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ReleaseNotes.txt
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ArduPilot Copter Release Notes:
------------------------------------------------------------------
Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 05-Dec-2023
Changes from 4.4.3
1) Autopilot related enhancement and fixes
- CubeOrange Sim-on-hardware compilation fix
- RADIX2HD supports external I2C compasses
- SpeedyBeeF405v4 support
2) Bug fixes
- DroneCAN battery monitor with cell monitor SoC reporting fix
- NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
- ProfiLED output fixed in both Notify and Scripting
- Scripting bug that could cause crash if parameters were added in flight
- STAT_BOOTCNT param fix (was not updating in some cases)
- Takeoff RPM check fixed where motors are attached to AUX channels
- don't query hobbywing DroneCAN ESC IDs while armed
------------------------------------------------------------------
Copter 4.4.3 14-Nov-2023
Changes from 4.4.3-beta1
1) AP_GPS: correct uBlox M10 configuration on low flash boards
------------------------------------------------------------------
Copter 4.4.3-beta1 07-Nov-2023
Changes from 4.4.2
1) Autopilot related enhancements and fixes
- BETAFTP-F405 board configuration fixes
- CubeOrangePlus-BG edition ICM45486 IMU setup fixed
- YJUAV_A6SE_H743 support
2) Minor enhancements
- GPS_DRV_OPTION allows using ellipsoid height in more GPS drivers
- Lua script support for fully populating ESC telemetry data
3) Bug fixes
- AK09916 compass being non-responsive fixed
- IxM42xxx IMUs "stuck" gyros fixed
- MAVLink response fixed when no airspeed sensor during preflight calibration
- Notch filtering protection when using uninitialised RPM source in ESC telemetry
- SIYI gimbal driver parsing bug fixed (was causing lost packets)
------------------------------------------------------------------
Copter 4.4.2 22-Oct-2023 / Copter 4.4.2-beta1 13-Oct-2023
Changes from 4.4.1
1) Autopilot related enhancements and fixes
- BETAFPV-F405 support
- MambaF405v2 battery and serial setup corrected
- mRo Control Zero OEM H7 bdshot support
- SpeedyBee-F405-Wing gets VTX power control
- SpeedyBee-F405-Mini support
- T-Motor H743 Mini support
2) EKF3 supports baroless boards
3) GPS-for-yaw allows base GPS to update at only 3Hz
4) INA battery monitor supports config of shunt resistor used (see BATTx_SHUNT)
5) Log VER message includes vehicle type
6) OpenDroneId option to auto-store IDs in persistent flash
7) RC SBUS protection against invalid data in first 4 channels
8) Bug fixes
- BMI088 IMU error value handling fixed to avoid occasional negative spike
- Dev environment CI autotest stability improvements
- OSD correct DisplayPort BF MSP symbols
- OSD option to correct direction arrows for BF font set
- Sensor status reporting to GCS fixed for baroless boards
------------------------------------------------------------------
Copter 4.4.1 26-Sep-2023 / 4.4.1-beta2 14-Sep-2023
Changes from 4.4.1-beta1
1) Autopilot related enhancements
- H750 external flash optimisations for to lower CPU load
- MambaF405Mini fixes to match manufacturer's recommended wiring
- RADIX2 HD support
- YJUAV_A6SE support
2) Bug fixes
- Airbotf4 features minimised to build for 4.4
- ChibiOS clock fix for 480Mhz H7 boards (affected FDCAN)
- RPI hardware version check fix
------------------------------------------------------------------
Copter 4.4.1-beta1 05-Sep-2023
Changes from 4.4.0
1) Autopilot related fixes and enhancements
- KakuteH7-wing get 8 bit directional dshot channel support
- Luminousbee5 boards defaults updated
- Navigator autopilot GPIOs fix (PWM output was broken)
- Pixhawk6C Serial RTS lines pulled low on startup
- QiotekZealotF427 and QiotekZealotH743 battery monitor default fixed
- SDMODELH7V1 support
2) Driver enhancements
- DroneCAN battery monitors allow reset of battery SoC
- Himark DroneCAN servo support
- Hobbywing DroneCAN ESC support
3) EKF3 high vibration handling improved with EK3_GLITCH_RADIUS option
4) Custom build server gets mission storage on SDCard selection
5) SITL default parameter handling bug fix
------------------------------------------------------------------
Copter 4.4.0 18-Aug-2023 / 4.4.0-beta5 12-Aug-2023
Changes from 4.4.0-beta4
1) Autopilots specific changes
- SIYI N7 support
2) Bug fixes
- DroneCAN airspeed sensor fix to handle missing packets
- DroneCAN GPS RTK injection fix
- Notch filter gyro glitch caused by race condition fixed
------------------------------------------------------------------
Copter 4.4.0-beta4 27-July-2023
Changes from 4.4.0-beta3
1) Autopilots specific changes
- Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
- DMA for I2C disabled on F7 and H7 boards
- Foxeer H743v1 default serial protocol config fixes
- HeeWing-F405 and F405v2 support
- iFlight BlitzF7 support
2) Scripts may take action based on VTOL motor loss
3) Bug fixes
- BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
- CRSFv3 rescans at baudrates to avoid RX loss
- EK3_ABIAS_P_NSE param range fix
- Scripting restart memory corruption bug fixed
- Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
------------------------------------------------------------------
Copter 4.4.0-beta3 03-July-2023
Changes from 4.4.0-beta2
1) Autopilots specific changes
- Holybro KakuteH7-Wing support
- JFB100 external watchdog GPIO support added
- Pixhawk1-bdshot support
- Pixhawk6X-bdshot support
- SpeedyBeeF4 loses bdshot support
2) Device drivers
- added LP5562 I2C LED driver
- added IS31FL3195 LED driver
3) TradHeli gets minor fix to RSC servo output range
4) Camera and Gimbal related changes
- DO_SET_ROI_NONE command support added
5) Applet changes
- added QUIK_MAX_REDUCE parameter to VTOL quicktune lua applet
6) Bug fixes
- ADSB sensor loss of transceiver message less spammy
- AutoTune Yaw rate max fixed
- EKF vertical velocity reset fixed on loss of GPS
- GPS pre-arm failure message clarified
- SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
- SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
- SBF GPS ellipsoid height fixed
- Ublox M10S GPS auto configuration fixed
- ZigZag mode user takeoff fixed (users could not takeoff in ZigZag mode previously)
------------------------------------------------------------------
Copter 4.4.0-beta2 05-Jun-2023
Changes from 4.4.0-beta1
1) Autopilots specific changes
- FlywooF745 update to motor pin output mapping and baro
- FoxeerH743 support
