forked from ArduPilot/ardupilot
-
Notifications
You must be signed in to change notification settings - Fork 0
/
release-notes.txt
2949 lines (2243 loc) · 112 KB
/
release-notes.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
Release 3.9.10, 26th August 2019
-------------------------------------
This releases includes an important fix to IOMCU handling that fixes a
problem where motors attached on the AUX channels can stop momentarily
due to an error in the UART handling to the IOMCU.
Release 3.9.9, 4th August 2019
------------------------------
New plane stable release with two fixes over beta4:
- fixed setting file timestamps with u-blox F9 GPS (thanks to Martin Sollie)
- fixed return value of LightWare serial rangefinder driver when out of range
Release 3.9.9beta4, 31st July 2019
----------------------------------
Minor update over beta3:
- fixed an issue with handling baro failure on CubeBlack
- forced INS_USE3=1 on CubeBlack when first two IMUs are enabled
Release 3.9.9beta3, 28th July 2019
----------------------------------
Minor update over beta2:
- fixed issue with setting of EKF origin in GPS modes
- added support for MS4525 on 4th I2C bus
- added delay on LW20 I2C probe
Release 3.9.9beta2, 11th July 2019
----------------------------------
Minor update over beta1:
- added mRoControlZeroF7 support
- enabled IO pass-thru on FMU failure on ChibiOS builds
Release 3.9.9beta1, 8th July 2019
---------------------------------
This is a minor release with some important safety and flight
improvement fixes.
Key changes are:
- learn EKF biases even for inactive IMUs, making IMU failover much more robust
- EKF uses earth magnetic field model to reduce in-flight compass errors
- EKF switches to first healthy IMU when disarmed
- IMU fix for dropped samples during high CPU usage
- added support for Ublox F9 GPS
- switched to ChibiOS I/O firmware for ChibiOS builds to support Spektrum bind
- CUAVv5 Nano LED fix
- fixed watchdog trigger on simple accelcal
- fixed drift of AMSL estimate when disarmed
- fixed rate integrator buildup when rate control disabled
Happy flying!
Release 3.9.8, 26th April 2019
------------------------------
This is a minor release with some important safety fixes. The fixes
relate to two issues:
- implement hardware support to reset the CPU if a software or hardware
failure causes the main loop to stop running
- fixed a bug in the handling of a failure of the primary IMU in a
multi-IMU system
The first fix relates to a flyaway that happened on a RadioLink
mini-pix flight controller. The mini-pix suffered a major hardware
failure that led to the main loop stopping. As the mini-pix does not
have an IO co-processor this resulted in fixed control surface outputs
and fixed motor output, which led to a flyaway. The plane was found,
but we want to ensure that if this ever happens again that the motor
will stop and that the pilot will regain control of the aircraft.
The fix is to enable an option in the STM32 processor called
"Independent Watchdog" (IWDG). The IWDG provides a mechanism to
automatically reset the CPU on software or hardware failure resulting
in the main loop stopping. When this happens the hardware also
provides a mechanism for ArduPilot to know that it is booting after a
watchdog reset, in which case it does the following:
- if the ChibiOS bootloader has been updated then it skips the normal
5 second delay in the bootloader
- it skips baromoter, gyro and airspeed calibration, allowing for
very fast boot
- the home position and attitude estimate of the vehicle is restored
to a point less than 0.3 seconds before the lockup
- the pilot regains full control, and if the pilot requests arming
then arming checks are automatically bypassed
We have tested this on an aircraft with a deliberately induced full
CPU lockup. The aircraft recovered and flew normally within 3 seconds
of lockup, with the pilot having full control. This was with a board
with no IOMCU. A board that does have an IOMCU (such as a Hex cube)
would have had full manual control on FMU lockup without the changes
in this new release. For those boards with IOMCU the advantage of the
new release is that the pilot will regain the ability to use
stabilised and auto modes (including RTL) after a full CPU lockup.
The additional protections of the IWDG support only apply to the
ChibiOS builds. The IWDG is not supported in NuttX builds.
The second key fix in this release relates to IMU failure on multi-IMU
systems. If the IMU that is associated with the currently active EKF
lane failed then the fixed wing attitude controller would lose
attitude control and the aircraft will crash unless the pilot takes
manual control. This has been fixed to ensure that IMU failover
operates correctly.
