54c679..474befbf83 100644 --- a/APMrover2/release-notes.txt +++ b/APMrover2/release-notes.txt @@ -1,3 +1,30 @@ +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.