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352 lines
22 KiB
352 lines
22 KiB
ArduCopter Release Notes: |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc8 9-Dec-2013 |
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Changes from 3.1-rc7 |
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1) add Y6 motor mapping with all top props CW, bottom pros CCW (set FRAME = 10) |
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2) Safety Changes: |
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a) ignore yaw input during radio failsafe (previously the copter could return home spinning if yaw was full over at time of failsafe) |
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b) Reduce GPSGLITCH_RADIUS to 2m (was 5m) to catch glitches faster |
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3) Bug fixes: |
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a) Optical flow SPI bus rates |
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b) TradHeli main rotor ramp up speed fix |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc7 22-Nov-2013 |
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Changes from 3.1-rc6 |
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1) MOT_SPIN_ARMED default to 70 |
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2) Smoother inertial nav response to missed GPS messages |
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3) Safety related changes |
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a) radio and battery failsafe disarm copter if landed in Loiter or AltHold (previously they would RTL) |
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b) Pre-Arm check failure warning output to ground station every 30 seconds until they pass |
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c) INS and inertial nav errors logged to dataflash's PM message |
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d) pre-arm check for ACRO_BAL_ROLL, ACRO_BAL_PITCH |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc6 16-Nov-2013 |
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Improvements over 3.1-rc5 |
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1) Heli improvements: |
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a) support for direct drive tails (uses TAIL_TYPE and TAIL_SPEED parameters) |
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b) smooth main rotor ramp-up for those without external govenor (RSC_RAMP_TIME) |
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c) internal estimate of rotor speed configurable with RSC_RUNUP_TIME parameter to ensure rotor at top speed before starting missions |
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d) LAND_COL_MIN collective position used when landed (reduces chance copter will push too hard into the ground when landing or before starting missions) |
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e) reduced collective while in stabilize mode (STAB_COL_MIN, STAB_COL_MAX) for more precise throttle control |
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f) external gyro parameter range changed from 1000~2000 to 0~1000 (more consistent with other parameters) |
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g) dynamic flight detector switches on/off leaky-i term depending on copter speed |
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2) SingleCopter airframe support (contribution from Bill King) |
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3) Drift mode replaces TOY |
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4) MPU6k SPI bus speed decreased to 500khz after 4 errors |
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5) Safety related changes: |
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a) crash detector cuts motors if copter upside down for more than 2 seconds |
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b) INS (accel and gyro) health check in pre-arm checks |
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c) ARMING_CHECK allows turning on/off individual checks for baro, GPS, compass, parameters, board voltage, radio |
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d) detect Ublox GPS running at less than 5hz and resend configuration |
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e) GPSGlitch acceptable radius reduced to 5m (stricter detection of glitches) |
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f) range check roll, pitch input to ensure crazy radio values don't get through to stabilize controller |
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g) GPS failsafe options to trigger AltHold instead of LAND or to trigger LAND even if in flight mode that does not require GPS |
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h) Battery failsafe option to trigger RTL instead of LAND |
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i) MOT_SPIN_ARMED set to zero by default |
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6) Bug fixes: |
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a) missing throttle controller initialisation would mean Stabilize mode's throttle could be non-tilt-compensated |
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b) inertial nav baro and gps delay compensation fix (contribution from Neurocopter) |
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c) GPS failsafe was invoking LAND mode which still used GPS for horizontal control |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc5 22-Oct-2013 |
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Improvements over 3.1-rc4 |
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1) Pixhawk USB reliability improvements |
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2) AutoTune changes: |
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a) enabled by default |
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b) status output to GCS |
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c) use 2 pos switch only |
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3) ch7/ch8 LAND |
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4) Tricopter stability patch improvements [thanks to texlan] |
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5) safety improvements: |
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a) slower speed up of motors after arming |
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b) pre-arm check that copter is moving less than 50cm/s if arming in Loiter or fence enabled |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc4 13-Oct-2013 |
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Improvements over 3.1-rc3 |
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1) Performance improvements to resolve APM alt hold issues for Octacopters: |
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a) SPI bus speed increased from 500khz to 8Mhz |
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b) Telemetry buffer increased to 512bytes |
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c) broke up medium and slow loops into individual scheduled tasks and increased priority of alt hold tasks |
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2) Bug fix for Pixhawk USB connection |
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3) GPS Glitch improvements: |
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a) added GPS glitch check to arming check |
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b) parameters for vehicle max acceleration (GPSGLITCH_ACCEL) and always-ok radius (GPSGLICH_RADIUS) |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc3 09-Oct-2013 |