Other changes in this release:
- added support for the CUAVv5Nano board
- added retries to flash storage of parameters
- fixed pullups on some fmuv3 based boards that lack hardware pullups
on sdcard data lines
- fixed fallback to microSD for parameter storage if a board with
FRAM storage has a failed FRAM device
- added a specific check for hw failure regarding the recent
CubeBlack safety bulletin
- fixed the power flags for brick2 on fmuv5
Happy flying!
Release 3.9.7, 1st April 2019
-----------------------------
This is a minor release to fix a single important bug in speed/height
handling. The bug was in the TECS (total energy control system) and
could cause a sustained pitch down due to a transient glitch in
airspeed demand resulting in a large negative pitch integrator.
The log that found the bug was of a quadplane in CRUISE mode, and
resulted in the aircraft forcing nose down for long enough to crash.
The fix includes both protections for the pitch integrator and a fix
for the cause of the transient in airspeed demand affecting the TECS
demanded airspeed.
Happy flying!
Release 3.9.6, 4th March 2019
-----------------------------
This is a minor release with some important fixes for VTOL landings
and EKF handling of compass switching.
- fixed throttle slew on dual-motor planes
- handle VTOL landings with incorrect height (or failed rangefinder)
- fixed EKF alt datum reset on barometer reset
- probe all I2C buses for rangefinders (fixes I2C lidar on boards
with more than 2 I2C buses)
- fixed lightware serial detection for newer lidars such as LW20
- fixed motor relax code on VTOL landing to prevent motors powering
up after touchdown
- fixed forward motor in quadplane landing transition to allow motors
when landing at a height lower than takeoff height
- fixed throttle mix handling for VTOL planes on descent
- use WP altitude for height of ground in VTOL landing, allowing for
good landings at heights well above or below takeoff height
- fixed EKF compass switching with 3 compasses
- fixed mini-pix UART order to match case markings
- added generated git hash to apj file
- fixed apj generation to not change based on time of build
- fixed thread creation to use any heap, fixing a bug on
MatekF405-Wing with a compass
Happy flying!
Release 3.9.5, 27th January 2019
--------------------------------
This is a minor update over the 3.9.4 release. This release includes
the following changes:
- fixed orientation of 2nd IMU for OmnibusF7V2
- fixed LEDs on Pixhawk4 and Pixhawk4-mini
- fixed safety switch on Pixhawk4-mini
- improved robustness of microSD support under ChibiOS
- support insert of a microSD after boot but before logging starts
under ChibiOS
- added BRD_SD_SLOWDOWN parameter to allow microSD cards to be run at
a lower clock to improve reliability
- fixed VTOL takeoff in quadplanes to ignore latitude/longitude in
the mission item and always takeoff vertically
- added CubePurple (also known as PH2Slim) builds
- added DrotekP3Pro builds
- RC protocol decoding for SRXL, SUMD and ST24 extended to all boards
including pixracer and ChibiOS-only boards
- fixed CAN on Pixhawk4
- fixed EKF yaw reset in quadplanes
- fixed bug handling corruption of DSM RC protocols
- fixed internal amber LED on CubeBlack
Happy flying!
Release 3.9.4, 10th December 2018
---------------------------------
This is a minor update over the 3.9.3 release. Changes are:
- fixed a critical bug in SBUS handling on the Pixhawk4
- fixed bugs in benewake rangefinder driver
- added support for garmin LidarLite-V3HP
- improved error handling for TeraRanger Lidar
- fixed a bug in DSM handling for more than 7 channels on some boards
- fixed default voltage and current scaling for Pixhawk4 and PH4-mini
Happy flying!
Release 3.9.3, 10th November 2018
---------------------------------
The ArduPilot development team are delighted to announce the 3.9.3
stable release of the ArduPilot plane code. This release includes a
number of small but important fixes over 3.9.2:
- fixed error handling for corrupt RC input that could lead to a
crash in unusual circumstances
- fixed a race condition in IOMCU event startup that could lead to
the safety not being disabled on boot with BRD_SAFETYENABLE=0
- ensure surface speed scaling covers full range of configured
airspeeds
- added builds for new boards F35Lightning, omnibusf4v6, mRoX21-777
- updated GPIO numbers on AUX pins on all boards to be consistent
with docs
- updated KakuteF7 UARTs and buzzer
- added ESC sensor uart on OmnibusNanoV6
- fix for Benewake rangefinder at long ranges
- prevent attempts to erase dataflash logs while armed
Many thanks to the people who tested this release!
