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Path: blob/master/ArduSub/ReleaseNotes.txt
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APM:Sub Release Notes:12Sub-4.5.0 beta1 22-February-20243- Branched from Copter 4.54- Innumerable system-level improvements; see Copter and Plane 4.2-4.5 release notes5- Added SurfTrak mode for surface tracking (Altitude Hold with rangefinders)67Sub-4.1.2 22-February-20248- Add support for additional joystick axis for roll/pitch9- Allow using Compass Learn with no GPS1011~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~12Sub 4.1.1 2-November-20231314Changes from 4.1.0:15- prevent multiple baro drivers on the same device16- Revert attitude control to 3.5 implementation, hopefully resolving the roll/pitch drift for good.17- Fix Python 3.11 compatibility18- drop MMC5xx3 sample rate to 100Hz19- Introduce CONTROL_FRAME parameter, allowing users to switch control frame for yaw20- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes21- Fix Leak detection on Navigator22- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes23- Fix GUIDED MODE bouncing back to origin after velocity command24- Add digital output (including relay) support for Navigator boards25- Fix Position Hold "bounce back" issue26- Improve low gain control in Position Hold and Depth Hold modes27- Add Pixhawk defaults for lights and camera mount tilt28- Changed flow_of_control error to a gcs warning29- Always calibrate barometer if negative depth is detected30- Improve Depth hold behavior when surface/bottom is reached31- Fix issue where changing modes caused the ROV to dive32- Change default PILOT_VELZ_MAX to 1 m/s33- Set default EK3_SRC1_VELZ to None instead of GPS to fix Depth oscilations34- Set default parameters for a smoother Position Hold and Depth Hold operation35- Add support for CPU affinity in Linux boards3637~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~38Sub 4.1.1 Beta8 31-Oct-20233940- Revert default Roll/Pitch P and D terms41- prevent multiple baro drivers on the same device4243~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~44Sub 4.1.1 Beta7 16-July-20234546- Revert attitude control to 3.5 implementation, hopefully resolving the roll/pitch drift for good.4748~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~49Sub 4.1.1 Beta6 10-July-20235051- Fix roll/pitch drift in stabilized modes52- Fix Python 3.11 compatibility5354~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~55Sub 4.1.1 Beta5 10-April-20235657- drop MMC5xx3 sample rate to 100Hz5859~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~60Sub 4.1.1 Beta4 1-December-20226162- Introduce CONTROL_FRAME parameter, allowing users to switch control frame for yaw63- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes6465~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~66Sub 4.1.1 Beta3 1-December-20226768- Fix Leak detection on Navigator69- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes7071~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~72Sub 4.1.1 Beta2 24-October-20227374- Fix GUIDED MODE bouncing back to origin after velocity command7576~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~77Sub 4.1.1 Beta1 13-October-20227879- Add digital output (including relay) support for Navigator boards80- Fix Position Hold "bounce back" issue81- Improve low gain control in Position Hold and Depth Hold modes82- Add Pixhawk defaults for lights and camera mount tilt83- Changed flow_of_control error to a gcs warning84- Always calibrate barometer if negative depth is detected85- Improve Depth hold behavior when surface/bottom is reached86- Fix issue where changing modes caused the ROV to dive87- Change default PILOT_VELZ_MAX to 1 m/s88- Tighten default Pitch stabilization parameters89- Set default EK3_SRC1_VELZ to None instead of GPS to fix Depth oscilations90- Set default parameters for a smoother Position Hold and Depth Hold operation91- Add support for CPU affinity in Linux boards9293~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~94Sub 4.1.0 6-June-20229596- Fix agressive depth hold twitching introduced in beta79798~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~99Sub 4.1.0-beta8 26-May-2022100101- Fix issue with poshold introduced in beta7 (no lateral control)102- Fix i2c buses masks for Navigator103- Do not use RC3_MIN/MAX instead of MOT_PWM_MIN/MAX104- Update submodules for easier builds105- Fix cygwin build106107~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~108Sub 4.1.0-beta7 29-Apr-2022109110- Tweak depth hold at arbitrary attitudes111- Add autotest for depth hold at arbitrary attitudes112113~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~114Sub 4.1.0-beta6 19-Apr-2022115116- Update Navigator I2C masks117- Fix constraining PWM with SERVON_MAX and MOT_PWM_MAX118- Tweak default BTN parameters119- Improve althold with large buoyancy/payloads120- Fix depth hold jumping down when enabling it121- Allow holding arbitrary attitudes in depth hold and stabilize modes122123~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~124Sub 4.1.0-beta5 31-Mar-2022125126- Set default BRD_RTC_TYPE to 3 (GPS and MAVLink)127- Set default BARO_PROBE_EXT to 768 (Keller and MS5837)128129~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~130Sub 4.1.0-beta4 25-Mar-2022131132- Set default loop rate for Navigator133134~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~135Sub 4.1.0-beta3 3-Mar-2022136137- Set default parameters for Navigator for camera tilt and lights138- Set default streamrates139140~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~141Sub 4.1.0-beta2 3-Mar-2022142143- Set default parameters for Navigator144- AP_Hal_Linux: PCA9685: do not shutdown PWM chip145- Use AK09915 compass at 200Hz146- Retry reading MMC5983 Compass ID up to 10 times147148149~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~150Sub 4.1.0beta 3-Jan-2022151- Rebased on top of Copter 4.1.3152- Add leak detection support for Pixhawk 4153- No longer report battery percentage if capacity is set to 0 mAh154- fix issue where it was not possible to arm after testing motors155- Added support for the Blue Robotics Navigator Raspberry Pi hat.156157~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~158Sub 4.0.0 4-March-2020159160- Over 10000 new commits, catching up with other vehicles 4.0 releases161- The Real Time Operating System (RTOS) is now ChibiOs instead of NuttX162- Added a new option for automatic detection of the thrusters directions, making setup easier163- Heavy frames can now roll/tilt to arbitrary attitudes (even upside down)164- Depth Hold is now working with arbitrary attitudes165- Depth Hold and Stabilize modes now hold the attitude at which they were enabled166- Roll-Pitch toggle mode now used the inputs as rate targets instead of position targets167- In Roll-Pitch Toggle mode, the Center Mount button now levels the ROV168- Support depth setpoints via MAVlink in Depth-Hold mode169- Support attitude setpoints via MAVlink in Depth-Hold and Stabilize modes170- Support for setting MAVLink message intervals171- Navigator board support172- Frame SimpleROV-4 now has Roll factor for thrusters 4 and 5173- Barometers is now recalibrated if disarmed and reading a depth above water level174- Added thrusters matrix for Frame SimpleROV-3175- Many improvements to SITL (Software In The Loop simulator for developers) so its behavior better resembles that of a real ROV176177~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~178Sub 3.5.4 5-April-2019179180- major depth hold performance improvement: remove overshoot and bounce-back181- bugfix motor test initialization condition182183~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~184Sub 3.5.3-beta 29-April-2018 / Sub 3.5.3 8-May-2018185186Changes from 3.5.2:187188- Add current and voltage monitoring to simulation (SITL)189- Add current limiting190- Add momentary relay and servo button functions191- Add servo toggle button functions192- Apply yaw input scaling via ACRO_YAW_P to manual mode193- Remove some vehicle-specific parameter metadata that does not apply to Sub194- Allow zero gains for attitude control195- Allow system time to be set by SYSTEM_TIME message from GCS196- Clarify and improve error messages for depth sensor problems197- Do not report depth calculated via air pressure with on-board barometer198- Add motor test functionality199- Remove arbitrary scalars from inputs in manual mode - allow full power to motors in manual mode200- Disarm motors if initial failsafe action fails to execute201- Implement camera mount pan202- Reduce default yaw input scaling by 25% (ACRO_YAW_P)203- Suppress repeated printing of "GPS detected as MAV" messages when no mavlink gps is connected204- Add RC_SLEW_RATE parameter for slewing input demands to motors mixer in manual mode205206~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~207Sub 3.5.2 31-October-2017208209Changes from 3.5.1:210211- Bugfix output conflicts between motors and servo channel function assignments212- Bugfix Notify leak flag logic213- Bugfix COMPASS_OFFS_MAX should default to 1000214- Don't emit tether turn status via audible STATUSTEXT messages215- Increase threshold for input hold engaged flag216- Announce input hold engaged/disengaged217- Force correct GND_EXT_BUS parameter at boot for Pixhawk 1 and 2218- Rework camera tilt input and slew limiting. This fixes mount stabilization.219- Clear and disable input hold when disarmed220- Allow adjusting PWM output range for lights channels221- Always neutralize control inputs during pilot input failsafe222- Add joystick button functions for relays 3 and 4223- Clear roll/pitch inputs when switching to manual or acro mode224225~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~226Sub 3.5.1 12-September-2017 / Sub 3.5.1beta1 29-August-2017227228Changes from 3.5:229230- Various parameter metadata and default value corrections231- Add support for PLAY_TUNE and LED_CONTROL mavlink commands232- Send sub-specific telemetry via NAMED_VALUE_FLOAT (tether turns, camera tilt angle etc.)233- Support for Keller LD pressure sensors enabling depth measurement to 200 bar / 2 km234- Relax arming checks, no sensor checks required by default235- Increase pilot input failsafe timeout from 1 second to 3 seconds236- Default INS_GYR_CAL behavior to 'Never' (0)237- Bug fix neutralization of forward input channel during failsafe238- Bug fix notify LED status code does not reflect leak fault resolution239- Set GND_EXT_BUS appropriately at boot for both Pixhawk 1 and Pixhawk 2240- Bug fix sensor health flag with no pressure sensor detected at boot241- Acknowledge MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN before shutting down242243~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~244Sub 3.5 09-May-2017 / Sub 3.5-rc2 04-May-2017245246Changes from 3.5-rc1:247248- Bugfix for external baro failsafe handling when no baro is249connected at boot250251~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~252Sub 3.5-rc1 17-April-2017253254Major changes:255256- Merge with ardupilot project257- Implement autotest suite (autotest.ardupilot.org)258- Firmware available on firmware.ardupilot.org and through QGC dropdown259260- All supported frames are included in one binary. Select your frame with the FRAME_CONFIG parameter261- Improved pilot control in depth hold mode. Now depth hold behaves like STABLIZE when pilot commands262ascent/descent, rather than setting desired climb rate.263- Implemented arming checks and the AP_Arming libraries264- Added pilot input failsafe requiring MANUAL_CONTROL or RC_CHANNELS_OVERRRIDE messages to be received265at regular intervals. This addresses issue of joystick being disconnected while GCS connection remains266unbroken.267- Add failsafe for depth sensor malfunction, vehicle will automatically enter MANUAL mode when268depth sensor malfunctions.269- Drastically reduced latency between IMU updates and motor output (Thanks Randy and Tridge!)270- RC/Servo Channel library and parameters split271- Allow MS5837 pressure sensor on boards other than pixhawk, use GND_EXT_BUS parameter to select272I2C bus to look for sensor on. -1 = Disabled; default to 1, which is Pixhawk external I2C bus273- Rework parameters, unused or irrelevant parameters have been removed274275Other changes:276277- No more ch5 mode selection, modes are configured by assigning modes directly to278joystick button functions. Forward/lateral inputs are now on channel 5/6 (was 6/7)279- Default FS_LEAK_ENABLE to FS_LEAK_WARN_ONLY (was disabled)280- Added support for BlueRobotics Celsius temperature sensor (TSYS01). Temperature is output on281SCALED_PRESSURE3 message as a workaround.282- No longer report battery percent remaining, as the measurement algorithm is flawed and does not work283on partially charged batteries.284- Implement auto circle mode (loiter turns)285- Implement circle mode286- Implement guided mode287- Implement auto surface mode (NAV_CMD_LAND)288- Implement spline waypoints289- Implement crash check failsafe290- Implement ekf failsafe291- Implement battery failsafe292- Implement relay joystick button functions293- Add joystick button functions to control servos294- Add joystick button function to toggle between forward/lateral input and roll/pitch input295- Remove BASE_RESET and BASE_PRESS baro parameters. Barometer reset is now done via mavlink cmd.296- Implement parameter reset to defaults via mavlink cmd.297- Fixed bug with camera tilt smoothing conflicting with RC_OVERRIDE messages298- Fix bug preventing LOG_FILE_DSRMROT parameter from working correctly299- Detect external pressure sensor according to BARO_TYPE == BARO_TYPE_WATER rather than hard-coding baro instance index300- Use default StorageManager layout instead of Copter layout301- Add support for AHRS View302- Remove experimental/deprecated VELHOLD and TRANSECT modes303- Some refactoring of code and files to improve readability304- Disable untested CAMERA object and parameters by default305- Only allow negative altitudes and ALT_FRAME_ABOVE_HOME for mission commands306307- Remove lots of dead code left over from ArduCopter:308309- RC receiver310- Landing311- Unused/unsupported modes312- Remove channel 5 mode logic313- Remove aux switches314- Throttle zero flag315- Auto trim316- Unsupported mavlink messages317- Compassmot calibration318- Simple mode319- Ch6 tuning320- Esc calibration321- CLI322- Motor test323- Helicopter references324- HIL_MODE325- Various unused flags, members and methods326327~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~328Sub 3.4.1 04-May-2017329330Don't report battery percentage estimate. The estimate is only correct if battery331is fully charged at boot. User should rely on voltage estimate.332333~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~334Sub 3.4 30-Dec-2016 / Sub 3.4-rc3 14-Dec-2016335First Stable Release336337Changes from 3.4-rc2:3381) Bug fix for GCS (ground control station) failsafe, suppress warning message339until after first contact.340341Notes:342ArduSub v3.4 is the first official stable release of ArduSub. After nearly a343year of steady development, testing, and improvement, ArduSub has become one344of the most capable ROV control systems available.345346Important Note for ArduSub-3.4: Many unused and inapplicable parameters that347ArduSub inherited from ArduCopter have been removed. As a consequence, after348upgrading to V3.4 and later, all of the parameters will be erased, and the349default parameters will be loaded. You should save your parameters before350flashing this firmware. After upgrading the firmware, you can load your saved351parameter file through QGroundControl. When loading your old parameter file352through QGroundControl, you will see many errors about parameters that have353been removed, this is okay. After you load your parameter file, you need to354change the SYSID_SW_MREV parameter to 1 before rebooting in order to prevent355the default parameters from being reloaded. This procedure will only have to356be done when upgrading from firmware version 3.4-dev. Subsequent releases will357keep the same parameter format, so this will only have to be done once.358359~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~360Sub 3.4-rc2 13-Dec-2016361Changes from 3.4-rc1:3621) Bug fix on external barometer initialization. BRD_TYPE parameter should363remain set to 2.364365~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~366Sub 3.4-rc1 11-Dec-2016367Notes:368- Due to parameter reorganization, all parameters will be overwritten when updating369- Must be used with QGroundControl daily builds or stable version 3.1 (once released)370- Joystick buttons are configured by default371- PX4Firmware sensor drivers have been replaced with in-tree APM drivers. On some372hardware, the barometer driver will sometimes hang until a reboot. If your pressure373sensor is not detected after rebooting, set the BRD_TYPE parameter to 100 and reboot374to fall back to the PX4Firmware driver. Please report back if you experience an issue375with the pressure sensor and the new driver.376377~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~378~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~379~~~~~~~~~~~~~~~~ArduSub Development Begins Here~~~~~~~~~~~~~~~~~~~380~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~381~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~382383APM:Copter Release Notes:384------------------------------------------------------------------385Copter 3.3.2 01-Dec-2015 / 3.3.2-rc2 18-Nov-2015386Changes from 3.3.2-rc13871) Bug fix for desired climb rate initialisation that could lead to drop when entering AltHold, Loiter, PosHold3882) Fix to hard landings when WPNAV_SPEED_DN set high in RTL, Auto (resolved by using non-feedforward alt hold)3893) Reduce Bad AHRS by filtering innovations3904) Allow arming without GPS if using Optical Flow3915) Smoother throttle output in Guided mode's velocity control (z-axis now 400hz)392------------------------------------------------------------------393Copter 3.3.2-rc1 4-Nov-2015394Changes from 3.3.13951) Helicopter Improvements:396a) Fix Arming race condition397b) Fix servos to move after arming in Stabilize and Acro398c) Implement Pirouette Compensation399d) Add Rate I-Leak-Min functionality400e) Add new Stab Collective and Acro Expo Col functions401f) Add circular swashplate limits (Cyclic Ring)402g) Add new H_SV_Man functions403h) Add Hover Roll Trim function404i) Add Engine Run Enable Aux Channel function405j) Add servo boot test function406h) Add Disarm Delay parameter407------------------------------------------------------------------408Copter 3.3.1 26-Oct-2015 / 3.3.1-rc1 20-Oct-2015409Changes from 3.34101) Bug fix to prevent potential crash if Follow-Me is used after an aborted takeoff4112) compiler upgraded to 4.9.3 (runs slightly faster than 4.7.2 which was used previously)412------------------------------------------------------------------413Copter 3.3 29-Sep-2015 / 3.3-rc12 22-Sep-2015414Changes from 3.3-rc114151) EKF recovers from pre-arm "Compass variance" failure if compasses are consistent416------------------------------------------------------------------417Copter 3.3-rc11 10-Sep-2015418Changes from 3.3-rc104191) PreArm "Need 3D Fix" message replaced with detailed reason from EKF420------------------------------------------------------------------421Copter 3.3-rc10 28-Aug-2015422Changes from 3.3-rc94231) EKF improvements:424a) simpler optical flow takeoff check4252) Bug Fixes/Minor enhancements:426a) fix INS3_USE parameter eeprom location427b) fix SToRM32 serial protocol driver to work with recent versions428c) increase motor pwm->thrust conversion (aka MOT_THST_EXPO) to 0.65 (was 0.50)429d) Firmware version sent to GCS in AUTOPILOT_VERSION message4303) Safety:431a) pre-arm check of compass variance if arming in Loiter, PosHold, Guided432b) always check GPS before arming in Loiter (previously could be disabled if ARMING_CHECK=0)433c) sanity check locations received from GCS for follow-me, do-set-home, do-set-ROI434d) fix optical flow failsafe (was not always triggering LAND when optical flow failed)435e) failsafe RTL vs LAND decision based on hardcoded 5m from home check (previously used WPNAV_RADIUS parameter)436------------------------------------------------------------------437Copter 3.3-rc9 19-Aug-2015438Changes from 3.3-rc84391) EKF improvements:440a) IMU weighting based on vibration levels (previously used accel clipping)441b) fix blended acceleration (used for altitude control) in cases where first IMU fails442c) ensure unhealthy barometer values are never consumed4432) TradHeli: remove acceleration feed forward4443) Safety:445a) check accel, gyro and baro are healthy when arming (previously was only checked pre-arm)446b) Guided mode velocity controller timeout (vehicle stops) after 3 seconds with no update from GCS4474) Minor enhancements:448a) fix for AUAV board's usb-connected detection449b) add Lidar-Lite-V2 support450c) MOT_THR_MIN_MAX param added to control prioritisation of throttle vs attitude during dynamic flight451d) RALLY_INCL_HOME param allows always including home when using rally points452e) DO_FLIGHT_TERMINATION message from GCS acts as kill switch4535) Bug Fixes:454a) fix to ensure motors start slowly on 2nd spin-up455b) fix RTL_CLIMB_MIN feature (vehicle climbed too high above home)456------------------------------------------------------------------457Copter 3.3-rc8 25-Jul-2015458Changes from 3.3-rc74591) EKF improvements:460a) de-weight accelerometers that are clipping to improve resistance to high vibration461b) fix EKF to use primary compass instead of first compass (normally the same)4622) UBlox "HDOP" corrected to actually be hdop (was pdop) which leads to 40% lower value reported4633) TradHeli:464a) Motors library split into "Multicopter" and "TradHeli" so TradHeli does not see multicopter parameters465b) Heading target reset during landing to reduce vehicle fighting to rotate while on the ground4664) Minor enhancements:467a) SToRM32 gimbal can be connected to any serial port468b) log when baro, compass become unhealthy469c) ESC_CALIBRATION parameter can be set to "9" to disable esc calibration startup check470d) Circle rate adjustment with ch6 takes effect immediately471e) log home and origin472f) pre-arm check of battery voltage and fence473g) RTL_CLIMB_MIN parameter forces vehicle to climb at least this many cm when RTL is engaged (default is zero)4745) Bug fixes:475a) fix THR_MIN being incorrectly scaled as pwm value during low-throttle check476b) fence distance calculated from home (was incorrectly calculated from ekf-origin)477c) When flying with joystick and joystick is disconnected, control returns immediately to regular TX478d) dataflash's ATT yaw fixed to report heading as 0 ~ 360479e) fix to mission's first command being run multiple times during mission if it was a do-command480f) ekf-check is enabled only after ekf-origin is set (stops red-yellow flashing led when flying without GPS lock)481g) fix initialisation of mount's mode482h) start-up logging so parameters only logged once, mission always written4836) Linux:484a) bebop support485------------------------------------------------------------------486Copter 3.3-rc7 28-Jun-2015487Changes from 3.3-rc64881) reduce EKF gyro bias uncertainty that caused attitude estimate errors4892) force 400hz IMU logging on (temporary for release candidate testing)490------------------------------------------------------------------491Copter 3.3-rc6 25-Jun-2015492Changes from 3.3-rc54931) EKF related changes:494a) reset altitude even when arming without GPS lock495b) fix yaw twitch caused by EKF heading estimate reset496c) fix IMU time scaling bug that caused height estimate to deviate from the baro4972) AutoTune improvements:498a) improved yaw tuning by increasing yaw step magnitude499b) added logging of accelerations500c) improvements to step tests5013) Improved crash check:502a) allow triggering even if pilot doesn't move throttle to zero503b) easier triggering by removing baro check and using angle error instead of absolute tilt angle5044) TradHeli:505a) swash moves while landed in AltHold mode506b) improvements to land detector507c) fixed RSC Runup Time calculation508d) Rate FF Low-pass Filter changed from 5Hz to 10Hz, more responsive5095) support Linux builds for NAVIO+ and Erle-Brain (http://firmware.diydrones.com/Copter/beta/)5106) Other improvements / Bug Fixes:511a) sonar pre-arm checks only enforced if using optical flow512b) fix EKF failsafe bug that would not allow recovery513c) full rate IMU logging for improved vibration analysis (set LOG_BITMASK to All+FullIMU)514d) new VIBE dataflash message records vibration levels515e) default MNT_TYPE to "1" if servo gimbal rc outputs were defined516f) RC_FEEL defaults to medium517g) addition of SToRM32 serial support (supports mount angle feedback to GCS)518h) new tricopter's tail servo parameters (MOT_YAW_SV_MIN, MAX, TRIM, REV)519------------------------------------------------------------------520Copter 3.3-rc5 23-May-2015521Changes from 3.3-rc45221) Fix AHRS bad gyro health message caused by timing jitter and log IMU health5232) TradHeli:524a) better default rate PIDs525b) Collective pitch output now operates even when disarmed5263) Small changes/fixes:527a) GCS can use MAV_CMD_MISSION_START to start mission in AUTO even without pilot raising throttle528b) GCS can force disarming even in flight by setting param2 to "21196"529c) rc-override timeout reduced from 2 seconds to 1 (applies when using GCS joysticks to control vehicle)530d) do-set-speed fix so it takes effect immediately during missions531e) GCS failsafe disarms vehicle if already landed (previously it could RTL)532------------------------------------------------------------------533Copter 3.3-rc4 17-May-2015534Changes from 3.3-rc35351) AutoTune:536a) save roll, pitch, yaw rate acceleration limits along with gains537b) more conservative gains5382) Roll, pitch rate control feed-forward now on by default (set ATC_RATE_FF_ENAB to "0" to disable)5393) Serial ports increased to maximum of 4 (set SERIALX_PROTOCOL to 1)5404) MOT_THR_MIX_MIN param to control minimum throttle vs attitude during landing (higher = more attitude control but bumpier landing)5415) EKF fixes/improvements542a) prevent yaw errors during fast spins543b) bug fix preventing external selection of optical flow mode5446) Parachute:545a) servo/relay held open for 2sec when deploying (was 1sec)546b) fix altitude check to be alt-above-home (was alt-above ekf origin which could be slightly different)5477) TradHeli:548a) parameters moved to stop possibility of corruption if board is switched between tradheli and multicopter firmware. Heli users may need to re-setup some heli-specific params.549b) H_COLYAW param can be float5508) Small Improvements / Bug Fixes:551a) reduced spline overshoot after very long track followed by very short track552b) log entire mission to dataflash whenever it's uploaded553c) altitude reported if vehicle takes off before GPS lock554d) high speed logging of IMU555e) STOP flight mode renamed to BRAKE and aux switch option added556------------------------------------------------------------------557Copter 3.3-rc2/rc3 02-May-2015558Changes from 3.3-rc15591) AutoTune reliability fixes (improved filtering to reduce noise interference)5602) Optical flow improvements:561a) Range Finder pre-arm check - lift vehicle between 50cm ~ 2m before arming. Can be disabled by setting ARMING_CHECK to "Skip Params/Sonar"562b) Vehicle altitude limited to range finder altitude when optical flow is enabled5633) AltHold & Take-off changes:564a) feed-forward controller and jerk limiting should result in slightly snappier performance and smoother take-offs565b) vehicle climbs automatically to PILOT_TKOFF_ALT alt when taking off in Loiter, AltHold, PosHold, Sport (disabled by default, pilot's throttle input overrides takeoff)566c) PILOT_THR_FILT allows enforcing smoother throttle response in manual flight modes (defaults to 0 = off)567d) TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick568e) GCS can initiate takeoff even in Loiter, AltHold, PosHold and sport by issuing NAV_TAKEOFF mavlink command5694) Stop flight mode - causes vehicle to stop quickly, and does not respond to user input or waypoint movement via MAVLink. Requires GPS, will be renamed to Brake mode.5705) Aux channel features:571a) Emergency Stop - stops all motors immediately and disarms in 5 seconds572b) Motor Interlock - opposite of Emergency Stop, must be on to allow motors to spin motors, must be off to arm5736) Air pressure gain scaling (of roll, pitch, yaw) should mostly remove need to re-tune when flying at very different altitudes5747) landing detector simplified to only check vehicle is not accelerating & motors have hit their lower limit5758) Loiter tuning params to remove "freight train" stops:576raising WPNAV_LOIT_MAXA makes vehicle start and stop faster577raising WPNAV_LOIT_MINA makes vehicle stop more quickly when sticks centered5789) Other items:579a) faster EKF startup580b) Camera control messages sent via MAVLink to smart cameras. Allow control of camera zoom for upcoming IntelEdison/Sony QX1 camera control board581c) Lost Copter Alarm can be triggered by holding throttle down, roll right, pitch back58210) Bug fixes:583a) Home position set to latest arm position (it was being set to previous disarm location or first GPS lock position)584b) bug fix to mission Jump to command zero585------------------------------------------------------------------586Copter 3.3-rc1 11-Apr-2015587Changes from 3.2.15881) Only support fast CPUs boards (Pixhawk, VRBrain, etc) and drop support for APM1, APM2 (sorry!)5892) AutoTune for yaw5903) Smooth throttle curve which should reduce wobbles during fast climbs and descents5914) ch7/ch8 aux switches expanded to ch9 ~ ch12 (see CH9_OPT ~ CH12_OPT params)5925) PX4Flow support in Loiter mode (still somewhat experimental)5936) Safety features:594a) EKF on by default replacing DCM/InertialNav which should improve robustness595b) increased accelerometer range from 8G to 16G to reduce chance of climb due to high vibrations (requires accel calibration)5967) Landing features:597a) improved landing on slopes598b) retractable landing gear (see LGR_ parameters)5998) Camera Gimbal features:600a) SToRM32 gimbal support (using MAVLink)601b) AlexMos gimbal support (using AlexMos serial interface)602c) do-mount-control commands supported in missions (allows controlling gimbal angle in missions)6039) Battery related features:604a) PID scaling for battery voltage (disabled by default, see