From e859549814d0f31ca8df0111e127fe97694f9053 Mon Sep 17 00:00:00 2001 From: rmackay9 <rmackay9@yahoo.com> Date: Sun, 23 Dec 2012 12:24:14 +0900 Subject: [PATCH] ArduCopter: update release notes for 2.9-rc1 --- ArduCopter/ReleaseNotes.txt | 52 +++++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index a807cd90c..ef31392ee 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,57 @@ ArduCopter Release Notes: +------------------------------------------------------------------ +ArduCopter 2.9-rc1 23-Dec-2012 +Improvements over 2.8.1: +1) altitude hold improvements: + a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason] + b)accel based throttle controller [Leonard/Randy] + c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt] + d)parameters to control climb rate: + AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s) + PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s) +2) landing improvements [Leonard/Randy] + LAND_SPEED - allows you to set the landing speed in cm/s +3) camera related improvements: + a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno] + b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy] + c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy] + YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never) +4) trad heli improvements [Rob] + a) code tested and brought back into the fold (2.8.1 was never released for trad helis) + b) enabled rate controller (previously only used angle controllers) + c) fix to rotor speed controllers - now operates by switching off channel 8 + d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode + e) removed angle boost function because it created more problems than it solved + f) bug fix to allow collective pitch to use the entire range of servos +5) mediatek gps driver improvements [Craig] + a) added support for 1.9 firmware + b) bug fix to start-up routine so sbas can be enabled +6) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland] + a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming + b) failsafe triggered in unlikely case of a PPM encoder failure + c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered +7) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge] +8) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland] +9) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard] + ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level + ACRO_TRAINER - 1 to enable the auto-bring-upright feature +10) other changes and bug fixes: + a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason] + #define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees + #define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees + b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason] + c) event and state logging [Jason] + d) allow cli to be used over telemetry link [Tridge] + e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy] + f) bug fix so do_set_servo command works [Randy] + g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge] + h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason] + i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy] + j) removed unused stab_d from roll and pitch controller [Jason] + k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy] + l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others] + ------------------------------------------------------------------ ArduCopter 2.8.1 22-Oct-2012 Improvements over 2.8: -- GitLab