Release Log for V2450 GPS ========================= Changes for the 2017-08-04 release ---------------------------------- new RTL pilot input method as discussed previously. This is the "simple" method, which is an interim until a new method is implemented by Leonard fix to order of PMOT correction application. This should give an improvement to compass performance in flight. It does not require any re-calibration to see the benefit. disable use of GPS position for landing when the landing is initiated from ALT_HOLD mode. This prevents a problem where you have GPS lock indoors and trigger a LAND. If the GPS quality degrades you could end up with a bad landing. disable use of GPS vertical velocity as part of height control in ALT_HOLD mode. This should prevent bad alt-hold performance in ALT_MODE mode if you are indoors always report MGA highest_utc to the app, even if the data has not yet been sent to a GPS. This is to help Martin with the app logic. send RF strength to the app using the old uart_data structure. This is to make the RC link reporting easier in the app always record at least 1 second of video, even of user stops recording is less than 1 second. This is to help the factory testing of video record (preventing corrupt recordings) disable accel threshold in crash check if angle error over 45 degrees. This allows for better crash check for an inverted frame thrashing about on the ground changes for the 2017-08-05 release ---------------------------------- new automatic RC trim system, based on no movement of sticks for 4 seconds while disarmed. This defaults to 50 PWM, and is settable as TMODE_TRIM_AUTO parameter. We need to test this carefully faster GPS detection. This should help in the factory calibration, but will also mean faster GPS lock. The GPS detection time has been reduced by about 7 seconds. added disarm tone in transmitter Changes for the 2017-08-26 MP Release ------------------------------------- added LED disarm pattern (AF-25) fixed long press for video toggle added notch filter at 80Hz fixed parameter sentinel values for power off while writing flash new in-flight compass learning system low-pass voltage in per-motor calibration trigger in-flight learning on compass arming errors set TMODE_TMIN to 0.9 to reduce power at full battery reduce ATC_RAT_PIT_D for less pitch oscillation raise TX power to 6 for transmitter BL_VERSION=2 default to video_enable=2 default THROW_NEXTMODE to LOITER fixed bug with old RC input on RC recovery implement faster RC re-connect Changes for 2017-09-09 MP release --------------------------------- implement turtle mode reset interpret video_enable=1 as full video support station WiFi mode in WIFI.TXT implement disable_sd_save for app implement FLOWHOLD mode (disabled by default) fixed auto-bind for new transmitters rapid GPS LED blink on throw mode arm Changes for 2017-10-05 MP release --------------------------------- added new DO_SET_HOME functionality for app prevent throttle RTL cancel if outside of geo-fence fixed STM32 errata flash write bug fixed RF strength in SITL forced fence off in ALT_HOLD mode in all circumstances Changes for 2017-10-11 MP release --------------------------------- always force RTL when outside fence in LOITER filter battery voltage for battery failsafe Changes for 2017-10-14 MP release --------------------------------- new battery alarm tone on TX from Zech, and alarm played more rapidly don't allow RTL stick input when outside the fence allow throttle for climb in RTL when inside fence don't do RTL cancel with throttle don't do land cancel with throttle if low battery failsafe is active raised battery failsafe voltage to 3.43V which adds about 40 seconds to RTL time improved calculation of descent rate close to the ground improved landing detection when frame is being influenced by wind on the ground added throttle limiting as you approach the fence height in ALT_HOLD mode, preventing users from going through the fence height in ALT_HOLD by climbing rapidly. This also forces descent below fence height in ALT_HOLD if the user does somehow get above fence height. if the user does manage to get above the fence height then RTL will descend to the fence height increased the margin for the fence to 3 meters (from 2 meters) increased LAND_SPEED_HIGH from 150 to 350 for faster initial descent when landing fixed an issue that Matt noticed where the compass in-flight auto-cal finishing could cause a sudden climb or descent of a few meters. Changes for 2017-11-21 test release ----------------------------------- fixed race condition in I2C device probe disable GPS adjustment of origin height in EKF2 (fixes change of home height in app when getting GPS lock in flight) initialise inclination and field intensity of mag field state from global tables in EKF2. This prevents local magnetic fields from causing bad initial earth field states. re-check a failed magnetic field test after takeoff, disabing compass learning that was trigged by field strength if the field strength comes within limits within 10 seconds of takeoff improved SITL performance with SkyViper branch fixed combined calibration in web UI added reset of barometer calibration to web UI Changes for 2017-11-24 test release ----------------------------------- added display of default parameters in web UI added ability to restore default parameters in web UI Changes for 2017-12-20 MP release --------------------------------- This mass production release incorporates the following previous release versions: - arducopter release from 2017-11-24 - transmitter release from 2017-10-14 For the Sonix firmware, the only change since the 2017-11-24 releases is to revert a change to the Sonix firmware that caused a timing issue with firmware upgrade of MP releases.