diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index b0efd2479cc5d8629b55f813adbf70578d904e9d..b51d6258a6f04b01e19fe9bf49a2ab791b1c0a77 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1,8 +1,8 @@ /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- -#define THISFIRMWARE "ArduCopter V2.9.1b-dev" +#define THISFIRMWARE "ArduCopter V3.0.0-rc1" /* - * ArduCopter Version 2.9 + * ArduCopter Version 3.0 * Lead author: Jason Short * Based on code and ideas from the Arducopter team: Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen, Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni * Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier, Robert Lefebvre, Marco Robustini diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 61540c5af0b2200037497539e6a17c3ba6b51b55..f9c5f43a438451564f2754b41fa746a892c5146b 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,27 @@ ArduCopter Release Notes: ------------------------------------------------------------------ +ArduCopter 3.0.0-rc1 01-May-2013 +Improvements over 2.9.1b: +1) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan) +2) 3D waypoint navigation library (Leonard/Randy) + WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL + WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL +3) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team) +4) Safety improvements: + 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) + 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) + pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy) +5) motor interference compensation for compass (Jonathan/Randy) +6) Circle mode improvements: + set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates) + 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) +7) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy) +8) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig) +9) performance improvements to dataflash logging (Tridge) +10) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge) +11) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy) +12) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex) +------------------------------------------------------------------ ArduCopter 2.9.1b 30-Feb-2013 Improvements over 2.9.1: 1) reduce INS_MPU6K_FILTER to 20hz @@ -8,7 +30,6 @@ Improvements over 2.9.1: 4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew 5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted) 6) reduce yaw_rate P default to 0.20 (was 0.25) - ------------------------------------------------------------------ ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013 Improvements over 2.9.1-rc1: