diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 6ccc0923aa6fe0..eac21dc834ca2e 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,281 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Copter 4.5.0-beta1 27-Jan-2025 +Changes from 4.4.4 +1) New autopilots supported + - ACNS-F405AIO + - Airvolute DCS2 onboard FMU + - Aocoda-RC-H743Dual + - BrainFPV RADIX 2 HD + - CAN-Zero + - CM4Pilot + - CubeRed + - Esp32-tomte76, esp32nick, esp32s3devkit + - FlyingMoonH743 + - Flywoo F405 Pro + - FlywooF405S-AIO with alternative IMUs + - Here4 GPS as flight controller + - Holybro 6X revision 6 + - Holybro6X-45686 with 3x ICM45686 IMUs + - JAE JFB110 + - KakuteH7 using ICM42688 + - PixFlamingo (uses STM32L4PLUS CPU) + - PixPilot-C3 + - PixSurveyA1-IND + - QiotekAdeptF407 + - Sierra TrueNavIC + - SPRacing H7RF + - SW-Nav-F405 + - YJUAV_A6 + - YJUAV_A6SE, YJUAV_A6SE_H743 +2) Autopilot specific changes + - 1MB boards lose features to save flash (Payload Place, some battery monitors, NMEA Output, bootloaders, Turtle mode) + - CubeOrangePlus supports IMU high resolution sampling (works with ICM42688, ICM42652, ICM42670, ICM45686 IMUs) + - F4 processors with only 1 IMU gain Triple Harmonic Notch support + - F765-SE bdshot support on 1st 4 pin + - F7 and H7 boards lose DMA on I2C ports (not required, limited DMA better used elsewhere) + - FlyingMoonH743, FlyingMoonF427 2nd and 3rd IMU order swapped + - HEEWING-F405 supports CRSF + - MatekL431-RC bootloader added, DMA used for RC and GPS + - PH4-mini, PH4-mini-bdshot, Swan-K1 and TBS-Colibri-F7 BRD_SER4_RTSCTS param conflict fixed + - Pixhawk6C supports BMI088 baro + - TMotorH743, Heewing-F405 serial parameter definitions fixed +3) AHRS/EKF enhancements and fixes + - AHRS_OPTIONS supports disabling fallback to DCM + - BARO_ALT_OFFSET slews more slowly (was 20sec, now 1min) + - EKF2 removed (can be re-enabled with Custom build server) + - External AHRS support for multiple GPSs + - InertialLabs INS-U external AHRS support + - Lord external AHRS renamed to MicroStrain5 + - MAV_CMD_EXTERNAL_POSITION_ESTIMATE supports setting approximate position during dead-reckoning + - Microstrain7 external AHRS support +4) Driver enhancements + - 3DR Solo supports up to 6S batteries + - Airspeed health checks vs GPS use 3D velocity + - BDShot support on IOMCU (e.g. main outputs of boards with IOMCU) + - DroneCAN battery monitors calculate consumed energy if battery doesn't provide directly + - DroneCAN RC and Ghost RC protocol support + - EFI MAVLink driver + - Extended DShot Telemetry support (requires BLHeli32 ver 32.93, set SERVO_DSHOT_ESC=3) + - GPS L5 band health override to enable L5 signal use (see GPS_DRV_OPTIONS) + - GPS-for-yaw works at lower update rate (3hz minimum) + - GSOF GPS supports GPS_COM_PORT parameter + - Hirth ICEngine support + - ICE option to enable/disable starting while disarmed + - ICE support for starter via relay + - IMUDATA serial protocol outputs raw IMU data on serial port (only available using custom build server) + - Innomaker LD06 360deg lidar support + - Intelligent Energy fuel cells new protocol support + - IRC Tramp supports 1G3 bands A and B + - JAE JRE-30 radar + - KDECAN driver rewrite (params moved to KDE_, works on all vehicles) + - MCP9601 temperature sensor support + - NanoRadar NRA24 rangefinder support + - NeoPixelsRGB support + - NoopLoop TOFSense, TOFSenseF-I2c rangefinder support + - OSD shows flashing horizon when inverted + - OSD2 support (e.g. second OSD) + - QMC5883P compass support + - Relay refactored to support RELAYx_FUNCTION, RELAY_STATUS message support added + - Reventech fuel level support (extends existing analog driver, see BATT_FL_xx parameters) + - RPLidarS1 360 deg lidar support and improved reliability for all RPLidars + - SBF GPS supports yaw from dual antennas + - Temperature sensor using analog voltages supported + - Winch driver enhancements including stuck protection, option for spin-free on startup +5) Control and navigation changes and enhancements + - Auto missions can always be cleared while disarmed (would fail if mission still running) + - DO_ENGINE_CONTROL allows starting engine even when disarmed + - DO_SET_MISSION_CURRENT command can reset mission (see Reset Mission field) + - DO_SET_SERVO, DO_REPEAT_SERVO work with servo outputs set to RCInxScaled + - Fractional Loiter Turn Support in missions + - HarmonicNotch supports up to 16 harmonics + - JUMP command sends improved text msg to pilot (says where will jump to) + - MAV_CMD_AIRFRAME_CONFIGURATION can control landing gear on all vehicles + - MOT_OPTIONS allows voltage compensation to use raw battery voltages (instead of current corrected voltage) + - PID controllers get DFF/D_FF (derivative feed-forward), NTF (target notch filter index) and NEF (error notch filter index) + - PID controllers get PDMX param to limit P+D output (useful for large vehicles and/or slow actuators) + - RTL mode uses RTL_CLIMB_MIN even if within cone slope (previously always climbed 2m) +6) Copter specific enhancements + - MOT_SPOOL_TIM_DN allows slower spool down of motors + - Precision landing gets fast descent option (see PLND_OPTIONS) + - Throw mode min and max altitude support (see THROW_ALT_MIN/MAX) + - TKOFF_TH_MAX allows lower throttle during takeoff + - ZigZag mode sends position target to GCS +7) TradHeli specific enhancements + - Arming checks improved + - Motor test removed (it was non-functional) + - OSD shows main rotor RPM + - RPM based dynamic notch can track below reference (e.g. below INS_HNTCH_FM_RAT) + - Thrust linearization for DDFP tails + - Heli_idle_control.lua closed loop throttle control Lua script +8) Parameters renamed + - COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK +9) ROS2 / DDS support +10) Camera and gimbal enhancements + - Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS) + - CAMx_MNT_INST allows specifying which mount camera is in + - Camera lens (e.g. live video stream) selectable using RC aux function + - Follow mode can point gimbal at lead vehicle + - Circle mode can point gimbal at circle center (see CIRCLE_OPTIONS) + - Interval timer (for taking pictures at timed intervals) + - Image tracking support (ViewPro only) + - MAVLink Gimbal Protocol v2 support for better GCS integration + - MNTx_SYSID_DFLT allows easier pointing gimbal at another vehicle + - MOUNT_CONTROL, MOUNT_CONFIGURE messages deprecated + - RangeFinder support (only logged, only supported on Siyi, Viewpro) + - Pilot's RC input re-takes manual control of gimbal (e.g. switches to RC_TARGETING mode) + - Siyi driver gets Zoom control, sends autopilot attitude and time (reduces leans) + - Video recording may start when armed (see CAMx_OPTIONS) + - ViewPro driver (replaces equivalent Lua driver) + - Xacti camera gimbal support + - Zoom percentage support (for both missions and GCS commands) +11) Logging and reporting changes + - Battery logging (e.g. BAT) includes health, temperature, state-of-health percentage + - CAM and MNT messages contain camera gimbal's desired and actual angles + - INS_RAW_LOG_OPT allows raw, pre-filter and post-filter sensor data logging (alternative to "batch logging", good for filtering analysis) + - PID logging gets reset and I-term-set flags + - Rangefinder logging (e.g. RFND) includes signal quality + - RC aux functions sorted alphabetically for GCS + - RC logging (RCI, RCI2) include valid input and failsafe flags + - RTK GPS logging includes number of fragments used or discarded +12) Scripting enhancements + - Autopilot reboot support + - Baro, Compass, IMU, IOMCU health check support + - Battery cell voltage bindings + - Battery driver support + - BattEsimate.lua applet estimates SoC from voltage + - Camera and Mount bindings improved + - CAN input packet filtering reduces work required by Lua CAN drivers + - DJI RS2/RS3 gimbal driver supports latest DJI firmware version (see mount-djirs2-driver.lua) + - EFI drivers for DLA serial, InnoFlight Inject EFI driver + - EFI bindings improved + - Fence support + - Generator drivers for Halo6000, Zhuhai SVFFI + - GCS failsafe support + - Hobbywing_DataLink driver (see Hobbywing_DataLink.lua) + - is_landing, is_taking_off bindings + - led_on_a_switch.lua sets LED brightness from RC switch + - MAVLink sending and receiving support + - Mission jump_to_landing_sequence binding + - mount-poi.lua upgraded to applet, sends better feedback, can lock onto Location + - Networking/Ethernet support + - Proximity driver support + - Rangefinder drivers can support signal quality + - revert_param.lua applet for quickly reverting params during tuning + - RockBlock.lua applet supports setting mode, fix for battery voltage reporting + - Serial/UART reading performance improvement using readstring binding + - sport_aerobatics.lua rudder control fixed + - Thread priority can be set using SCR_THD_PRIORITY (useful for Lua drivers) + - Wind alignment and head_wind speed bindings +13) Safety related enhancements and fixes + - Arm/Disarmed GPIO may be disabled using BRD_OPTIONS + - Arming check of compass vs world magnetic model to detect metal in ground (see ARMING_MAGTHRESH) + - Arming check of GPIO pin interrupt storm + - Arming check of Lua script CRC + - Arming check of mission loaded from SD card + - Arming check of Relay pin conflicts + - Arming check of emergency stop skipped if emergency stop aux function configured + - Arming failures reported more quickly when changing from success to failed + - ARMING_OPTIONS allows supressing "Armed", "Disarmed" text messages + - BRD_SAFETY_MASK extended to apply to CAN ESCs and servos + - Buzzer noise for gyro calibration and arming checks passed + - Dijkstras object avoidance supports "fast waypoints" (see AVOID_OPTIONS) + - FENCE_OPTIONS supports union OR intersection of all polygon fences + - FLTMODE_GCSBLOCK blocks GCS from changing vehicle to specified modes + - GCS failsafe action to switch to Brake mode (see FS_GCS_ENABLE) + - Main loop lockup recovery by forcing mutex release (only helps if caused by software bug) + - Rally points supports altitude frame (AMSL, Relative or Terrain) + - SERVO_RC_FS_MSK allows outputs using RC passthrough to move to SERVOx_TRIM on RC failsafe + - TKOFF_RPM_MAX aborts takeoff if RPM is too high (for cases where a propeller has come off) +14) System Enhancements + - CAN port can support a second CAN protocol on the same bus (2nd protocol must be 11 bit, see CAN_Dn_PROTOCOL2) + - CAN-FD support (allows faster data transfer rates) + - Crash dump info logged if main thread locksup (helps with root cause analysis) + - Ethernet/Networking support for UDP and TCP server and client (see NET_ENABLED) and PPP (see SERIALx_PROTOCOL) + - Firmware flashing from SD card + - Linux board SBUS input decoding made consistent with ChibiOS + - Linux boards support DroneCAN + - Parameter defaults stored in @ROMFS/defaults.parm + - SD Card formatting supported on all boards + - Second USB endpoint defaults to MAVLink (instead of SLCAN) except on CubePilot boards + - Serial over DroneCAN (see CAN_D1_UC_SER_EN) useful for configuring F9P DroneCAN GPSs using uCenter +15) Custom Build server include/exclude features extended to include + - APJ Tools + - Brake mode + - Bootloader flashing + - Button + - Compass calibration + - DroneCAN GPS + - ExternalAHRS (e.g. MicroStrain, Vectornav) + - Generator + - Highmark Servo + - Hobbywing