From 95a3d337422e256e6ec924f3bde588c952c44d28 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 19 May 2021 13:55:13 +0900 Subject: [PATCH] Copter: 4.1.0-beta2 release notes --- ArduCopter/ReleaseNotes.txt | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 27f72f24b8e724..406aa718868198 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,40 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Copter 4.1.0-beta2 19-May-2021 +Changes from 4.1.0-beta1 +1) Attitude control and Navigation + a) Auto mode Spline command fix when using terrain altitudes + b) Drift after takeoff fix if GPS position has moved + c) Feed forward angular velocity calculation fix + d) Guided mode option (GUID_OPTIONS) to configure how SET_ATTITUDE_TARGET's thrust field is interpreted + e) Improved position control during loss of yaw control by using thrust vector with heading + f) Standby mode disables hover learning +2) BLHeli improvements and fixes + a) Bi-directional ESC telemetry fixes + b) Control of digital with non-digital outputs fixed + c) Support dshot commands for LED, buzzer and direction control + d) Passthru reliability improved +3) New autopilot boards + a) PixC4-Pi and PixC4-Jetson +4) Avoidance fixes + a) OBSTACLE_DISTANCE_3D boundary cleared after 0.75 seconds, allows easier multi-camera support + b) Simple avoidance logging re-enabled +5) Other enhancements + a) Auxiliary function logging shows how it was invoked (switch, button or scripting) + b) External IST8308 compass supported on CubeBlack + c) FLOW_TYPE parameter hides/displays other FLOW_ parameters + d) FrSky telem reports failsafe, terrain alt health and fence status + e) Harmonic notch support for CAN ESCs (KDECAN, PiccoloCAN, ToshibaCAN, UAVCAN) + f) OSD gets fence icon + g) RunCam OSD and camera control +6) Bug fixes + a) Barometer averaging fixes for BMP380, BMP280, LPS2XH, SPL06 drivers + b) EKF3 fix to reset yaw after GPS-for-yaw recovers + c) KDECAN output range, motor order and pre-arm check messages fixed + d) Logging memory leak when finding last log fixed + e) Pixhawk4 mini safety switch fix + f) SD card slowdown with early mounts fixed +------------------------------------------------------------------ Copter 4.1.0-beta1 14-Apr-2021 Changes from 4.0.7 1) EKF changes: