From 7cf4195f86efb9bc260feb5e85a0c0fdde6c6e52 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 13 Apr 2021 13:28:55 +0900 Subject: [PATCH] Copter: 4.1.0-beta1 release notes --- ArduCopter/ReleaseNotes.txt | 107 ++++++++++++++++++++++++++++++++++++ 1 file changed, 107 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 680a6b94e5..27f72f24b8 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,112 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Copter 4.1.0-beta1 14-Apr-2021 +Changes from 4.0.7 +1) EKF changes: + a) EKF3 is default estimator (EKF2 is available as an option) + b) External AHRS/IMU support (e.g. VectorNav) + c) Gaussian Sum Filter (GSF) allows emergency yaw correction using GPS + d) GPS-for-yaw (dual F9 UBlox, Septentrio, NMEA GPS can provide yaw) + e) Lane switching logic improvements + f) Sensor affinity (improves sensor failure redundancy) + g) Source switching for GPS/Non-GPS transitions (see EK3_SRCx_ parameters) + h) Yaw estimation and reliability improvements + i) Wind speed estimation and barometer interference compensation +2) Control and Navigation improvements: + a) Acro "air mode" support (see ACRO_OPTIONS) + b) Auto mode arming and takeoff (see AUTO_OPTIONS) + c) Circle options to face direction of travel and/or init at circle center (see CIRCLE_OPTIONS) + d) DO_LAND_START command support for landing sequences + e) Horizontal Velocity controller gets feed forward and logging + f) Position controller update to remove hard-coded Alt Hold velocity derivative and other enhancements + g) Rate PID slew limiting to to detect and suppress oscillations + h) SCurves for waypoint navigation + i) Yaw imbalance check +3) TradHeli improvements: + a) Conventional and compound helicopter SITL dynamic models improved + b) Intermeshing rotor and coaxial rotor support added to Dual heli frame +4) 6DoF frame support +5) Object avoidance: + a) BendyRuler hesitancy improvements + b) Intel Realsense 435/455 camera support (companion computer required) + c) Obstacle database now 3D + d) Obstacle filtering improvements + e) Obstacles ignored in cylinder around home (see OA_DB_ALT_MIN) + f) Obstacles ignored near ground (see PRX_IGN_GND) + g) Vertical BendyRuler + h) Simple avoidance backs away from obstacles (see AVOID_BACKUP_SPD parameter) + i) Simple avoidance accel limited (see AVOID_ACCEL_MAX parameter) + j) Simple avoidance enabled above min altitude (see AVOID_ALT_MIN) + k) Simultaneous Dijkstra and BendyRuler path planning +6) Compass enhancements + a) Custom orientations + b) In-flight learning improvements (see COMPASS_LEARN = 3) + c) Large vehicle calibration support (e.g. point vehicle north and push button in MP) +7) Intel RealSense T265 support (see VISO_TYPE = 2, companion computer required) + a) Position and velocity from external sources accepted at up to 50hz + b) Resets from external sources accepted +8) New autopilot boards + a) FlywooF745 + b) iFlight BeastF7 and BeastH7 + c) MambaF405v2 + d) QioTekZealotF427 +9) IMU improvements: + a) temperature calibration + b) faster gyro sampling on high performance autopilots (F7 and faster, see INS_GYRO_RATE) +10) New drivers + a) AllyStar NMEA GPS + b) BMM150 as external compass + c) CRSF and SRXL2 RC protocols + d) Dshot (bi-directional) for RPM telemetry + e) GY-US32-v2 lidar + f) HC-SR04 lidar + g) Intelligent Energy hydrogen fuel cell + h) Lightware SF45b lidar + i) MSP protocol support (and DJI DPV systems) + j) RichenPower generator + k) Rotoye smart battery + l) RunCam Split 4 and RunCam hybrid support + m) Smart Audio + n) SMBus batteries up to 12 cells + o) USD1 CAN radar +11) Harmonic Notch Improvements + a) Bi-directional dshot support + b) Double notch support (see INS_HNTCH_OPTS = 1) + c) In-flight FFT (see INS_HNTCH_MODE = 4, FFT_* params) + d) In-flight learning of throttle notch using in-flight FFT + e) Notch per motor support using ESC telemetry and notch-per-peak with FFT (INS_HNTCH_OPTS = 2) + f) Notch slewing and increased update rate to avoid "shot" noise + g) RPM status driven from harmonic notch input +12) Scripting enhancements: + a) Button, Proximity, RPM sensor support + b) DO_ mission commands can be triggered from scripts + c) I2C sensor driver support (i.e. allows writing sensor drivers in Lua) + d) Logging (i.e. allows Lua scripts to write to onboard logs) + e) Mission item read support + f) Motor drivers support allowing custom frame types and 6DOF + g) Pre-arm checks (i.e. allows writing custom pre-arm checks in Lua) + h) ROMFS support (allows writing scripts to ROMFS instead of SD Card) + i) Serial port support (allows reading/writing to serial port from Lua) + j) ToshibaCAN ESC usage time read support +13) Other enhancements: + a) Baro parameters start with BARO_ (was GND_) + b) Barometers get device id for easier identification + c) ChibiOS upgrade to 20.3 + d) CRSF passthrough for Yaapu widget + e) DShot rates increased (see SERVO_DSHOT_RATE) + f) Filesystem/MAVFTP expansion including @SYS for performance monitoring + g) GCS failsafe timeout configurable + h) MAV_CMD_DO_REPOSITION support + i) MAVFTP performance improvements + j) Serial option to disable forwarding of mavlink to/from a port + k) Serial ports may use shared DMA for better performance + l) Spektrum VTX control + m) Spektrum SRXL2 listen-only device support + n) Vibration logged for all IMUs + o) @SYS/tasks.txt, dma.txt, uart.txt for near real-time inspection of system performance +14) Bug fixes: + a) CAN GPS ordering fix (previously order could switch meaning GPS_POS_ params were used on the wrong GPS) +------------------------------------------------------------------ Copter 4.0.7 22-Feb-2021 Changes from 4.0.7-rc1 1) fixed build on Durandal board