- JFB100 support
- Mamba-F405v2 supports ICM42688
- Matek-F405-TE/VTOL support
- Matek-H743 IMU SPI slowed to 1Mhz to avoid init issues
- SpeedyBee-405-Wing support
2) Copter specfic fixes and enhancements
- RTL speed fix so changes to WPNAV_SPEED have no effect if RTL_SPEED is non-zero
- RTL mode accepts do-change-speed commands from GCS
3) AHRS/EKF related fixes and Enhancements
- EKF allocation failure handled to avoid watchdog
- EKF3 accel bias calculation fix and tuning for greater robustness
- Airspeed sensor remains enabled during dead-reckoning (few copters have airspeed sensors)
- Wind speed estimates updates reduced while dead-reckoning
4) Other Enhancements
- Attitude control slew limits always calculated (helps tuning reporting and analysis)
- INA228 and INA238 I2C battery monitor support
- LOG_DISARMED=3 logs while disarmed but discards log if never eventually armed
- LOG_DARM_RATEMAX reduces logging while disarmed
- Serial LEDs threading enhancement to support longer lengths without dshot interference
4) Bug fixes
- Analog battery monitor2 current parameter default fixed
- AutoTune fix for loading Yaw Rate D gains
- BRD_SAFETYOPTION parameter documentation fix (ActiveForSafetyEnable and Disable were reversed)
- Compassmot fix to protect against bad gyro biases from GSF yaw
- ICE engine fix for starting after reaching a specified altitude
- LED thread locking fix to avoid watchdog
- Logging rotation on disarm disabled if Replay logging active (avoids gaps in logs)
- RC input on IOMCU bug fix (RC might not be regained if lost)
- Serial passthrough fixed
5) Custom build server fix to which features are included/excluded
------------------------------------------------------------------
Copter 4.4.0-beta1 19-Apr-2023
Changes from 4.3.6
1) New autopilots supported
- ESP32
- Flywoo Goku F405S AIO
- Foxeer H743v1
- MambaF405-2022B
- PixPilot-V3
- PixSurveyA2
- rFCU H743
- ThePeach K1/R1
2) Autopilot specific changes
- Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
- Bi-Directional DShot up to 8 channels on MatekH743
- BlueRobotics Navigator supports baro on I2C bus 6
- BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
- CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
- Foxeer Reaper F745 supports external compasses
- OmnibusF4 support for BMI270 IMU
- OmnibusF7V2-bdshot support removed
- KakuteF7 regains displayport, frees up DMA from unused serial port
- KakuteH7v2 gets second battery sensor
- MambaH743v4 supports VTX
- MatekF405-Wing supports InvensenseV3 IMUs
- PixPilot-V6 heater enabled
- Raspberry 64OS startup crash fixed
- ReaperF745AIO serial protocol defaults fixed
- SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
- Skyviper loses many unnecessary features to save flash
- UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
- VRBrain-v52 and VRCore-v10 features reduced to save flash
3) Driver enhancements
- ARK RTK GPS support
- BMI088 IMU filtering and timing improved, ignores bad data
- CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
- Daiwa winch baud rate obeys SERIALx_BAUD parameter
- EFI supports fuel pressure and ignition voltage reporting and battery failsafe
- ICM45686 IMU support
- ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
- ICM45686 supports fast sampling
- MAX31865 temp sensor support
- MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
- MMC3416 compass orientation fix
- MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
- Multiple USD-D1-CAN radar support
- NMEA output rate configurable (see NMEA_RATE_MS)
- NMEA output supports PASHR message (see NMEA_MSG_EN)
- OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
- Rockblock satellite modem support
- Serial baud support for 2Mbps (only some hardware supports this speed)
- SF45b lidar filtering reduced (allows detecting smaller obstacles
- SmartAudio 2.0 learns all VTX power levels)
- UAVCAN ESCs report error count using ESC Telemetry
- Unicore GPS (e.g. UM982) support
- VectorNav 100 external AHRS support
- 5 IMUs supported
4) EKF related enhancements
- Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN)
- External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
- Magnetic field tables updated
- Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover)
5) Control and navigation enhancements
- AutoTune of attitude control yaw D gain (set AUTOTUNE_AXES=8)
- Circle moode and Loiter Turns command supports counter-clockwise rotation (set CIRCLE_RATE to negative number)
- DO_SET_ROI_NONE command turns off ROI
- JUMP_TAG mission item support
- Missions can be stored on SD card (see BRD_SD_MISSION)
- NAV_SCRIPT_TIME command accepts floating point arguments
- Pause/Resume returns success if mission is already paused or resumed
- Payload Place enhancements
- Descent speed is configurable (see PLDP_SPEED_DN)
- Manual release supported (detects pilot release of gripper)
- Post release delay is configurable (see PLDP_DELAY)
- Range finder range used to protect against premature release (see PLDP_RNG_MIN)
- Touchdown detection threshold is configurable (see PLDP_THRESH)
- Position controller angle max adjusted inflight with CH6 Tuning knob (set TUNE=59)
- Surface tracking time constant allows tuning response (see SURFTRAK_TC)
- Throttle-Gain boost increases attitude control gains when throttle high (see ATC_THR_G_BOOST)
- Waypoint navigation cornering acceleration is configurable (see WPNAV_ACCEL_C)
- WeatherVane into the wind in Auto and Guided modes (see WVANE_ENABLE)
6) TradHeli specific enhancements
- Manual autorotation support
- Improved collect to yaw compensation
7) Filtering enhancements
- FFT notch can be run based on filtered data
- Warn of motor noise at RPM frequency using FFT
- In-flight FFT can better track low frequency noise
- In-flight FFT logging improved
- IMU data can be read and replayed for FFT analysis
8) Camera and gimbal enhancements
- BMMCC support included in Servo driver
- DJI RS2/RS3-Pro gimbal support
- Dual camera support (see CAM2_TYPE)
- Gimbal/Mount2 can be moved to retracted or neutral position
- Gremsy ZIO support
- IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
- Paramters renamed and rescaled
- CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
- CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
- CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL
- CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds
- CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values
- RunCam2 4k support
- ViewPro camera gimbal support
9) Logging changes
- BARD msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
- MCU log msg includes main CPU temp and voltage (was part of POWR message)
- RCOut banner message always included in Logs
- SCR message includes memory usage of all running scripts
- CANS message includes CAN bus tx/rx statistics
- OFCA (optical flow calibration log message) units added
- Home location not logged to CMD message
- MOTB message includes throttle output
10) Scripting enhancements
- Copter deadreckoning upgraded to applet
- EFI Skypower driver gets improved telem messages and bug fixes
- Generator throttle control example added
- Heap max increased by allowing heap to be split across multiple underlying OS heaps
- Hexsoon LEDs applet
- Logging from scripts supports more formats
- Parameters can be removed or reordered
- Parameter description support (scripts must be in AP's applet or driver directory)
- Rangefinder driver support
- Runcam_on_arm applet starts recording when vehicle is armed
- Safety switch, E-Stop and motor interlock support
- Scripts can restart all scripts
- Script_Controller applet supports inflight switching of active scripts
11) Custom build server enhancements
- AIS support for displaying nearby boats can be included
- Battery, Camera and Compass drivers can be included/excluded
- EKF3 wind estimation can be included/excluded
- PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
- Preclanding can be included/excluded
- RichenPower generator can be included/excluded
- RC SRXL protocol can be excluded
- SIRF GPSs can be included/excluded
12) Safety related enhancements and fixes
- Arming check for high throttle skipped when arming in Auto mode
- Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting
- Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks)
- "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled)
- Pre-arm check that low and critical battery failsafe thresholds are different
- Pre-arm message fixed if 2nd EKF core unhealthy
- Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
- RC failsafe (aka throttle failsafe) option to change to Brake mode
- RC failsafe timeout configurable (see RC_FS_TIMEOUT)
- Takeoff check of motor RPM (see TKOFF_RPM_MIN)
- Turtle mode warns user to raise throttle to arm
13) Minor enhancements
- Boot time reduced by improving parameter conversion efficiency
- BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
- Compass calibration auxiliary switch function (set RCx_OPTION=171)
- Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
- Frame type sent to GCS defaults to multicopter to ease first time setup
- Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier)
- MAVFTP supports file renaming
- MAVLink in-progress reply to some requests for calibration from GCS
14) Bug fixes:
- ADSB telemetry and callsign fixes
- Battery pct reported to GCS limited to 0% to 100% range
- Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
- DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
- DisplayPort OSD artificial horizon better matches actual horizon
- EFI Serial MS bug fix to avoid possible infinite loop
- EKF3 Replay fix when COMPASS_LEARN=3
- ESC Telemetry external temp reporting fix
- Fence upload works even if Auto mode is excluded from firmware
- FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
- Guided mode slow yaw fix
- Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
- ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
- IMU detection bug fix to avoid duplicates
- IMU temp cal fix when using auxiliary IMU
- Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
- RADIO_STATUS messages slow-down feature never completely stops messages from being sent
- SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc. Avoids momentary divide-by-zero
- Scripting file system open fix
- Scripting PWM source deletion crash fix
- MAVFTP fix for low baudrates (4800 baud and lower)
- ModalAI VOXL reset handling fix
- MPU6500 IMU fast sampling rate to 4k (was 1K)
- NMEA GPGGA output fixed for GPS quality, num sats and hdop
- Position control reset avoided even with very uneven main loop rate due to high CPU load
- SingleCopter and CoaxCopter fix to fin centering when using DShot
- SystemID mode fix to write PID log messages
- Terrain offset increased from 15m to 30m (see TERRAIN_OFS_MAX)to reduce chance of "clamping"
- Throttle notch FFT tuning param fix
- VTX protects against pitmode changes when not enabled or vehicle disarmed
15) Developer specific items
- DroneCAN replaces UAVCAN
- FlighAxis simulator rangefinder fixed
- Scripts in applet and drivers directory checked using linter
- Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
- Simulink model and init scripts
- SITL on hardware support (useful to demo servos moving in response to simulated flight)
- SITL parameter definitions added (some, not all)
- Webots 2023a simulator support
- XPlane support for wider range of aircraft
------------------------------------------------------------------
Copter 4.3.8 24-Aug-2023 / 4.3.8-beta1 12-Aug-2023
Changes from 4.3.7
1) Bug fixes
- DroneCAN GPS RTK injection fix
- INAxxx battery monitors allow for battery reset remaining
- Notch filter gyro glitch caused by race condition fixed
- Scripting restart memory corruption bug fixed
------------------------------------------------------------------
Copter 4.3.7 31-May-2023 / 4.3.7-beta1 24-May-2023
Changes from 4.3.6
1) Bug fixes
a) EKF3 accel bias calculations bug fix
b) EKF3 accel bias process noise adjusted for greater robustness
c) GSF yaw numerical stability fix caused by compassmot
d) INS batch sampler fix to avoid watchdog if INS_LOG_BAT_CNT changed without rebooting
e) Memory corruption bug in the STM32H757 (very rare)
f) RC input on IOMCU bug fix (RC might not be regained if lost)
------------------------------------------------------------------
Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6--beta2 27-Mar-2023
Changes from 4.3.5
1) Bi-directional DShot fix for possible motor stop approx 72min after startup
------------------------------------------------------------------
Copter Copter 4.3.5 14-Mar-2023 / 4.3.5-rc1 01-Mar-2023
Changes from 4.3.4
1) Bug fixes
a) GPS unconfigured error fix for non-M10 uBlox GPS
b) Gremsy gimbal fix when attached to autopilot's serial3 (or higher)
c) Landing detector fix with large AHRS_TRIM values (>0.1)