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Improvements over 3.1-rc2 |
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1) GPS Glitch protection - gps positions are compared with the previous gps position. Position accepted if within 10m or copter could have reached the position with max accel of 10m/s/s. |
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2) Bug fix for pixhawk SPI bus contention that could lead to corrupted accelerometer values on pixhawk resolved |
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3) Auto Tuning (compile time option only add "#define AUTOTUNE ENABLED" to APM_Config.h and set CH7_Opt or CH8_Opt parameter to 17) |
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4) CPU Performance improvement when reading from MPU6k for APM |
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5) SUPER_SIMPLE parameter changed to a bit map to allow some flight modes to use super simpler while others use regular simple (MP release to allow easier selection will go out with AC3.1 official release) |
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6) Safety changes: |
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a) safety button must be pushed before arming on pixhawk |
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b) RGB LED (aka toshiba led) changed so that disarmed flashes, armed is either blue (if no gps lock) or green (if gps lock) |
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c) sensor health bitmask sent to groundstations |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc2 18-Sep-2013 |
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Improvements over 3.1-rc1 |
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1) bug fix for MOT_SPIN_ARMED to allow it to be higher than 127 |
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2) PX4/pixhawk auto-detect internal/external compass so COMPASS_ORIENT should be set to ORIENTATION_NONE if using GPS+compass module |
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------------------------------------------------------------------ |
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ArduCopter 3.1-rc1 9-Sep-2013 |
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Improvements over 3.0.1 |
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1) Support for Pixhawks board |
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2) Arm, Disarm, Land and Takeoff in Loiter and AltHold |
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3) Improved Acro |
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a) ACRO_RP_P, ACRO_YAW_P parameters added to control speed of rotation |
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b) ACRO_BAL_ROLL, ACRO_BAL_PITCH controls speed at which copter returns to level |
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c) ACRO_TRAINER can be set to 0:disable trainer, 1:auto leveling when sticks released, 2:auto leveling and lean angle limited to ANGLE_MAX |
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d) Ch7 & Ch8 switch to set ACRO_TRAINER options in-flight |
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4) SPORT mode - equivalent of earth frame Acro with support for simple mode |
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5) Sonar ground tracking improvements and bug fixes that reduce reaction to bad sonar data |
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6) Safety improvements |
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a) motors always spin when armed (speed can be controlled with MOT_SPIN_ARMED, set to 0 to disable) |
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b) vehicle's maximum lean angle can be reduced (or increased) with the ANGLE_MAX parameter |
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c) arming check that GPS hdop is > 2.0 (disable by setting GPS_HDOP parameter to 900) |
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d) slow take-off in AUTO, LOITER, ALTHOLD to reduce chance of motor/esc burn-out on large copters |
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7) Bug fixes: |
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a) Optical flow sensor initialisation fix |
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b) altitude control fix for Loiter_turns mission command (i.e. mission version of CIRCLE mode) |
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c) DO_SET_ROI fix (do not use "ROI") |
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8) Distribute Loiter & Navigation calcs over 4 cycles to reduce impact on a single 100hz loop |
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9) RCMAP_ parameters allow remapping input channels 1 ~ 4 |
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------------------------------------------------------------------ |
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ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-2013 |
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Improvements over 3.0.1-rc1 |
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1) Rate Roll, Pitch and Yaw I fix when we hit motor limits |
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2) pre-arm check changes: |
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a) double flash arming light when pre-arm checks fail |
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b) relax mag field checks to 35% min, 165% max of expected field |
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3) loiter and auto changes: |
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a) reduced Loiter speed to 5 m/s |
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b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s) |
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c) rounding error fix in loiter controller |
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d) bug fix to stopping point calculation for RTL and loiter during missions |
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4) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw |
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------------------------------------------------------------------ |
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ArduCopter 3.0.1-rc1 26-Jun-2013 |
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Improvements over 3.0.0 |
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1) bug fix to Fence checking position after GPS lock was lost |
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2) bug fix to LAND so that it does not attempt to maintain horizontal position without GPS lock |
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------------------------------------------------------------------ |
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ArduCopter 3.0.0 / 3.0.0-rc6 16-Jun-2013 |
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Improvements over 3.0.0-rc5 |
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1) bug fix to Circle mode's start position (was moving to last loiter target) |
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2) WP_ACCEL parameter added to allow user to adjust acceleration during missions |
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3) loiter acceleration set to half of LOIT_SPEED parameter value (was hard-coded) |
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4) reduce AltHold P to 1.0 (was 2.0) |
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------------------------------------------------------------------ |
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ArduCopter 3.0.0-rc5 04-Jun-2013 |
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Improvements over 3.0.0-rc4 |