Happy flying!
Release 3.9.3beta1, 6th November 2018
-------------------------------------
This is the first beta release for the 3.9.3 firmware. This release
has the following changes over 3.9.2:
- fixed error handling for corrupt RC input that could lead to a
crash in unusual circumstances
- fixed a race condition in IOMCU event startup that could lead to
the safety not being disabled on boot with BRD_SAFETYENABLE=0
- ensure surface speed scaling covers full range of configured
airspeeds
- added builds for new boards F35Lightning, omnibusf4v6, mRoX21-777
- updated GPIO numbers on AUX pins on all boards to be consistent
with docs
- updated KakuteF7 UARTs and buzzer
- added ESC sensor uart on OmnibusNanoV6
Happy flying!
Release 3.9.2, 10th October 2018
--------------------------------
The ArduPilot development team are delighted to announce the 3.9.2
stable release of the ArduPilot plane code. This release includes a
number of small but important fixes over 3.9.1.
The changes since the 3.9.2beta3 release are:
- fixed a DShot send bug that could lead to board lockup
- fixed RGB LED display on Pixracer under both NuttX and ChibiOS
- fixed safety switch option handling bug
Thanks for the bug reports and testing by all users for the 3.9.2beta
series!
Happy flying!
>>>>>>> a9d5581378... Plane: updated release notes for 3.9.8-beta1
Release 3.9.2beta3, 20th September 2018
---------------------------------------
The is the third beta release of the plane 3.9.2 stable release. It
contains a small number of fixes:
- fixed clearing of loiter pilot acceleration targets for quadplanes
- fixed handling of duplicate rotations for COMPASS_AUTO_ROT
I expect this will be the last beta release before 3.9.2
Happy flying!
Release 3.9.2beta2, 15th September 2018
---------------------------------------
The is the second beta release of the plane 3.9.2 stable release. It
contains a number of important bug fixes.
- implement failsafe PWM in IOMCU, for AFS failsafe when FMU dies
- handle reversed channels correctly in AFS failsafe
- fixed twin motor plane handling in AFS failsafe
- fixed a bug in Q_ASSIST_SPEED support for tiltrotors that could
lead to zero throttle when assistance triggers.
- lower default PTCH2SRV_D to 0.04 after reports of oscillation on
small flying wings
- added speed scaler reduction in Q modes when at low airspeed
- fixed synthetic airspeed estimation to be along +ve X axis
- fixed relaxing of VTOL attitude controller on transition (thanks to
Leonard Hall)
- default COMPASS_AUTO_ROT to 2 on all boards
- fixed UART speed rounding bug that caused failure at high board
rates
- fixed a short glitch in position control on quadplane transition
(many thanks to Leonard for lots of help with this)
- fixed RSSI voltage from IOMCU
Thanks to everyone who has contributed, and please report all test
results with this beta.
Happy flying!
Release 3.9.2beta1, 12th September 2018
---------------------------------------
The is the first beta release of the plane 3.9.2 stable release. It
contains a number of important bug fixes.
- fixed a quadplane bug that could cause large attitude instability
during takeoff if the aircraft does not have enough power to climb
to its target height. Thanks to Leonard for the fix.
- fixed a bug that prevented dead-reckoning working on GPS loss.
- fixed an ADC bug that prevented some boards from using all of their
analog input. Thanks to vierfuffzig for reporting!
- fixed a bug in advanced failsafe support that left RC input to
throttle active after termination. Thanks to Michael Thomas for
finding this bug.
- fixed use of OLED displays on the first I2C bus on systems with two
I2C buses
Thanks to everyone who has contributed, and please report all test
results with this beta.
Happy flying!
Release 3.9.1, 31st August 2018
-------------------------------
The ArduPilot dev team are delighted to announce a new stable plane
release. This is a minor release, but does include some important
fixes.
The only change over the 3.9.1beta3 release is an increase in the USB
buffer size to give faster log download over USB.
Other important changes from the 3.9.1beta releases include:
- updated to default values for some tuning parameters
- fixed a critical safety issue found by Oliver Volkmann, and fixed
by Michael du Breuil. The problem could lead to quadplane motors
starting on reboot
- fixed a bug where RC failsafe could lead rudder input stuck at the
last rudder input value in some modes. Thanks to Michael du Breuil
for the fix
- improved DShot and BLHeli-passthrough support, fixing errors
reported by BLHeli32 ESCs and making using BLHeliSuite32 much more
reliable
- new tonealarm system, bringing the tones produced under ChibiOS and
Linux HALs in line with tones produced under the HAL_PX4 HAL.
- added a new LED driver for the NCP5623 LED
- fixed delay caused by parameter writes in AP_Stats
- fixed default RSSI input pin on some boards
- fixed the incorrect display of "no io thread heartbeat" message
- fixed microSD support on some boards due to running out of DMA
capable memory
Many thanks to everyone who has been testing the beta releases.
Happy flying!
Release 3.9.1beta3, 23rd August 2018
------------------------------------
This is the third beta for the 3.9.1 release, which is a minor
update over 3.9.0. This release includes the following changes:
- fixed a critical safety issue found by Oliver Volkmann, and fixed
by Michael du Breuil. The problem could lead to quadplane motors
starting on reboot
- fixed a bug where RC failsafe could lead rudder input stuck at the
last rudder input value in some modes. Thanks to Michael du Breuil
for the fix
- raised OSD thread stack size to 1024 (needed for new OSD items)
Thanks to everyone who is testing the 3.9.1beta series!
Release 3.9.1beta2, 17th August 2018
------------------------------------
This is a the second beta for the 3.9.1 release, which is a minor
update over 3.9.0. This release includes the following changes:
- increased default buffer sizes in dataflash for some boards
- fixed a bug with small dataflash buffers
- updated OSD with new items: hdop, temperature, waypoint, xtrack,
flight distance, flighttime, efficiency (thanks to Hwurzburg,
vierfuffzig and sh83).
- reduced memory usage in serial buffers
- adjusted some default parameters to give a better first flight
experience for more users.
The default parameter changes are:
- RLL2SRV_P from 0.6 to 1.0
- RLL2SRV_I from 0.1 to 0.3
- RLL2SRV_D from 0.02 to 0.08
- PTCH2SRV_P from 0.6 to 1.0
- PTCH2SRV_I from 0.1 to 0.3
- PTCH2SRV_D from 0.02 to 0.08
- TECS_PITCH_MAX from 0 to 15
- NAVL1_PERIOD from 20 to 17
The PID parameter changes won't affect anyone who has done some
tuning, but will make the first flight experience for a new user be a
lot better for nearly all aircraft. Paul and I decided on the values
based on experience with users flight logs, plus the experience users
have had with AUTOTUNE mode.
Please report testing results!
Happy flying
Release 3.9.1beta1, 15th August 2018
------------------------------------
This is a the first beta for the 3.9.1 release, which is a minor
update over 3.9.0. This release includes the following changes:
- improved DShot and BLHeli-passthrough support, fixing errors
reported by BLHeli32 ESCs and making using BLHeliSuite32 much more
reliable
- new tonealarm system, bringing the tones produced under ChibiOS and
Linux HALs in line with tones produced under the HAL_PX4 HAL.
- added a new LED driver for the NCP5623 LED
- fixed delay caused by parameter writes in AP_Stats
- fixed default RSSI input pin on some boards
- fixed the incorrect display of "no io thread heartbeat" message
- fixed microSD support on some boards due to running out of DMA
capable memory
Given the changes are quite small, I hope to make this a fairly short
beta cycle. Please test it and report both success and failure.
Happy flying!
Release 3.9.0, 6th August 2018
------------------------------
The ArduPilot development team is delighted to announce a new stable
release of plane, version 3.9.0.
For those of you who have been testing the 3.9.0beta releases then you
won't see any surprises here. That are no changes since
3.9.0beta6. Also, many thanks for testing the betas!
For those of you coming from the last stable 3.8.5 release there are a
lot of changes. For a start, this is the first release to support both
the ChibiOS RTOS on STM32 boards and the NuttX RTOS. Previously stable
releases only used the NuttX RTOS. The ArduPilot project is moving to
ChibiOS for future releases, and we expect to drop support for the
NuttX builds for the next major stable release (which will probably be
called 3.10.0).