d) MambaF405 2022 gets VTX power on support
e) MCU voltage enabled on H757 CPUs (including CubeOrangePlus)
f) PiccoloCAN fix for ESC voltage and current scaling
g) Servo gimbal mount yaw handling fix (only affects 3-axis servo gimbals)
------------------------------------------------------------------
Copter 4.3.4 01-Mar-2023
Changes from 4.3.4-rc1
1) Lua script PWMSource feature disabled (will be back in 4.4.x)
------------------------------------------------------------------
Copter 4.3.4-rc1 14-Feb-2023
Changes from 4.3.3
1) AutoPilot specific enhancements
a) CubeOrangePlusBG support
b) Foxeer ReaperF745 supports external compass
c) MambaH743v4 supports VTX power
2) Precision landing option to resume tracking target after pilot repositioning
3) Bug fixes
a) Arming check fix for terrain following with rangefinder (failed if terrain db was disabled)
b) Arming check fix if BARO_FIELD_ELEV set
c) Compass calibration diagonals set to 1,1,1 if incorrectly set to 0,0,0
d) FFT notch tune feature disabled (will be re-released in 4.4)
e) Gimbal's yaw feed-forward set to zero when landed (affects Gremsy gimbals)
f) IOMCU double reset and safety disable fix
g) Logging fix for duplicate format messages
h) OpenDroneId sets emergency status on crash or chute deploy
i) Peripheral firmware updates using MAVCAN fixed
j) RC protocol cannot be changed once detected on boards with IOMCU
k) Surface tracking uses filtered and corrected rangefinder values
------------------------------------------------------------------
Copter 4.3.3 20-Jan-2023
Changes from 4.3.3-rc1
1) Bug fixes
a) MAVFTP fix to terminate session error (could cause FTP failures)
b) IMU fast fifo reset log message max frequency reduced
------------------------------------------------------------------
Copter 4.3.3-rc1 09-Jan-2023
Changes from 4.3.2
1) Autopilot related changes
a) AIRLink LTE module enable pin and HEAT_ params added
b) CUAV Nora/Nora+ bdshot firmware (allows Bi-directional DShot)
c) CubeOrange, CubeYellow gets fast reset of ICM20602
d) MambaH743v2 with dual ICM42688 supported
e) PixPilot-V6
2) Attitude and Navigation controllers use real-time dt (better handles variable or slow main loop)
3) MAVFTP speed improvement including faster param download
4) Bug fixes
a) Analog rangefinder GPIO pin arming check fixed
b) Arming check of AHRS/EKF vs GPS location disabled if GPS disabled
c) CRSF gets RC_OPTIONS for ELRS baudrate to avoid RC failsafes
d) Null pointer checks avoid watchdog when out of memory
e) Position Controller limit handling improved to avoid overshooting and hard landings
f) Position Controller internal error after 70min of flight fixed
g) PSC_ANGLE_MAX param reduction causing WPNAV_ACCEL to be set too low fixed
h) Servo gimbal yaw jump to opposite side fixed
i) Siyi A8 gimbal driver's record video feature fixed
j) SToRM32 serial gimbal driver actual angle reporting fixed (pitch and yaw angle signs were reversed)
k) Takeoff in Auto, Guided fixed when target altitude is current altitude
l) Takeoff in Auto handles baro drift before takeoff
m) Takeoff twitch due to velocity integrator init bug fixed
------------------------------------------------------------------
Copter 4.3.2 23-Dec-2022
Changes from 4.3.2-rc1
1) Reverted arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
------------------------------------------------------------------
Copter 4.3.2-rc1 10-Dec-2022
Changes from 4.3.1
1) Arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
2) uBlox M10 support
3) Autopilot specific changes
a) CubeOrange defaults to using 2nd IMU as primary
b) SIRF and SBP GPS disabled on BeastF7v2, MatekF405-STD, MAtekF405-Wing, omnibusf4pro
4) Bug fixes
a) AutoTune gains loaded correctly during pilot testing
b) Camera driver's CAM_MIN_INTERVAL fixed if pilot manually triggers extra picture
c) EKF3 fix when using EK3_RNG_USE_HGT/SPD params and rangefinder provides bad readings
d) Main loop slowdown after arming fixed (parameter logging was causing delays)
e) Main loop's fast tasks always run (caused twitches in Loiter on heavily loaded CPUs)
f) MAVLink commands received on private channels checked for valid target sysid
g) ModalAI cameras support fixed (ODOMETRY message frame was consumed incorrectly)
h) Param reset after firmware load fixed on these boards
- BeastF7v2
- CubeYellow-bdshot
- f405-MatekAirspeed
- FlywooF745Nano
- KakuteF4Mini
- KakuteF7-bdshot
- MatekF405-bdshot
- MatekF405-STD
- MatekF405-Wing-bdshot
- MatekF765-SE
- MatekF765-Wing-bdshot
i) Siyi A8 gimbal support fixed
j) Windows builds move to compiling only 64-bit executables
------------------------------------------------------------------
Copter 4.3.1 05-Dec-2022 / 4.3.1-rc1 17-Nov-2022
Changes from 4.3.0
1) Autopilot specific enhancements
a) ARKV6X support
b) MatekH743 supports 8 bi-directional dshot channels
c) Pixhawk boards support MS5607 baros
d) SpeedbyBee F405v3 support
2) DroneCAN Airspeed sensor support including hygrometer (aka water vapour) readings
3) EFI support (electronic fuel injection engines)
4) Pre-arm warning if multiple UARTs with SERIALx_PROTOCOL = RCIN
5) Siyi gimbal support
6) Bug fixes
a) Arm check warning loses duplicate "AHRS" prefix
b) AtomRCF405NAVI bootloader file name fixed
c) BRD_SAFETY_MASK fixed on boards with both FMU safety switch and IOMCU
d) Compass calibration continues even if a single compass's cal fails
e) Gremsy gimbal driver sends autopilot info at lower rate to save bandwidth
f) Invensense 42605 and 42609 IMUs use anti-aliasing filter and notch filter
g) Mode change to AUTOTUNE message shortened
h) OSD stats screen fix
i) RC input on serial port uses first UART with SERIALx_PROTOCOL = 23 (was using last)
j) RunCam caching fix with enablement and setup on 3-pos switch
k) RTK CAN GPS fix when GPSs conneted to separate CAN ports on autopilot
l) SkyViper GPS fix
m) Turtle mode safety fixes (e.g. can only enter Tutle mode with at zero throttle)
------------------------------------------------------------------
Copter 4.3.0 31-Oct-2022 / 4.3.0-beta4 24-Oct-2022
Changes from 4.3.0-beta3
1) Scripting supports implementing AUX functions
2) Bug fixes
a) BMI085 accel scaling fixed
b) Build with gcc 11.3 fixed (developer only)
c) EKF3 alt discrepancy if GPS or baro alt changed soon after startup fixed
d) Harmonic Notch and ESC telem fix when motor outputs are non-contiguous
e) NMEA GPS's KSXT message parsing fixed (affected position accuracy)
f) Scripting random number generator fix