MOT_THST_BAT_ parameters)605b) smart battery support60610) Other:607a) support do-set-home command (allows return-to-me and locked home position once GCS enhancements are completed)608b) performance improvements for Pixhawk reduce CPU load from 80% to 15%609c) firmware string name changed from ArduCopter to APM:Copter610------------------------------------------------------------------611ArduCopter 3.2.1 11-Feb-2015 / 3.2.1-rc2 30-Jan-2015612Changes from 3.2.1-rc16131) Bug Fixes:614a) prevent infinite loop with linked jump commands615b) Pixhawk memory corruption fix when connecting via USB616c) vehicle stops at fence altitude limit in Loiter, AltHold, PosHold617d) protect against multiple arming messages from GCS causing silent gyro calibration failure618------------------------------------------------------------------619ArduCopter 3.2.1-rc1 08-Jan-2015620Changes from 3.26211) Enhancements:622a) reduced twitch when passing Spline waypoints623b) Faster disarm after landing in Auto, Land, RTL624c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)6252) Safety Features:626a) Add desired descent rate check to reduce chance of false-positive on landing check627b) improved MPU6k health monitoring and re-configuration in case of in-flight failure628c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)629d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle630e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)6313) Bug Fixes:632a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)633b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)634c) PosHold wind compensation fix635------------------------------------------------------------------636ArduCopter 3.2 07-Nov2014 / 3.2-rc14 31-Oct-2014637Changes from 3.2-rc136381) Safety Features:639a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)6402) Bug fixes:641a) DCM-check to require one continuous second of bad heading before triggering LAND642b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy643c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)644d) use primary GPS for LED status (instead of always using first GPS)645------------------------------------------------------------------646ArduCopter 3.2-rc13 23-Oct-2014647Changes from 3.2-rc126481) DCM check triggers LAND if yaw disagrees with GPS by > 60deg (configure with DCM_CHECK_THRESH param) and in Loiter, PosHold, Auto, etc6492) Safety features:650a) landing detector checks baro climbrate between -1.5 ~ +1.5 m/s651b) sanity check AHRS_RP_P and AHRS_YAW_P are never less than 0.05652c) check set-mode requests from GCS are for this vehicle6533) Bug fixes:654a) fix ch6 tuning of wp-speed (was getting stuck at zero)655b) parachute servo set to off position on startup656c) Auto Takeoff timing bug fix that could cause severe lean on takeoff657d) timer fix for "slow start" of motors on Pixhawk (timer was incorrectly based on 100hz APM2 main loop speed)6584) reduced number of relays from 4 to 2 (saves memory and flash required on APM boards)6595) reduced number of range finders from 2 to 1 (saves memory and flash on APM boards)6606) allow logging from startup when LOG_BITMASK set to "All+DisarmedLogging"661------------------------------------------------------------------662ArduCopter 3.2-rc12 10-Oct-2014663Changes from 3.2-rc116641) disable sonar on APM1 and TradHeli (APM1 & APM2) to allow code to fit6652) Add pre-arm and health check that gyro calibration succeeded6663) Bug fix to EKF reporting invalid position and velocity when switched on in flight with Ch7/Ch8 switch667------------------------------------------------------------------668ArduCopter 3.2-rc11 06-Oct-2014669Changes from 3.2-rc106701) reduce lean on take-off in Auto by resetting horizontal position targets6712) TradHeli landing check ignores overall throttle output6723) reduce AHRS bad messages by delaying 20sec after init to allow EKF to settle (Pixhawk only)6734) Bug fixes:674a) fix THR_MIN scaling issue that could cause landing-detector to fail to detect landing when ch3 min~max > 1000 pwm675b) fix Mediatek GPS configuration so update rate is set correctly to 5hz676c) fix to Condition-Yaw mission command to support relative angles677d) EKF bug fixes when recovering from GPS glitches (affects only Pixhawks using EKF)678------------------------------------------------------------------679ArduCopter 3.2-rc10 24-Sep-2014680Changes from 3.2-rc96811) two-stage land-detector to reduce motor run-up when landing in Loiter, PosHold, RTL, Auto6822) Allow passthrough from input to output of channels 9 ~ 14 (thanks Emile!)6833) Add 4hz filter to vertical velocity error during AltHold6844) Safety Feature:685a) increase Alt Disparity pre-arm check threshold to 2m (was 1m)686b) reset battery failsafe after disarming/arming (thanks AndKe!)687c) EKF only apply centrifugal corrections when GPS has at least 6 satellites (Pixhawk with EKF enabled only)6885) Bug fixes:689a) to default compass devid to zero when no compass connected690b) reduce motor run-up while landing in RTL691------------------------------------------------------------------692ArduCopter 3.2-rc9 11-Sep-2014693Changes from 3.2-rc86941) FRAM bug fix that could stop Mission or Parameter changes from being saved (Pixhawk, VRBrain only)695------------------------------------------------------------------696ArduCopter 3.2-rc8 11-Sep-2014697Changes from 3.2-rc76981) EKF reduced ripple to resolve copter motor pulsing6992) Default Param changes:700a) AltHold Rate P reduced from 6 to 5701b) AltHold Accel P reduced from 0.75 to 0.5, I from 1.5 to 1.0702c) EKF check threshold increased from 0.6 to 0.8 to reduce false positives7033) sensor health flags sent to GCS only after initialisation to remove false alerts7044) suppress bad terrain data alerts7055) Bug Fix:706a)PX4 dataflash RAM usage reduced to 8k so it works again707------------------------------------------------------------------708ArduCopter 3.2-rc7 04-Sep-2014709Changes from 3.2-rc67101) Safety Items:711a) Landing check made more strict (climb rate requirement reduced to 30cm/s, overall throttle < 25%, rotation < 20deg/sec)712b) pre-arm check that accels are consistent (Pixhawk only, must be within 1m/sec/sec of each other)713c) pre-arm check that gyros are consistent (Pixhawk only, must be within 20deg/sec of each other)714d) report health of all accels and gyros (not just primary) to ground station715------------------------------------------------------------------716ArduCopter 3.2-rc6 31-Aug-2014717Changes from 3.2-rc57181) Spline twitch when passing through a waypoint largely resolved7192) THR_DZ param added to allow user configuration of throttle deadzone during AltHold, Loiter, PosHold7203) Landing check made more strict (climb rate must be -40~40cm/s for 1 full second)7214) LAND_REPOSITION param default set to 17225) TradHeli with flybar passes through pilot inputs directly to swash when in ACRO mode7236) Safety Items:724a) EKF check disabled when using inertial nav (caused too many false positives)725b) pre-arm check of internal vs external compass direction (must be within 45deg of each other)7267) Bug Fixes:727a) resolve NaN in angle targets when vehicle hits gimbal lock in ACRO mode728b) resolve GPS driver buffer overflow that could lead to missed GPS messages on Pixhawk/PX4 boards729c) resolve false "compass not calibrated" warnings on Pixhawk/PX4 caused by missing device id initialisation730------------------------------------------------------------------731ArduCopter 3.2-rc5 15-Aug-2014732Changes from 3.2-rc47331) Pixhawk's max num waypoints increased to 7187342) Smoother take-off in AltHold, Loiter, PosHold (including removing initial 20cm jump when taking off)7353) ACRO mode roll, pitch, yaw EXPO added for faster rotation when sticks are at extremes (see ACRO_EXPO parameter)7364) ch7/ch8 relay option replaces ch6 option (ch6 is reserved for tuning not switching things on/off)7375) Safety Items:738a) Baro glitch check relaxed to 5m distance, 15m/s/s max acceleration739b) EKF/INav check relaxed to 80cm/s/s acceleration correct (default remains as 0.6 but this now means 80cm/s/s)740c) When GPS or Baro glitch clears, the inertial nav velocities are *not* reset reducing chance of sudden vehicle lean741d) Baro altitude calculation checked for divide-by-zero and infinity7426) Bug Fixes:743a) AltHold jump bug fixed (altitude target reset when landed)744b) Rally point bug fix so it does not climb excessively before flying to rally point745c) body-frame rate controller z-axis bug fix (fast rotation in z-axis would cause wobble in roll, pitch)746------------------------------------------------------------------747ArduCopter 3.2-rc4 01-Aug-2014748Changes from 3.2-rc37491) Pre-takeoff throttle feedback in AltHold, Loiter, PosHold7502) Terrain altitude retrieval from ground station (informational purposes only so far, Pixhawk only)7513) Safety Items:752a) "EKF check" will switch to LAND mode if EKF's compass or velocity variance over 0.6 (configurable with EKFCHECK_THRESH param)753When EKF is not used inertial nav's accelerometer corrections are used as a substitute754b) Barometer glitch protection added. BAROGLTCH_DIST and BAROGLTCH_ACCEL parameters control sensitivity similar to GPSGLITCH protection755When glitching occurs barometer values are temporarily ignored756c) Throttle/radio and battery failsafes now disarm vehicle when landed regardless of pilot's throttle position757d) auto-disarm extended to Drift, Sport and OF_Loiter flight modes758e) APM2 buzzer notification added for arming failure759f) APM2 arming buzz made longer (now matches Pixhawk)760g) do-set-servo commands cannot interfere with motor output7614) Bug Fixes:762a) Drift slow yaw response fixed763b) AC3.2-rc3 failsafe bug resolved. In -rc3 the throttle failsafe could be triggered even when disabled or motors armed (although vehicle would not takeoff)764------------------------------------------------------------------765ArduCopter 3.2-rc3 16-Jul-2014766Changes from 3.2-rc27671) Hybrid renamed to PosHold7682) Sonar (analog, i2c) and PulsedLight Range Finders enabled on Pixhawk (Allyson, Tridge)7693) Landing changes:770a) disable pilot repositioning while landing in RTL, Auto (set LAND_REPOSITION to 1 to re-enable) (JonathanC)771b) delay 4 seconds before landing due to failsafe (JonathanC)7724) Secondary compass calibration enabled, pre-arm check that offsets match current devices (Randy, Tridge, MichaelO)7735) Control improvements:774a) use bias adjusted gyro rates - helps in cases of severe gyro drift (Jonathan)775b) bug-fixes when feed-forward turned off (Leonard)7766) TradHeli improvements (RobL):777a) bug fix to use full collective range in stabilize and acro flight modes778b) filter added to main rotor input (ch8) to ensure momentary blip doesn't affect main rotor speed7797) Safety items:780a) increased default circular Fence radius to 300m to reduce chance of breach when GPS lock first acquired781b) radio failsafe timeout for late frames reduced to 0.5sec for normal receivers or 2.0sec when flying with joystick (Craig)782c) accelerometer pre-arm check for all active accelerometers (previously only checked the primary accelerometer)7838) Other features:784a) ch7/ch8 option to retract mount (svefro)785b) Do-Set-ROI supported in Guided, RTL mode786c) Condition-Yaw accepted in Guided, RTL modes (MoussSS)787d) CAMERA dataflash message includes relative and absolute altitude (Craig)7889) Red Balloon Popper support (Randy, Leonard):789a) Velocity controller added to Guided mode790b) NAV_GUIDED mission command added79110) Bug fixes:792a) bug fix to flip on take-off in stabilize mode when landing flag cleared slowly (JonathanC)793b) allow disarming in AutoTune (JonathanC)794c) bug fix to unpredictable behaviour when two spline points placed directly ontop of each other795------------------------------------------------------------------796ArduCopter 3.2-rc2 27-May-2014797Changes from 3.2-rc17981) Hybrid mode initialisation bug fix7992) Throttle pulsing bug fix on Pixhawk8003) Parachute enabled on Pixhawk8014) Rally Points enabled on Pixhawk802------------------------------------------------------------------803ArduCopter 3.2-rc1 9-May-2014804Changes from 3.1.48051) Hybrid mode - position hold mode but with direct response to pilot input during repositioning (JulienD, SandroT)8062) Spline waypoints (created by David Dewey, modified and integrated by Leonard, Randy)8073) Drift mode uses "throttle assist" for altitude control (Jason)8084) Extended Kalman Filter for potentially more reliable attitude and position control (Pixhawk only) (Paul Riseborough). Set AHRS_EKF_USE to 1 to enable or use Ch7/8 switch to enable/disable in flight.8095) Manual flight smoothness:810a) Smoother roll, pitch response using RC_FEEL_RP parameter (100 = crisp, 0 = extremely soft)811b) Adjustable max rotation rate (ATC_RATE_RP_MAX, ATC_RATE_Y_MAX) and acceleration (ATC_ACCEL_RP_MAX, ATC_ACCEL_Y_MAX)8126) Autopilot smoothness:813a) Vertical acceleration in AltHold, Loiter, Hybrid modes can be configured with PILOT_ACCEL_Z parameter (higher = faster acceleration)814b) Maximum roll and pitch angle acceleration in Loiter mode can be configured with WPNAV_LOIT_JERK (higher = more responsive but potentially jerky)815c) Yaw speed can be adjusted with ATC_SLEW_YAW parameter (higher = faster)816d) smoother takeoff with configurable acceleration using WPNAV_ACCEL_Z parameter817e) Twitches removed during guided mode or when entering Loiter or RTL from high speeds8187) Mission improvements:819a) mission will be resumed from last active command when pilot switches out and then back into Auto mode (prev behaviour can be restored by setting MIS_RESTART param to 1)820b) DO_SET_ROI persistent across waypoints. All-zero DO_SET_ROI command restores default yaw behaviour821c) do-jump fixed822d) conditional_distance fixed823e) conditional_delay fixed824f) do-change-speed command takes effect immediately during mission825g) vehicle faces directly at next waypoint (previously it could be about 10deg off)826h) loiter turns fix to ensure it will circle around lat/lon point specified in mission command (previously it could be off by CIRCLE_RADIUS)8278) Safety improvements:828a) After a fence breach, if the pilot re-takes control he/she will be given a minimum of 10 seconds and 20m to recover before the autopilot will invoke RTL or LAND829b) Parachute support including automatic deployment during mechanical failures8309) Other enhancements:831a) V-tail quad support832b) Dual GPS support (secondary GPS output is simply logged, not actually used yet)833c) Electro Permanent Magnet (aka Gripper) support834d) Servo pass through for channels 6 ~ 8 (set RC6_FUNCTION to 1)835e) Remove 80m limit on RTL's return altitude but never let it be above fence's max altitude83610) Other bug fixes:837a) Bug fix for LAND sometimes getting stuck at 10m838b) During missions, vehicle will maintain altitude even if WPNAV_SPEED is set above the vehicle's capabilities839c) when autopilot controls throttle (i.e. Loiter, Auto, etc) vehicle will reach speeds specified in PILOT_VELZ_MAX and WPNAV_SPEED_UP, WPNAV_SPEED_DN parameters84011) CLI removed from APM1/2 to save flash space, critical functions moved to MAVLink:841a) Individual motor tests (see MP's Initial Setup > Optional Hardware > Motor Test)842b) compassmot (see MP's Initial Setup > Optional Hardware > Compass/Motor Calib)843c) parameter reset to factory defaults (see MP's Config/Tuning > Full Parameter List > Reset to Default)844------------------------------------------------------------------845ArduCopter 3.1.5 27-May-2014 / 3.1.5-rc2 20-May-2014846Changes from 3.1.5-rc18471) Bug Fix to broken loiter (pixhawk only)8482) Workaround to read from FRAM in 128byte chunks to resolve a few users boot issues (Pixhawk only)849------------------------------------------------------------------850ArduCopter 3.1.5-rc1 14-May-2014851Changes from 3.1.48521) Bug Fix to ignore roll and pitch inputs to loiter controller when in radio failsafe8532) Bug Fix to allow compassmot to work on Pixhawk854------------------------------------------------------------------855ArduCopter 3.1.4 8-May-2014 / 3.1.4-rc1 2-May-2014856Changes from 3.1.38571) Bug Fix for Pixhawk/PX4 NuttX I2C memory corruption when errors are found on I2C bus858------------------------------------------------------------------859ArduCopter 3.1.3 7-Apr-2014860Changes from 3.1.28611) Stability patch fix which could cause motors to go to min at full throttle and with large roll/pitch inputs862------------------------------------------------------------------863ArduCopter 3.1.2 13-Feb-2014 / ArduCopter 3.1.2-rc2 12-Feb-2014864Changes from 3.1.2-rc18651) GPS Glitch detection disabled when connected via USB8662) RC_FEEL_RP param added for adjusting responsiveness to pilot roll/pitch input in Stabilize, Drift, AltHold modes867------------------------------------------------------------------868ArduCopter 3.1.2-rc1 30-Jan-2014869Changes from 3.1.18701) Pixhawk baro bug fix to SPI communication which could cause large altitude estimate jumps at high temperatures871------------------------------------------------------------------872ArduCopter 3.1.1 26-Jan-2014 / ArduCopter 3.1.1-rc2 21-Jan-2014873Changes from 3.1.1-rc18741) Pixhawk improvements (available for APM2 when AC3.2 is released):875a) Faster arming876b) AHRS_TRIM fix - reduces movement in loiter when yawing877c) AUX Out 5 & 6 turned into general purpose I/O pins878d) Three more relays added (relays are pins that can be set to 0V or 5V)879e) do-set-servo fix to allow servos to be controlled from ground station880f) Motorsync CLI test881g) PX4 parameters moved from SD card to eeprom882h) additional pre-arm checks for baro & inertial nav altitude and lean angle883------------------------------------------------------------------884ArduCopter 3.1.1-rc1 14-Jan-2014885Changes from 3.18861) Pixhawk improvements:887a) Telemetry port 2 enabled (for MinimOSD)888b) SD card reliability improvements889c) parameters moved to FRAM890d) faster parameter loading via USB891e) Futaba SBUS receiver support8922) Bug fixes:893a) Loiter initialisation fix (Loiter would act like AltHold until flight mode switch changed position)894b) ROI commands were not returning Lat, Lon, Alt to mission planner when mission was loaded from APM8953) TradHeli only fixes:896a) Drift now uses same (reduced) collective range as stabilize mode897b) AutoTune disabled (for tradheli only)898c) Landing collective (smaller than normal collective) used whenever copter is not moving899------------------------------------------------------------------900ArduCopter 3.1 14-Dec-2013901Changes from 3.1-rc89021) Pixhawk improvements:903a) switch to use MPU6k as main accel/gyro904b) auto loading of IO-board firmware on startup9052) RTL fixes:906a) initialise waypoint leash length (first RTL stop would be more aggressive than 2nd)907b) reduce projected stopping distance for higher speed stops908------------------------------------------------------------------909ArduCopter 3.1-rc8 9-Dec-2013910Changes from 3.1-rc79111) add Y6 motor mapping with all top props CW, bottom pros CCW (set FRAME = 10)9122) Safety Changes:913a) ignore yaw input during radio failsafe (previously the copter could return home spinning if yaw was full over at time of failsafe)914b) Reduce GPSGLITCH_RADIUS to 2m (was 5m) to catch glitches faster9153) Bug fixes:916a) Optical flow SPI bus rates917b) TradHeli main rotor ramp up speed fix918------------------------------------------------------------------919ArduCopter 3.1-rc7 22-Nov-2013920Changes from 3.1-rc69211) MOT_SPIN_ARMED default to 709222) Smoother inertial nav response to missed GPS messages9233) Safety related changes924a) radio and battery failsafe disarm copter if landed in Loiter or AltHold (previously they would RTL)925b) Pre-Arm check failure warning output to ground station every 30 seconds until they pass926c) INS and inertial nav errors logged to dataflash's PM message927d) pre-arm check for ACRO_BAL_ROLL, ACRO_BAL_PITCH928------------------------------------------------------------------929ArduCopter 3.1-rc6 16-Nov-2013930Improvements over 3.1-rc59311) Heli improvements:932a) support for direct drive tails (uses TAIL_TYPE and TAIL_SPEED parameters)933b) smooth main rotor ramp-up for those without external governor (RSC_RAMP_TIME)934c) internal estimate of rotor speed configurable with RSC_RUNUP_TIME parameter to ensure rotor at top speed before starting missions935d) LAND_COL_MIN collective position used when landed (reduces chance copter will push too hard into the ground when landing or before starting missions)936e) reduced collective while in stabilize mode (STAB_COL_MIN, STAB_COL_MAX) for more precise throttle control937f) external gyro parameter range changed from 1000~2000 to 0~1000 (more consistent with other parameters)938g) dynamic flight detector switches on/off leaky-i term depending on copter speed9392) SingleCopter airframe support (contribution from Bill King)9403) Drift mode replaces TOY9414) MPU6k SPI bus speed decreased to 500khz after 4 errors9425) Safety related changes:943a) crash detector cuts motors if copter upside down for more than 2 seconds944b) INS (accel and gyro) health check in pre-arm checks945c) ARMING_CHECK allows turning on/off individual checks for baro, GPS, compass, parameters, board voltage, radio946d) detect Ublox GPS running at less than 5hz and resend configuration947e) GPSGlitch acceptable radius reduced to 5m (stricter detection of glitches)948f) range check roll, pitch input to ensure crazy radio values don't get through to stabilize controller949g) GPS failsafe options to trigger AltHold instead of LAND or to trigger LAND even if in flight mode that does not require GPS950h) Battery failsafe option to trigger RTL instead of LAND951i) MOT_SPIN_ARMED set to zero by default9526) Bug fixes:953a) missing throttle controller initialisation would mean Stabilize mode's throttle could be non-tilt-compensated954b) inertial nav baro and gps delay compensation fix (contribution from Neurocopter)955c) GPS failsafe was invoking LAND mode which still used GPS for horizontal control956------------------------------------------------------------------957ArduCopter 3.1-rc5 22-Oct-2013958Improvements over 3.1-rc49591) Pixhawk USB reliability improvements9602) AutoTune changes:961a) enabled by default962b) status output to GCS963c) use 2 pos switch only9643) ch7/ch8 LAND9654) Tricopter stability patch improvements [thanks to texlan]9665) safety improvements:967a) slower speed up of motors after arming968b) pre-arm check that copter is moving less than 50cm/s if arming in Loiter or fence enabled969------------------------------------------------------------------970ArduCopter 3.1-rc4 13-Oct-2013971Improvements over 3.1-rc39721) Performance improvements to resolve APM alt hold issues for Octacopters:973a) SPI bus speed increased from 500khz to 8Mhz974b) Telemetry buffer