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1) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location |
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2) bug fix to Circle mode to allow counter-clockwise rotation |
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3) bug fix to heading change in Loiter, RTL, Missions when pilot's throttle is zero |
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4) bug fix for mission sticking at take-off command when pilot's throttle is zero |
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5) bug fix for parameters not saving when new value is same as default value |
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6) reduce pre-arm board min voltage check to 4.3V (was 4.5V) |
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7) remove throttle controller's ability to limit lean angle in loiter, rtl, auto |
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------------------------------------------------------------------ |
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ArduCopter 3.0.0-rc4 02-Jun-2013 |
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Improvements over 3.0.0-rc3 |
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1) loiter improvements: |
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i) repositioning enhanced with feed forward |
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ii) use tan to convert desired accel to lean angle |
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2) stability patch improvements for high powered copters or those with roll-pitch rate gains set too high |
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3) auto mode vertical speed fix (it was not reaching the desired speeds) |
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4) alt hold smoothed by filtering feed forward input |
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5) circle mode fix to initial position and smoother initialisation |
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6) RTL returns to initial yaw heading before descending |
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7) safe features: |
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i) check for gps lock when entering failsafe |
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ii) pre-arm check for mag field lenght |
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iii) pre-arm check for board voltage between 4.5v ~ 5.8V |
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iv) beep twice during arming |
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v) GPS failsafe enabled by default (will LAND if loses GPS in Loiter, AUTO, Guided modes) |
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vi) bug fix for alt-hold mode spinning motors before pilot has raised throttle |
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8) bug fixes: |
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i) fixed position mode so it responding to pilot input |
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ii) baro cli test |
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iii) moved cli motor test to test sub menu and minor change to throttle output |
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iv) guided mode yaw control fix |
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------------------------------------------------------------------ |
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ArduCopter 3.0.0-rc3 22-May-2013 |
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Improvements over 3.0.0-rc2 |
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1) bug fix for dataflash erasing unnecessarily |
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2) smoother transition to waypoints, loiter: |
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intermediate point's speed initialised from copter's current speed |
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3) Ch8 auxiliary function switch (same features as Ch7) |
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4) safety checks: |
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Warning to GCS of reason for pre-arm check failure |
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ARMING_CHECK parameter added to allow disabling pre-arm checks |
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Added compass health and offset check to pre-arm check |
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compassmot procedure displays interference as percentage of total mag field |
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5) WPNAV dataflash message combined into NTUN message |
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6) allow TriCopters to use ESC calibration |
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------------------------------------------------------------------ |
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ArduCopter 3.0.0-rc2 13-May-2013 |
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Improvements over 3.0.0-rc1: |
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1) smoother transition to waypoints, loiter: |
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reduced loiter max acceleration to smooth waypoints |
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bug fix to uninitialised roll/pitch when entering RTL, AUTO, LOITER |
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2) fast waypoints - copter does not stop at waypoints unless delay is specified |
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3) WPNAV_LOIT_SPEED added to allow faster/slower loiter repositioning |
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4) removed speed limits on auto missions |
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5) enhance LAND mission command takes lat/lon coordinates |
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6) bug fix for RTL not pointing home sometimes |
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7) centrifugal correction disabled when copter is disarmed to stop HUD moving |
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8) centrifugal correction disabled when sat count less than 6 (AHRS_GPS_MINSATS) |
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9) compass calibration reliability improvements when run from mission planner |
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10) bug fix to allow compassmot to be run from mission planner terminal screen |
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11) add support for H-quad frame |
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12) add COMPASS_ORIENT parameter to support external compass in any orientation |
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------------------------------------------------------------------ |
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ArduCopter 3.0.0-rc1 01-May-2013 |
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Improvements over 2.9.1b: |
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1) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan) |
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2) 3D waypoint navigation library (Leonard/Randy) |
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WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL |
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WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL |
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3) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team) |
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4) Safety improvements: |