When you install the 3.9.0 release on board such as a Pixhawk1, Cube
or Pixracer you have a choice of which build to use. Choosing ChibiOS
will give you better performance and some very nice new
features. Choosing the NuttX (also known as "PX4" builds) will get you
the same base that we have been using for years.
There are a few features that are in the NuttX build but not yet in
the ChibiOS build, in particular the ChibiOS build does not yet
support PWM based rangefinders. That will be fixed in a future
release.
This release has a lot of new features. Some of the most important
ones are:
- DShot support for controlling ESCs
- BLHeli pass-thru support for ESC configuration
- automatic compass orientation on calibrating compasses
- improved VTOL flight code, with improved transition support and loiter
- support for Devo telemetry output
- new battery monitoring system, with more flexible failsafes
- built-in OSD support for boards with a MAX7456 OSD device
In addition, this release supports a lot of new flight boards,
including:
- AirbotF4
- F4BY
- KakuteF4
- KakuteF7
- MatekF405
- MatekF405-Wing
- mindpx-v2
- mini-pix
- Omnibusf4pro
- Omnibusf7V2
- Pixhawk4 and Pixhawk4-mini
- CUAVv5
- revo and revo-mini
- sparky2
We also now have custom ChibiOS based builds for some existing boards,
including:
- CubeBlack
- mRoX21
- Pixhawk1
- Pixracer
This means you now have a lot more choice in selecting a flight board
to use with ArduPilot.
This release was made possible thanks to contributions from dozens of
volunteer developers in the dev team. In total there are over 5
thousand changes since the 3.8.5 release. Special thanks to:
- Siddharth Purohit
- Tom Pittenger
- Randy Mackay
- Michael du Breuil
- Peter Barker
- Mark Whitehorn
- Paul Riseborough
- Francisco Ferreira
- Jonathan Challinger
- Leonard Hall
- Alexander Malishev
- Nathan E
- Marco Robustini
- Luis Vale Gonçalves
- night-ghost
- Patrick José Pereira
- Lucas De Marchi
- Eugene Shamaev
- Philip Rowse
- Amilcar Lucas
- Kelly Foster
- Fnoop
- Pierre Kancir
- Stephen Dade
- Jaime Machuca
- vierfuffzig
- Henry Wwurzburg
- Malcolm Churn
- Holger Steinhaus
We hope you enjoy flying this release as much as we enjoyed making
it. Happy flying!
Release 3.9.0beta6, 30th July 2018
----------------------------------
This is the sixth in a series of beta releases for plane 3.9.0. I aims
to be the final beta.
Changes in this release are:
- added Q_TAILSIT_THSCMX parameter for tailsitters (thanks to IamPete)
- added KakuteF7 bootloader
- fixed arming error with trim on unusued RC channels
- fixed microSD support on KakureF7 and OmnibusF7V2 (thanks sh83)
- fixed VL53L0X rangefinder driver
- added Pixhawk1 ChibiOS build
- fixed update rate for servos in tailsitters
- set COMPASS_AUTO_ROT to 2 for most boards
- improved OmnibusF7V2 support
- support all external compasses on mini-pix
- clear COMPASS_DEV_ID for unused compasses
Happy flying!
Release 3.9.0beta5, 19th July 2018
----------------------------------
This is the fifth in a series of beta releases for plane 3.9.0. It
fixes two important bugs over 3.9.0beta4
- fixed RC failsafe on IOMCU when a SBUS receiver is set to "hold" mode
- allowed for RC override failsafe to support holding override value
on timeout
Thanks to Jon and Michael for the failsafe fixes!
It also includes two smaller changes:
- updated F4BY board id, and added F4BY to autobuild list
- fixed UARTD for px4-v1 build
Release 3.9.0beta4, 18th July 2018
----------------------------------
This is the fourth in a series of beta releases for plane 3.9.0. It is
a major release, with a lot of changes.
- fixed compass detection on pixracer
- greatly improved OSD support
- fixed ARMING_REQUIRE=2 support (thanks Marco!)
- added automatic compass orientation support
- added probe for all external compasses on new ChibiOS boards
- fixed arming with compass disabled
- fixed flow control on F7 based boards
- fixed prealloc of DMA bouncebuffers
- added board specific builds for mRoX21 and Pixracer
- fixed mRoX21 IMU detection
Many thanks to all who contributed to this release, and our beta testers!
