From 214b461c2f9c0f20f739b5512984dc6f12a7fa4e Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 17 May 2015 11:40:09 +0900 Subject: [PATCH] Copter: AC3.3-rc3 release notes --- ArduCopter/ReleaseNotes.txt | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 75867938a3..ff73e482d1 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,29 @@ APM:Copter Release Notes: ------------------------------------------------------------------ +Copter 3.3-rc4 17-May-2015 +Changes from 3.3-rc3 +1) AutoTune: + a) save roll, pitch, yaw rate acceleration limits along with gains + b) more conservative gains +2) Roll, pitch rate control feed-forward now on by default (set ATC_RATE_FF_ENAB to "0" to disable) +3) Serial ports increased to maximum of 4 (set SERIALX_PROTOCOL to 1) +4) MOT_THR_MIX_MIN param to control minimum throttle vs attitude during landing (higher = more attitude control but bumpier landing) +5) EKF fixes/improvements + a) prevent yaw errors during fast spins + b) bug fix preventing external selection of optical flow mode +6) Parachute: + a) servo/relay held open for 2sec when deploying (was 1sec) + b) fix altitude check to be alt-above-home (was alt-above ekf origin which could be slightly different) +7) TradHeli: + a) parameters moved to stop possibility of corruption if board is switched between tradheli and multicopter firmware. Heli users may need to re-setup some heli-specific params. + b) H_COLYAW param can be float +8) Small Improvements / Bug Fixes: + a) reduced spline overshoot after very long track followed by very short track + b) log entire mission to dataflash whenver it's uploaded + c) altitude reported if vehicle takes off before GPS lock + d) high speed logging of IMU + e) STOP flight mode renamed to BRAKE and aux switch option added +------------------------------------------------------------------ Copter 3.3-rc2/rc3 02-May-2015 Changes from 3.3-rc1 1) AutoTune reliability fixes (improved filtering to reduce noise interference)