------------------------------------------------------------------
Copter 4.3.0-beta3 14-Oct-2022
Changes from 4.3.0-beta2
1) Pixhawk1-1M, fmuv2, fmuv3 display warning if firmware mismatches board's flash size (1M and 2M)
2) Scripting support for multi-byte i2c reads
3) Bug fixes
a) Airspeed CAN sensor ordering fixed (ordering could change if using multiple airspeed sensors)
b) BRD_SAFETY_MASK fix for enabling outputs when safety is on
c) Defaults.parm file processing fixed when a line has >100 characters and/or no new line (developer only)
d) NMEA serial output precision fixed (was only accurate to 1m, now accurate to 1cm)
------------------------------------------------------------------
Copter 4.3.0-beta2 4-Oct-2022
Changes from 4.3.0-beta1
1) Autopilot specific fixes and enhancements
a) AIRLink autopilot supports UART2
b) CUAV V6X supports CAN battery monitor by default
c) MatekF405-CAN board uses less memory to fix compass calibration issues
d) Pixhawk1-1M only supports uBlox and NMEA GPSs to save flash space
e) SkystarsH7HD-bdshot (allows Bi-directional DShot)
f) SkystarsH7HD supports VTX power by default
2) EFI support
a) Currawong ECU support (added as Electronic Fuel Injection driver)
b) Scripting support for EFI drivers (allows writing EFI drivers in Lua)
c) SkyPower and HFE CAN EFI drivers (via scripting)
3) Safety features
a) Arming check that SPIN_MIN less than 0.3 and greater than SPIN_ARM
4) Minor enhancements
a) Autopilot board names max length increased to 23 characters (was 13)
b) CAN actuators can report PWM equivalent values (eases debugging)
c) Log download speed improved for boards with "block" backends
d) Notch filter slew limit reduces chance of notch freq moving incorrectly
e) SLCAN disabled when vehicle is armed to reduce CPU load
5) Bug fixes
a) DO_JUMP mission command fixed if active command changed before changing to Auto mode
b) EKF3 altitude error fix when using dual GPSs and affinity enabled
c) FFT indexing bug fixed
d) Gimbal mount fix to default mode (see MNTx_DEFLT_MODE parameter)
e) MSP fix to report arm status to DJI FPV goggles
f) Notch fix for non-throttle notch (was being incorrectly disabled)
g) OSD fixes for params, font and resolution
h) RPM reporting from harmonic notch fixed
i) "Sending unknown message (50)" warning removed
j) SBF/GSOF/NOVA GPS auto detction of baud rate fixed
k) VideoTX fixes for buffer overruns and Tramp video transmitter support
------------------------------------------------------------------
Copter 4.3.0-beta1 14-Sep-2022
Changes from 4.2.3
1) New autopilot support
a) AtomRCF405
b) CubeOrange-SimOnHardWare
c) DevEBoxH7v2
d) KakuteH7Mini-Nand
e) KakuteH7v2
f) Mamba F405 Mk4
g) SkystarsH7HD
h) bi-directional dshot (aka "bdshot") versions for CubeOrange, CubeYellow, KakuteF7, KakuteH7, MatekF405-Wing, Matek F765, PH4-mini, Pixhawk-1M
2) EKF enhancements and fixes
a) EK3_GPS_VACC_MAX threshold to control when GPS altitude is used as alt source
b) EKF ring buffer fix for very slow sensor updates (those that update once every few seconds)
c) EKF3 source set change captured in Replay logs
3) Gimbal enhancements
a) Angle limit params renamed and scaled to degrees (e.g. MNT1_ROLL_MIN, MNT1_PITCH_MIN, etc)
b) BrushlessPWM driver (set MNT1_TYPE = 7) is unstabilized Servo driver
c) Dual mount support (see MNT1_, MNT2 params)
d) Gremsy driver added (set MNT1_TYPE = 6)
e) MAVLink gimbalv2 support including sending GIMBAL_DEVICE_STATUS_UPDATE (replaces MOUNT_STATUS message)
f) "Mount Lock" auxiliary switch supports follow and lock modes in RC targetting (aka earth-frame and body-frame)
g) RC channels to control gimbal set using RCx_OPTION = 212 (Roll), 213 (Pitch) or 214 (Yaw)
h) RC targetting rotation rate in deg/sec (see MNT1_RC_RATE which replaces MNT_JSTICK_SPD)
i) Yaw can be disabled on 3-axis gimbals (set MNTx_YAW_MIN = MNTx_YAW_MAX)
4) Navigation and Flight mode enhancements
a) Auto mode ATTITUDE_TIME command allows specifying lean angle for specified number of seconds (GPS not required)
b) Auto mode support of DO_GIMBAL_MANAGER_PITCHYAW command
c) Auto mode LOITER_TURNS command max radius increased to 2.5km
d) AutoTune allows higher ANGLE_P gains
e) Guided mode support DO_CHANGE_SPEED commands
f) Manual modes throttle mix reduced (improves landing)
g) Payload touchdown detection reliability improved
h) Takeoff detection improved to reduce chance of flip before takeoff if GPS moves
i) TKOFF_SLEW_TIME allows slower takeoffs in Auto, Guided, etc
5) Notch filter enhancements
a) Attitude and filter logging at main loop rate
b) Batch sampler logging both pre and post-filter
c) FFT frame averaging
d) In-flight throttle notch parameter learning using averaged FFTs
e) Triple harmonic notch
5) RemoteId and SecureBoot enhancements
a) Remote update of secure boot's public keys (also allows remote unlocking of bootloader)
6) Safety enhancements
a) Arming checks of FRAME_CLASS/TYPE made mandatory (even if ARMING_CHECK=0)
b) crash_dump.bin file saved to SD Card on startup (includes details re cause of software failures)
c) Dead-reckoning for 30sec on loss of GPS (requires wind estimation be enabled)
d) Dead-reckoning Lua script (On loss of GPS flies towards home for specified number of seconds)
e) Disabling Fence clears any active breaches (e.g. FENCE_TYPE = 0 will clear breaches)
f) "GPS Glitch" message clarified to "GPS Glitch or Compass error"
g) Pre-arm check that configured AHRS is being used (e.g. checks AHRS_EKF_TYPE not changed since boot)
h) Pre-arm check that gimbals are healthy (currently only for Gremsy gimbals, others in future release)
i) Pre-arm check that all motors are setup
j) Pre-arm check that scripts are running
k) Pre-arm check that terrain data loaded if RTL_ALT_TYPE set to Terrain
l) Pre-arm messages are correctly prefixed with "PreArm:" (instead of "Arm:")
m) RC auxiliary switch option for Arm / Emergency Stop
n) RC failsafe made pre-arm check (previously only triggered at arming)
o) RC failsafe option (see FS_OPTIONS) to continue in Guided obeyed even if GCS failsafe disabled
p) TKOFF_RPM_MIN checks all motors spinning before takeoff
q) Vibration compensation disabled in manual modes
7) Scripting enhancements
a) CAN2 port bindings to allow scripts to communicate on 2nd CAN bus
b) ESC RPM bindings to allow scripts to report engine RPM
c) Gimbal bingings to allow scripts to control gimbal
d) Pre-arm check bindings (allows scripts to check if pre-arm checks have passed)
e) Semicolon (:) and period (.) supported (e.g both Logger:write() and Logger.write will work)
8) Sensor driver enhancements
a) Benewake H30 radar support
b) BMI270 IMU performance improvements
c) IRC Tramp VTX suppor
d) Logging pause-able with auxiliary switch. see RCx_OPTION = 165 (Pause Stream Logging)
e) Proximity sensor support for up to 3 sensors
f) Precision Landing consumes LANDING_TARGET MAVLink message's PositionX,Y,Z fields
g) RichenPower generator maintenance-required messages can be suppressed using GEN_OPTIONS param
h) TeraRanger Neo rangefinder support
i) GPS support to provide ellipsoid altitude instead of AMSL (see GPS_DRV_OPTIONS)
j) W25N01GV 1Gb flash support
9) Bug fixes
a) Accel calibration throws away queued commands from GCS (avoids commands being run long after they were sent)
b) Airmode throttle mix at zero throttle fix
c) Cygbot proximity sensor fix to support different orientations (see PRXx_ORIENT)
d) Loiter fix to avoid potential wobble on 2nd takeoff (was not clearing non-zero attitude target from previous landing)
e) Lutan EFI message flood reduced
f) Missions download to GCS corruption avoided by checking serial buffer has space
g) Payload place fix so vehicle flies to specified Lat,Lon (if provided). Previously it could get stuck
h) Safety switch disabled if IOMCU is disabled (see BRD_IO_ENABLE=0)
i) Script restart memory leak fixed
j) Takeoff vertical velocity limits enforced correctly even if PILOT_TKOFF_ALT set to a significant height
10) Developer items
a) Custom controller support
b) Fast loop task list available in real-time using @SYS/tasks.txt
c) Parameter defaults sent to GCS with param FTP and recorded in onboard logs
d) ROS+ArduPilot environment installation script
e) Sim on Hardware allows simulator to run on autopilot (good for exhibitions)
f) Timer info available in real-time using @SYS/timers.txt
------------------------------------------------------------------
Copter 4.2.4 16-Aug-2023
1) Loiter fix to avoid potential wobble or flip on takeoff
------------------------------------------------------------------
Copter 4.2.3 30-Aug-2022
Changes from 4.2.3-rc3
1) OpenDroneId bug fix to consume open-drone-id-system-update message
------------------------------------------------------------------
Copter 4.2.3-rc3 20-Aug-2022
Changes from 4.2.3-rc2
1) OpenDroneId improvements including reporting if operator location is lost
2) Firmware ID and CRC check (disabled by default)
3) Bug Fixes
a) Auto takeoff with terrain altitude frame fix (could cause climb away if rangefinder became out of range)
b) Revert Notch filter ordering on loss of RPM source (see 4.2.3-rc1's 3g below) because fix is incomplete
------------------------------------------------------------------
Copter 4.2.3-rc2 13-Aug-2022
Changes from 4.2.3-rc1
1) BlueRobotics Navigator autopilot filesystem fix
------------------------------------------------------------------
Copter 4.2.3-rc1 12-Aug-2022
Changes from 4.2.2
1) OpenDroneId support (aka RemoteID)
2) New autopilot support
a) CubeOrange+
b) Foxeer Reaper F745
c) MFE PixSurveyA1
d) Pixhawk6C and Pixhawk6X
3) Bug Fixes and minor enhancements
a) Battery monitor health check fixed to check all enabled monitors
b) ICE Lutan EFI update serial flood fixed
c) ICM42xxx IMU filter settings improved and allow for faster sample rates
d) INA2xx batteries may init after startup
e) KakuteH7 OSD parameter menu enabled
f) Lua script support to set desired speed in Auto mode
g) Notch filter ordering bug on loss of RPM source fixed
h) Payload Place mission command obeys specified altitude type (was always terrain alt)
i) PreArm check that MOT_PWM_MIN/MAX are non-zero
j) PreArm check of Rangefinder pin conflict and servo outputs
k) SCurve logs debug if internal error occurs
l) WSL2 upload fixed (developer issue only)
------------------------------------------------------------------
Copter 4.2.2 18-Jul-2022 / 4.2.2-rc2 04-Jul-2022
No changes from 4.2.2
------------------------------------------------------------------
Copter 4.2.2-rc1 21-Jun-2022
Changes from 4.2.1
1) MambaH743v4 and MambaF405 MK4 autopilot support
2) Second full harmonic notches available (see INS_HNTC2_ parameters)
3) UAVCAN memory usage reduced (see CAN_Dn_UC_POOL parameter to control DroneCAN pool size)
4) VTOL QuikTune lua script added
5) Watchdog (caused by hardfault) saves crash dump logs to SD card
6) Bug fixes
a) Circle mode stops below altitude fence
b) CRSF protection against watchdog on bad frames
c) CRSF reset in flight handled
d) FFT init watchdog fix when ARMING_REQUIRE=0 (not actually possible on Copter)
e) OSD flight modes menu includes newer flight modes
f) Param download (via MAVFTP) fixed for params with overlapping names
g) PWM rangefinder bug fix and added SCALING parameter support
h) Replay bug fix when EK3_SRCs changed
i) SERIALx_OPTION fix when "Don't forward mavlink to/from" selected (resolves MAVLink gimbal detection)
j) TradHeli Autotune fix which could cause incorrect gains to be loaded
k) VL53L1X rangefinder preserves addresses
------------------------------------------------------------------
Copter 4.2.1 07-Jun-2022 / 4.2.1-rc1 28-May-2022
Changes from 4.2.0
1) CAN ESCs bus bandwidth efficiency improvements (see CAN_Dx_UC_ESC_OF parameter)
2) DShot timing improvements to support for ESC variants
3) LOITER_TURNS command radius max increased from 255m to 2550m (but only 10m accuracy when over 255)
4) Luftan EFI measures fuel consumption (see EFI_COEF1, EFI_COEF2)
5) Bug fixes
a) CAN ESCs work on boards with no safety switch (e.g. MatekH743)
b) Inflight Compass calibration checks GSF yaw estimate is good
c) LOITER_TURNS command's Turns field limited to 255 (previously would wrap to lower number)
d) NeoPixel colour fix
e) Precision Landing maintains yaw during retries
------------------------------------------------------------------
Copter 4.2.0 23-May-2022 / 4.2.0-rc4 14-May-2022
Changes from 4.2.0-rc3
1) FlyingMoon F407 and F427 autopilots supported
2) Vibration failsafe disabled in manual modes
3) Bug fixes
a) Log file list with over 500 logs fixed
b) Loiter mode ignores ATC_SLEW_YAW parameter
c) RSSI when using IOMCU pin 103 fixed
d) TradHeli internal error during takeoff fixed
------------------------------------------------------------------
Copter 4.2.0-rc3 07-May-2022
Changes from 4.2.0-rc2
1) Bug fixes
a) Blended Z axis accel calculation fix when not using first IMU