Release 3.9.0beta3, 11th July 2018
----------------------------------
This is the third in a series of beta releases for plane 3.9.0. It is
a minor update to beta2
Changes are:
- fixed nul termination of system ID on ChibiOS
- added PH4-mini support
- fixed compass orientation on fmuv5
- matched BRD_PWM_COUNT between px4-v3 and fmuv3
- fixed MatekF405-Wing compass orientation
- backup storage to microSD if possible
Release 3.9.0beta2, 6th July 2018
---------------------------------
This is the second in a series of beta releases for plane 3.9.0. It is
a major release, with a lot of changes.
- Builtin OSD support on boards with MAX7456 OSD device
- fixed throttle display on twin-engine planes
- improved timing in mavlink remote sensors
- added many more board types to autobuild
- fixed airspeed reporting for unhealthy sensors
- fixed log timestamps on ChibiOS
- added force arm option
- added fmuv5 support
- added CubeBlack build
- added ESC telemetry virtual battery
- added SERIAL6 on fmuv4 and fmuv5
- added MatekF405-Wing support
- added AP_Bootloader
- support bootloader update over MAVLink
- enable sdcard on several F4 boards
- fixed serial number logging on ChibiOS boards
- fixed revo-mini compass orientation
Many thanks to all who contributed to this release, and our beta testers!
Release 3.9.0beta1, 21st May 2018
---------------------------------
This is the first in a series of beta releases for plane 3.9.0. It is
a major release, with a lot of changes.
The main changes are for supporting two new HALs (hardware abstraction
layers). One is the port to ChibiOS and the second is the F4Light HAL.
These ports bring a host of new flight board options, and a lot of new
features. Some highlights include:
- support for many inexpensive STM32F4 based flight boards
- support for DShot output for BLHeli ESCs, including ESC telemetry
feedback
- new battery monitoring system with more flexible failsafe options
- support for Devo telemetry output
- a new position hold library for multicopters which improves
quadplane VTOL support
This release is fully compatible with previous releases, and users
should not notice a significant difference in flight. The focus of the
beta testing will be on ensuring that the new flight board support is
stable.
Happy flying!
Release 3.8.5, 25th April 2018
------------------------------
This release includes small bug fixes and one safety fix. The changes
are:
- fixed an issue where the external safety button can activate in
flight on some boards, causing them to crash. A new parameter
BRD_SAFETYOPTION is added which controls the behaviour of the
safety button. The default is to de-activate the safety button when
armed.
- fixed default orientation of ICM-20948 compass for Here GPS
- added support for dual airspeed sensors
- added support for the SDP33 airspeed sensor. This is still
considered experimental. There are reports of it underestimating
the aircrafts speed at higher altitudes.
- add support for the MS5525 airspeed sensor on multiple I2C
addresses. Two new values of the ARSDP_TYPE are introduced (4 and
5) for specific I2C addresses. This allows you to deconflict the
MS5525 from a MS5611 barometer on the same bus.
Release 3.8.4, 9th January 2018
-------------------------------
This is a minor release with just two small changes.
The first change is to fix a timing bug in the MS5525 airspeed sensor
driver. That bug was causing unreliable airspeed sensing. Thanks to
David Ingraham for providing logs that helped find the issue.
The second change is to fix transitions in AUTO mode in
tailsitter. The transition for tailsitters was causing instability on
transition from vertical takeoff to forward flight.
Release 3.8.3, 13th November 2017
---------------------------------
This is a minor release with a number of important bug fixes and some
small feature additions.
The most important general fixes are for an I2C device detection bug
and fixing the implementation of MANUAL_RCMASK.
There are quite a number of small fixes in lots of areas, plus big
improvements to the handling of tailsitter transitions.
Another significant change is to the handling of transitions from RTL
to QRTL when Q_RTL_MODE=1. We now transition to QRTL at a distance
which is the maximum of RTL_RADIUS and a distance calculated based on
a new Q_TRANS_DECEL "transition deceleration" parameter. That allows
you to tune the amount of deceleration you want in the transition
according to how much drag your quadplane has. This also means it
automatically accounts for wind speed and approach speed in
calculating the transition point.