ESCs + - Kill IMU + - Payload Place + - Precision landing + - Proximity sensor + - RC Protocol + - Relay + - SBUS Output + - ToneAlarm + - Winch +16) Developer specific items + - ChibiOS upgrade to 21.11 + - UAVCAN replaced with DroneCAN + - AUTOPILOT_VERSION_REQUEST message deprecated (use REQUEST_MESSAGE instead) + - PREFLIGHT_SET_SENSOR_OFFSETS support deprecated (was unused by all known ground stations) + - MISSION_SET_CURRENT message deprecated (use DO_SET_MISSION_CURRENT command instead) + - MISSION_CURRENT message sends num commands and stopped/paused/running/complete state + - Python version requirement increased to 3.6.9 + - mavlink_parse.py shows all suported mavlink messages + - COMMAND_INT messages can be used for nearly all commands (previously COMMAND_LONG) +17) Bug fixes: + - 3DR Solo gimbal mavlink routing fixed + - Airspeed health always checked before use (may not have been checked when using "affinity") + - Auto mode fix for DO_CHANGE_SPEED commands placed immediately after TAKEOFF (previously were ignored) + - Bootloop fixed if INS_GYRO_FILTER set too high + - Button Internal Error caused by floating pin or slow device power-up fixed + - CAN Compass order maintained even if compass powered up after autopilot + - Compass device IDs only saved when calibrated to ensure external compasses appear as primary on new boards + - Cut corners more by defaulting WPNAV_ACCEL_C to 2x WPNAV_ACCEL + - Currawong ECU EFI does not send exhaust gas temperature + - DJI RS2/RS3 gimbal reported angle fix + - DO_SET_ROI, ROI_LOCATION, ROI_NONE bug fix that could lead to gimbal pointing at old target + - Generator parameter init fix (defaults might not always have been loaded correctly) + - GPS_TC_BLEND parameter removed (it was unused) + - Guided mode protection against targets with NaN values + - Guided mode yaw fix (vehicle might rotate too slowly) + - Harmonic Notch gets protection against extremely low notch filter frequencies + - IE 650/800 Generators report fuel remaining + - INS calibration prevents unlikely case of two calibrations running at same time + - LPS2XH Baro supported over I2C fixed + - MatekH743 storage eeprom size fixed + - MAVLink routing fix to avoid processing packet meant for another vehicle + - Mount properly enforces user defined angle limits + - MPU6500 IMU filter corrected to 4k + - NMEA output time and altitude fixed + - OSD gets labels for all supported serial protocols + - OSD RF panel format fixed + - RobotisServo initialisation fix + - RPM accuracy and time wrap handling improved + - Sagetech ADSB MXS altitude fix (needs amsl, was sending alt-above-terrain) + - SageTechMXS ADSB climb rate direction fixed + - SBUS out exactly matches SBUS in decoding + - Serial port RTS pins default to pulldown (SiK radios could getting stuck in bootloader mode) + - SERIALx_ parameters removed for ports that can't actually be used + - Servo gimbal attitude reporting fix + - Servo output fix when using scaled RC passthrough (e.g. SERVOx_FUNCTION = RCinXScaled) + - Siyi continuous zoom stutter fixed + - Siyi gimbal upside-down mode fixed (avoid bobbing if upside-down) + - SmartRTL premature "buffer full" failure fixed + - ST24 RC protocol fixed + - STM32L496 CAN2 init fix (AP_Periph only?) + - Tricopter, SingleCopter, CoaxCopter fins centered if using BLHeli/DShot + - VFR_HUD climb rate reports best estimate during high vibration events (previously it would stop updating) + - Visual Odometry healthy check fix in case of out-of-memory + - VTX_MAX_POWER restored (allows setting radio's power) + - Yaw limit calculations fixed +------------------------------------------------------------------ Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 05-Dec-2023 Changes from 4.4.3 1) Autopilot related enhancement and fixes