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Tin-can shaped fence (set FENCE_ENABLED to 1 and copter will RTL if alt > 150m or horizontal distance from home > 300m) (Randy/Tridge/Leonard) |
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GCS failsafe (set FS_GCS_ENABLED to 1 and if you are using a tablet to fly your copter it will RTL and return control to the radio 3 seconds after losing telemetry) (Randy) |
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pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy) |
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5) motor interference compensation for compass (Jonathan/Randy) |
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6) Circle mode improvements: |
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set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates) |
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CIRCLE_RATE parameter allows controlling direction and speed of rotation in CIRCLE mode and LOITER_TURNS (can also be adjusted in flight from CH6 knob) |
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7) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy) |
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8) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig) |
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9) performance improvements to dataflash logging (Tridge) |
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10) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge) |
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11) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy) |
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12) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex) |
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------------------------------------------------------------------ |
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ArduCopter 2.9.1b 30-Feb-2013 |
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Improvements over 2.9.1: |
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1) reduce INS_MPU6K_FILTER to 20hz |
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2) reduce InertialNav Z-axis time constant to 5 (was 7) |
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3) increased max InertialNav accel correction to 3 m/s (was 1m/s) |
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4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew |
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5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted) |
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6) reduce yaw_rate P default to 0.20 (was 0.25) |
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------------------------------------------------------------------ |
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ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013 |
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Improvements over 2.9.1-rc1: |
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1) small corretion to use of THR_MID to scale lower end of manual throttle between THR_MIN and 500 instead of 0 and 500 |
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2) bug fix for longitude scaling being incorrectly calculated using Next Waypoint instead of home which could lead to scaling being 1 |
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3) ESC calibration change to set update rate to ESCs to 50hz to allow simonk ESC to be calibrated |
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------------------------------------------------------------------ |
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ArduCopter 2.9.1-rc1 31-Jan-2013 |
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Improvements over 2.9: |
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1) THR_MID parameter added to allow users to adjust the manual throttle so that vehicle hovers at about mid stick |
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2) bug fix for autotrim - roll axis was backwards |
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3) bug fix to set sonar_alt_health to zero when sonar is disabled |
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4) capture level roll and pitch trims as part of accel calibration |
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5) bug fix to ppm encoder false positives |
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------------------------------------------------------------------ |
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ArduCopter 2.9 & 2.9-rc5 14-Jan-2013 |
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Improvements over 2.9-rc4: |
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1) add constraint to loiter commanded roll and pitch angles |
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2) relax altitude requirement for take-off command to complete |
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------------------------------------------------------------------ |
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ArduCopter 2.9-rc4 12-Jan-2013 |
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Improvements over 2.9-rc3: |
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1) Smoother transition between manual and auto flight modes (Leonard) |
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2) bug fix for LAND not actually landing when initiated from failsafe (Randy/Craig) |
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------------------------------------------------------------------ |
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ArduCopter 2.9-rc3 11-Jan-2013 |
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Improvements over 2.9-rc2: |
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1) alt hold with sonar improvements - now on by default (Leonard/Randy) |
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2) performance and memory useage improvements (Tridge/Randy) |
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3) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold (Randy) |
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4) bug fix: altitude error reported to GCS (Randy) |
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5) limit inertial nav's max accel offset correction to 100cm/s/s to speed up recovery after hard impacts (Randy)_ |
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6) moved rate controllers to run after ins read (Tridge/Randy) |
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------------------------------------------------------------------ |
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ArduCopter 2.9-rc2 31-Dec-2012 |
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Improvements over 2.9-rc1: |
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1) increased throttle rate gains from 1.0 to 6.0 |
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2) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library) |
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------------------------------------------------------------------ |
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ArduCopter 2.9-rc1 23-Dec-2012 |
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Improvements over 2.8.1: |
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1) altitude hold improvements: |
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a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason] |
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b)accel based throttle controller [Leonard/Randy] |
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c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt] |
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d)parameters to control climb rate: |
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AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s) |
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PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s) |
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2) landing improvements [Leonard/Randy] |
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LAND_SPEED - allows you to set the landing speed in cm/s |
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3) camera related improvements: |
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a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno] |
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b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy] |
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c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy] |
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YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never) |
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4) trad heli improvements [Rob] |
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a) code tested and brought back into the fold (2.8.1 was never released for trad helis) |
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b) enabled rate controller (previously only used angle controllers) |
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c) fix to rotor speed controllers - now operates by switching off channel 8 |
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d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode |
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e) removed angle boost function because it created more problems than it solved |
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f) bug fix to allow collective pitch to use the entire range of servos |
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5) mediatek gps driver improvements [Craig] |
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a) added support for 1.9 firmware |
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b) bug fix to start-up routine so sbas can be enabled |
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6) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland] |
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a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming |
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b) failsafe triggered in unlikely case of a PPM encoder failure |
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c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered |
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7) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge] |
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8) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland] |
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9) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard] |
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ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level |
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ACRO_TRAINER - 1 to enable the auto-bring-upright feature |
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10) other changes and bug fixes: |
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a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason] |
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#define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees |
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#define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees |
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b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason] |
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c) event and state logging [Jason] |
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d) allow cli to be used over telemetry link [Tridge] |
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e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy] |
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f) bug fix so do_set_servo command works [Randy] |
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g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge] |
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h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason] |
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i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy] |
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j) removed unused stab_d from roll and pitch controller [Jason] |
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k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy] |
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l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others] |
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|
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------------------------------------------------------------------ |
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ArduCopter 2.8.1 22-Oct-2012 |
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Improvements over 2.8: |
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- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM2 |
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Improvements over 2.7.3: |
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- Improved ACRO mode (Leonard Hall) |
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- Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy) |
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- Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy) |
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- Less bouncy Stabilize yaw control (Leonard) |
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- OpticalFlow sensor support for APM2.5 (Randy) |
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- DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy) |
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- Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy) |
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- Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy) |
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- More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy) |
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- GPS NMEA bug fix (Alexey Kozin) |
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- Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason) |
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Bug Fixes / Parameter changes: |
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- fixed skipping of last waypoint (Jason) |
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- resolved twitching when no GPS attached (Tridge) |
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- fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason) |
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- moved Roll-Pitch I terms from Stabilize controllers to Rate controllers |
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- TILT_COMPENSATION param tuned for TradHeli (Rob) |
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Code Cleanup: |
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- HAL changes for platform portability (Pat Hickey) |
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- Removed INSTANT_PWM (Randy) |
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------------------------------------------------------------------ |