b) Custom compass orientation for DroneCAN compasses
------------------------------------------------------------------
Copter 4.2.0-rc2 29-Apr-2022
Changes from 4.2.0-rc1
1) Minor Enhancements
a) Button, Relay and RPM GPIO pin conflict pre-arm check improved
b) DShot uses narrower bitwidths for more accurate timing (allows BLHeli BlueJay to work)
c) iFlight Chimera default parameters file added
d) INS_NOTCH parameters renamed to INS_HNTC2
e) Matek F765-Wing-bdshot firmware added
f) Matek H743 supports ICM42688
g) QiotekZealot H743 supports ICM4xxxx
h) Scripting heap size increased to 100k on F7/H7
i) SPRacingH7 improvements including external flash performance improvements
2) Bug fixes
a) BMI088 IMU FIFO overruns fixed
b) DO_SET_SERVO with SERVOn_FUNCTION=0 fixed, added pre-arm check of servo functions configured on disabled channels
c) Log file descriptor init fixed (issues only seen on Linux autopilots)
d) Log list cope with gaps, performance improvement to reduce impact on EKF and some ESCs
e) Proximity sensor fix when using MAVLink lidars in non-forward orientations
f) RPM sensor fix to avoid "failed to attach pin" spam to GCS
g) STM32 DMA fatal exceptions disabled (caused watch dogs reboots with zero information)
h) SysID mode bug fix (was not restoring body-frame feedforward setting upon exit)
i) Tradheli autotune fix when max frequency is exceeded
------------------------------------------------------------------
Copter 4.2.0-rc1 10-Apr-2022
Changes from 4.2.0-beta3
1) Minor Enhancements
a) Log and monitor threads stack size increased
b) SPro H7 Extreme QSPI support improved
2) Bug fixes
a) EKF3 accel bias fixed when an IMU is disabled
b) MatekH743 buzzer fixed by reverting to 16 bit timer
c) STM32 H7 flash storage bug fixed that caused re-init on overflow
d) @SYS file logging fixed
e) Timer bug fixed that could cause a watchdog on boards using flash storage
f) UART driver incorrect lock class fixed
------------------------------------------------------------------
Copter 4.2.0-beta3 30-Mar-2022
Changes from 4.2.0-beta2
1) Minor Enhancements
a) BATT_OPTIONS supports sending resting voltage (corrected for internal resistance) to the ground station
b) KakuteH7-bdshot support
c) MatekH743 uses a 32 bit timer to resolve occasional 68ms timing glitch
d) RC input protocol text message sent to GCS (helps pilot awareness during RC handover)
e) Autotune code changes to reduce flash size (no functional impact)
2) Bug fixes
a) Battery remaining percentage fixed when using Sum battery
b) DShot reversal bug with IOMCU based boards (see SERVO_BLH_RVMASK)
c) GPS blending fix that could have resulted in the wrong GPS being used for a short time
d) Param conversion bug (impacted airspeed enable)
e) RC handover between IOMCU RC input and a secondary RC input on a serial port fixed
f) Terrain reference adjustment ensures alt-above-terrain is zero at takeoff (see TERRAIN_OFS_MAX)
g) QioTek Zealot H743 SLCAN port and relays fixed
------------------------------------------------------------------
Copter 4.2.0-beta2 10-Mar-2022
Changes from 4.2.0-beta1
1) Auto and Guided mode changes
a) Delay removed when waypoints are very close together
b) Pause and continue support (GCS changes are still pending)
c) Takeoff and landing use position controller with slower reposition speed (also affects RTL, Land modes)
d) Waypoint navigation will make use of maximum waypoint radius to maximize speed through corners
2) Follow mode supports FOLLOW_TARGET message (sent by QGC ground station)
3) Bug fixes
a) Arming checks ignore SERVOx_MIN, MAX if setup as GPIO pin
b) BeastH7v2 BMI270 baro support
c) DShot prescaler fix (ESCs were not initialising correctly)
d) EKF3 variance constraint fix used to prevent "ill-conditioning"
e) POWR log message MCU voltage fix (min and max voltage were swapped)
f) SPRacingH7 firmware install fix
------------------------------------------------------------------
Copter 4.2.0-beta1 28-Feb-2022
Changes from 4.1.5
1) AHRS/EKF improvements
a) EKF startup messages reduced
b) GPS<->Opticalflow automatic switching improved (see ahrs-source-gps-optflow.lua script)
c) LORD Microstrain CX5/GX5 external AHRS support
d) ModalAI VOXL non-GPS system supported (set VISO_TYPE=3, uses ODOMETRY mavlink msg)
2) Control and flight mode enhancements
a) Acro max rate params renamed and improved (see ACRO_RP_RATE, ACRO_Y_RATE, PILOT_Y_RATE, PILOT_Y_EXPO)
b) Airmode NOT enabled when arming with switch (see ACRO_OPTIONS and "ArmDisarm with AirMode" RCx_OPTION)
c) Auto and Guided support pausing (uses DO_PAUSE_CONTINUE mavlink command)
d) Auto supports up to 100 DO_JUMP commands on high memory boards
e) Autotune reporting improved (less spam, prints final tune)
f) FLIGHT_OPTIONS to release gripper on thrust loss
g) ForceFlying auxiliary switch allows pilot to disable land-detector
h) Guided mode acceleration target support
i) Guided mode logging of targets improved (GUID msg split into GUIP, GUIA)
j) Harmonic notch filter on more than four motors
k) Land mode pilot controlled repositioning max speed reduced (also affects RTL and Auto)
l) Precision landing improvements esp when using PLAND_EST_TYPE = 1/KalmanFilter
m) RTL's safe altitude (RTL_ALT) increased 85km (was 325m)
n) Simple mode heading reset via auxiliary switch
o) Sport mode deprecated
p) SURFTRAK_MODE allows disabling surface tracking in Loiter, AltHold, etc
q) Turtle mode (allows righting a copter while on the ground)
3) Custom build server support (see https://custom.ardupilot.org)
4) Lua scripting improvements
a) ahrs::get_location replaces get_position (get_position still works for now)
b) Auto support for NAV_SCRIPT_TIME commands (Lua within Auto)
c) Frame string support (allows scripting based frame to display custom description after startup)
d) Parameter support (no need to always use SCR_USERx)
e) Servo output control by channel number (previously was only possibly by specifying the SERVOn_FUNCTION value)
f) Script logged to onboard log (can be disabled by setting SCR_DEBUG_OPTS)
5) New autopilots supported
a) AirLink
b) BeastF7v2, BeastH7v2
c) JHEMCU GSF405A
d) KakuteH7, KakuteH7Mini
e) MambaF405US-I2C
f) MatekF405-TE
g) ModalAI fc-v1
h) PixC4-Jetson
i) Pixhawk5X
j) QioTekZealotH743
k) RPI-Zero2W
l) SPRacingH7 Extreme
m) Swan-K1
6) Safety improvements
a) Dijkstra's avoidance performance improvements including converting to A*
b) Motor PWM range always uses MOT_PWM_MIN/MAX (if these are not set, they are defaulted to RC3_MIN/MAX values)
c) Parachute option to leave servo in open position (see CHUTE_OPTIONS parameter)
d) Parachute released arming check added
e) Pre-arm check of IMU heater temp
f) Pre-arm check of rangefinder health
g) Pre-arm check of throttle position skipped if PILOT_THR_BHV is "Feedback from mid stick"
7) Sensor driver enhancements
a) ADIS16470, ADIS16507 and BMI270 IMU support
b) Airspeed sensor support (reporting only, not used for estimation or control)
c) AK09918 compass support
d) Battery monitor supports voltage offset (see BATTx_VLT_OFFSET)
e) Benewake TFMiniPlus I2C address defaults correctly
f) Buzzer can be connected to any GPIO on any board
g) Compass calibration (in-flight) uses GSF for better accuracy
h) CRSFv3 support, CSRF telemetry link reports link quality in RSSI
i) Cybot D1 Lidar
j) DroneCan (aka UAVCAN) battery monitors support scaling (see BATTx_CURR_MULT)
k) DroneCan (aka UAVCAN) GPS-for-yaw support
l) Electronic Fuel Injection support incl Lutan EFI
m) FETtecOneWire resyncs if EMI causes lost bytes
n) IMU heater params renamed to BRD_HEAT_xxx
o) Landing gear enable parameter added (see LGR_ENABLE)
p) Lightware SF40C ver 0.9 support removed (ver 1.0 and higher still supported)
q) Maxbotix serial sonar driver support RNGFNDx_SCALING parameter to support for varieties of sensor
r) MPPT solar charge controller support
s) MTK GPS driver removed
t) Optical flow in-flight calibration
u) Ping200x support
v) Proximity sensor min and max range (see PRX_MIN, PRX_MAX)
w) QSPI external flash support
x) uLanding (aka USD1) radar provides average of last few samples
y) Unicore NMEA GPS support for yaw and 3D velocity
8) TradHeli enhancements
a) Attitude control default gains improved
- ATC_RAT_RLL_FF, _I, _IMAX, _ILMI, _FLTT
- ATC_RAT_PIT_FF, _I, _IMAX, _ILMI, _FLTT
- ATC_RAT_YAW_IMAX, _FLTT
b) AutoTune mode
c) Collective setup (users will be forced to setup new collective parameters)
d) Rotor Speed Controller Internal Governor improvements (users required to retune governor)
e) Rotor Speed Controller Cooldown timer added for ICE and turbine engines
f) _VFF params renamed to _FF
9) Other System enhancements
a) Board ID sent in AUTOPILOT_VERSION mavlink message
b) Compass calibration stick gestures removed
c) DO_SET_CAM_TRIG_DIST supports instantly triggering camera
d) DJI FPV OSD multi screen and stats support
e) GPIO pins configured by setting SERVOx_FUNCTION to -1 (also see SERVO_GPIO_MASK. BRD_PWM_COUNT removed)
f) GPIO pin support on main outputs on boards with IOMCU
g) GyroFlow logging (see LOG_BITMASK's "VideoStabilization" option)
h) Firmware version logged in VER message
i) SD card format via MAVLink
j) Serial port option to disable changes to stream rate (see SERIALx_OPTIONS)
k) VIBE logging units to m/s/s
10) Bug fixes
a) Auto and Guided mode takeoff alt fixed if taking off from below home or frame set to absolute (aka AMSL)
b) Auto mode CONDITION_YAW command completion fix
c) Auto mode infinite loop with nav commands that fail to start fixed
d) AutoTune disables ATC_RAT_xxx_SMAX during twitch (SMAX may limit gains to reduce oscillation)
e) BLHeli passthrough reliability improvements
f) Compass learning (inflight) fixed to ignore unused compasses (e.g. those with COMPASS_USE = 0)
g) EKF optical flow terrain alt reset fixed (large changes in rangefinder alt might never be fused)
h) EKF resets due to bad IMU data occur at most once per second
i) GPIO pin fix on CubeOrange, F4BY, mRoControlZeroF7, R9Pilot
j) Guided mode yaw rate timeout fix (vehicle could keep yawing even if companion computer stopped sending target)
k) MAVlink2 serial ports always send MAVLink2 messages (previously waited until other side sent MAVLink2)
l) Motor Test, Turtle mode respect emergency stop switch
m) Omnibusf4pro bi-directional dshot fix
n) PosHold braking fix if SCHED_LOOP_RATE set to non-default value
o) Precision landing in RTL activates even if pilot had earlier deactivated by repositioning in Land
p) Real-Time-Clock (RTC) oldest possible date updated to Jan-2022
q) Tricopter, Coax copter fin trim fix when using DShot/BLheli
------------------------------------------------------------------
Copter 4.1.6 16-Mar-2023
Changes from 4.1.5
1) Loiter fix to avoid potential wobble or flip on takeoff
------------------------------------------------------------------
Copter 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022
Changes from 4.1.4
1) Bug fixes
a) attitude control I-term always reset when landed (previously only reset after spool down)
b) revert SBUS RC frame gap change from 4.1.4
------------------------------------------------------------------
Copter 4.1.4 08-Feb-2022 / 4.1.4-rc1 27-Jan-2022
Changes from 4.1.3
1) Benewake CAN Lidar support
2) CAN GPS default lag dropped to 0.1 seconds (was 0.22 seconds)
3) Bug fixes
a) Compass custom orientation is never overwritten during calibration
b) EKF logging gaps fixed (some messages were occasionally being skipped)
c) Guided mode cornering improvements
d) IMU logging fix for IREG message (records IMU register changes)
e) LOITER_TO_ALT mission command's climb rate fixed (could climb or descend too quickly)
f) Position controller init fix to avoid twitch on vehicles with high vibrations
g) Position controller init fix to better handle high speed entry to flight mode
h) Position controller prioritises reducing cross track error
i) Position controller relax fix
j) SBUS RC frame gap increased to better handle some new receivers
k) SERVOx_FUNCTION protection to avoid memory overwrite if set too high
l) SD card init triggering watchdog fixed
m) Spline path max lateral acceleration reduced (vehicle stays on path better but may be slower)
n) Takeoff bug fix if taking off below home or frame specified as MSL
------------------------------------------------------------------
Copter 4.1.3 31-Dec-2021 / 4.1.3-rc2 21-Dec-2021
Changes from 4.1.3-rc1
1) Suport for IIM-42652, ICM-40605 and ICM-20608-D IMUs
2) Bug fixes
a) Autotune twitches at no more than ATC_RATE_R/P/Y_MAX param value
b) SmartAudio high CPU load fix (previously it could starve other threads of CPU)
c) Debug pins disabled by default to prevent rare inflight reset due to electrostatic discharge
d) EKF3 reset causing bad accel biases fixed
e) RC protocol detection fix that forced PH4-mini users to powerup autopilot before transmitter
------------------------------------------------------------------
Copter 4.1.3-rc1 18-Dec-2021