We have also added a new Q_OPTIONS parameter which is a bitmask of
option flags to control quadplane behaviour. We have three options so
far. The first is to allow for keeping the wings within
LEVEL_ROLL_LIMIT degrees during transitions, for users that prefer
transitions to be kept level. The 2nd and 3rd options are to treat
NAV_TAKEOFF as NAV_VTOL_TAKEOFF and NAV_LAND as NAV_VTOL_LAND in
quadplane missions, so that you can use GCS software that doesn't know
about the VTOL takeoff and land commands.
- allow vertical takeoffs in GUIDED mode with Q_GUIDED_MODE=0
- fixed a bug in implementation of MANUAL_RCMASK
- eliminate airspeed positive bias after offset zero
- prevent quadplane controller windup on the ground
- added Q_MAV_TYPE for setup of VTOL vehicle type for QGC
- improved performance of FlightAxis SITL
- support LOITER_TO_ALT in quadplanes
- fixed a bug in TECS related to descending quadplane transitions
- added Q_OPTIONS for controlling roll during transitions and
allowing for fixed wing takeoff and landing
- fixed a race condition in IMU logging
- fixed a race in i2c device probing
- log critical messages while disarmed
- added IST8310 compass on FMUv3 I2C
- probe for QMC5883 by default
- avoid double detection of AK09916 compass
- smooth out tailsitter transitions in both directions
- fixed use of RTL_RADIUS for QRTL threshold and added Q_TRANS_DECEL
- fixed course unlocking with rudder in CRUISE mode
We hope you have as much fun flying this release as we had producing
it. Happy flying!
Release 3.8.2, 11th September 2017
----------------------------------
This is a minor release, with a few small fixes and one important
crash bug fix.
The crash bug is in the Septentrio (SBF) GPS driver. Anyone flying
with an SBF GPS should update to this release. The driver had a bug
that could cause a in-flight crash under some circumstances.
Other changes in this release are:
- support takeoff in GUIDED mode for quadplanes
- support changing target altitude while hovering in GUIDED mode for
quadplanes
- improved descent rate control in QRTL and QLAND modes. This fixes
an issue with higher than configured descent rates, and smoothes
out the change in descent rate for the change to the final landing
stage
- smooth out the transition to QLOITER or QLAND when transitioning
from fixed wing mode. This prevents the sudden nose up when
changing to QLOITER or QLAND mode while flying at high speed.
- added MANUAL_CONTROL support, allowing for joystick control from QGroundControl
Happy flying!
Release 3.8.1, 3rd September 2017
---------------------------------
This is a bugfix release for 3.8.0, with just a few small changes, and
only one new feature.
The bug fixes are:
- removed TRIM_RC_AT_START option, as this was causing significant
issues
- fixed bug in TRIM_AUTO support with differential spoilers
- fixed bug with RCn_TRIM == RCn_MIN in MANUAL mode
- fixed combination of TKOFF_THR_MINACC and TKOFF_THR_DELAY
- fixed a bug in sending STATUSTEXT messages on all MAVLink channels
The new feature is that you can set the protocol for the debug UART on
FMUv2 or FMUv3 board (such as a Pixhawk or Cube) to allow allow UART5
to be used for arbitrary protocols. To use this fetaure just set
SERIAL5_PROTOCOL to the desired serial protocol. This should be useful
to users who have multiple serial devices (such as rangefinders) they
want to connect and have run out of UARTs.
Happy flying!
Release 3.8.0, 5th August 2017
------------------------------
The ArduPilot development team is very proud to announce the release
of APM:Plane 3.8.0. This is a major release, with a lot of new
features and improvements. The release has been a long time coming,
and the dev team would like to thank everyone who has contributed,
in terms of code and documentation as well as the many testers of beta
versions of the code.
To help with migration from the 3.7.1 release to 3.8.0 there is a
migration guide here:
http://ardupilot.org/plane/docs/plane-3-7-to-3-8-migration.html
All users should read the migration guide carefully. While the
firmware will try to auto-migrate most settings, please do very
careful ground tests before your first flight with 3.8.
In total there have been over 4 thousand changes in the ArduPilot git
tree since the 3.7.1 release, with over four hundred of those specific
to fixed wing aircraft. Listing all of them in these release notes is
not practical, but the following list will give some of the larger
changes:
- addition of EKF3 support (disabled by default)
- new SERVO parameter system for servo output configuration
- support for MS5525 airspeed sensor
- support for a wide range of tiltrotor quadplanes