increased to 512bytes975c) broke up medium and slow loops into individual scheduled tasks and increased priority of alt hold tasks9762) Bug fix for Pixhawk USB connection9773) GPS Glitch improvements:978a) added GPS glitch check to arming check979b) parameters for vehicle max acceleration (GPSGLITCH_ACCEL) and always-ok radius (GPSGLICH_RADIUS)980------------------------------------------------------------------981ArduCopter 3.1-rc3 09-Oct-2013982Improvements over 3.1-rc29831) GPS Glitch protection - gps positions are compared with the previous gps position. Position accepted if within 10m or copter could have reached the position with max accel of 10m/s/s.9842) Bug fix for pixhawk SPI bus contention that could lead to corrupted accelerometer values on pixhawk resolved9853) Auto Tuning (compile time option only add "#define AUTOTUNE ENABLED" to APM_Config.h and set CH7_Opt or CH8_Opt parameter to 17)9864) CPU Performance improvement when reading from MPU6k for APM9875) SUPER_SIMPLE parameter changed to a bit map to allow some flight modes to use super simpler while others use regular simple (MP release to allow easier selection will go out with AC3.1 official release)9886) Safety changes:989a) safety button must be pushed before arming on pixhawk990b) RGB LED (aka toshiba led) changed so that disarmed flashes, armed is either blue (if no gps lock) or green (if gps lock)991c) sensor health bitmask sent to groundstations992------------------------------------------------------------------993ArduCopter 3.1-rc2 18-Sep-2013994Improvements over 3.1-rc19951) bug fix for MOT_SPIN_ARMED to allow it to be higher than 1279962) PX4/pixhawk auto-detect internal/external compass so COMPASS_ORIENT should be set to ORIENTATION_NONE if using GPS+compass module997------------------------------------------------------------------998ArduCopter 3.1-rc1 9-Sep-2013999Improvements over 3.0.110001) Support for Pixhawks board10012) Arm, Disarm, Land and Takeoff in Loiter and AltHold10023) Improved Acro1003a) ACRO_RP_P, ACRO_YAW_P parameters added to control speed of rotation1004b) ACRO_BAL_ROLL, ACRO_BAL_PITCH controls speed at which copter returns to level1005c) ACRO_TRAINER can be set to 0:disable trainer, 1:auto leveling when sticks released, 2:auto leveling and lean angle limited to ANGLE_MAX1006d) Ch7 & Ch8 switch to set ACRO_TRAINER options in-flight10074) SPORT mode - equivalent of earth frame Acro with support for simple mode10085) Sonar ground tracking improvements and bug fixes that reduce reaction to bad sonar data10096) Safety improvements1010a) motors always spin when armed (speed can be controlled with MOT_SPIN_ARMED, set to 0 to disable)1011b) vehicle's maximum lean angle can be reduced (or increased) with the ANGLE_MAX parameter1012c) arming check that GPS hdop is > 2.0 (disable by setting GPS_HDOP parameter to 900)1013d) slow take-off in AUTO, LOITER, ALTHOLD to reduce chance of motor/esc burn-out on large copters10147) Bug fixes:1015a) Optical flow sensor initialisation fix1016b) altitude control fix for Loiter_turns mission command (i.e. mission version of CIRCLE mode)1017c) DO_SET_ROI fix (do not use "ROI")10188) Distribute Loiter & Navigation calcs over 4 cycles to reduce impact on a single 100hz loop10199) RCMAP_ parameters allow remapping input channels 1 ~ 41020------------------------------------------------------------------1021ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-20131022Improvements over 3.0.1-rc110231) Rate Roll, Pitch and Yaw I fix when we hit motor limits10242) pre-arm check changes:1025a) double flash arming light when pre-arm checks fail1026b) relax mag field checks to 35% min, 165% max of expected field10273) loiter and auto changes:1028a) reduced Loiter speed to 5 m/s1029b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s)1030c) rounding error fix in loiter controller1031d) bug fix to stopping point calculation for RTL and loiter during missions10324) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw1033------------------------------------------------------------------1034ArduCopter 3.0.1-rc1 26-Jun-20131035Improvements over 3.0.010361) bug fix to Fence checking position after GPS lock was lost10372) bug fix to LAND so that it does not attempt to maintain horizontal position without GPS lock1038------------------------------------------------------------------1039ArduCopter 3.0.0 / 3.0.0-rc6 16-Jun-20131040Improvements over 3.0.0-rc510411) bug fix to Circle mode's start position (was moving to last loiter target)10422) WP_ACCEL parameter added to allow user to adjust acceleration during missions10433) loiter acceleration set to half of LOIT_SPEED parameter value (was hard-coded)10444) reduce AltHold P to 1.0 (was 2.0)1045------------------------------------------------------------------1046ArduCopter 3.0.0-rc5 04-Jun-20131047Improvements over 3.0.0-rc410481) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location10492) bug fix to Circle mode to allow counter-clockwise rotation10503) bug fix to heading change in Loiter, RTL, Missions when pilot's throttle is zero10514) bug fix for mission sticking at take-off command when pilot's throttle is zero10525) bug fix for parameters not saving when new value is same as default value10536) reduce pre-arm board min voltage check to 4.3V (was 4.5V)10547) remove throttle controller's ability to limit lean angle in loiter, rtl, auto1055------------------------------------------------------------------1056ArduCopter 3.0.0-rc4 02-Jun-20131057Improvements over 3.0.0-rc310581) loiter improvements:1059i) repositioning enhanced with feed forward1060ii) use tan to convert desired accel to lean angle10612) stability patch improvements for high powered copters or those with roll-pitch rate gains set too high10623) auto mode vertical speed fix (it was not reaching the desired speeds)10634) alt hold smoothed by filtering feed forward input10645) circle mode fix to initial position and smoother initialisation10656) RTL returns to initial yaw heading before descending10667) safe features:1067i) check for gps lock when entering failsafe1068ii) pre-arm check for mag field length1069iii) pre-arm check for board voltage between 4.5v ~ 5.8V1070iv) beep twice during arming1071v) GPS failsafe enabled by default (will LAND if loses GPS in Loiter, AUTO, Guided modes)1072vi) bug fix for alt-hold mode spinning motors before pilot has raised throttle10738) bug fixes:1074i) fixed position mode so it responding to pilot input1075ii) baro cli test1076iii) moved cli motor test to test sub menu and minor change to throttle output1077iv) guided mode yaw control fix1078------------------------------------------------------------------1079ArduCopter 3.0.0-rc3 22-May-20131080Improvements over 3.0.0-rc210811) bug fix for dataflash erasing unnecessarily10822) smoother transition to waypoints, loiter:1083intermediate point's speed initialised from copter's current speed10843) Ch8 auxiliary function switch (same features as Ch7)10854) safety checks:1086Warning to GCS of reason for pre-arm check failure1087ARMING_CHECK parameter added to allow disabling pre-arm checks1088Added compass health and offset check to pre-arm check1089compassmot procedure displays interference as percentage of total mag field10905) WPNAV dataflash message combined into NTUN message10916) allow TriCopters to use ESC calibration1092------------------------------------------------------------------1093ArduCopter 3.0.0-rc2 13-May-20131094Improvements over 3.0.0-rc1:10951) smoother transition to waypoints, loiter:1096reduced loiter max acceleration to smooth waypoints1097bug fix to uninitialised roll/pitch when entering RTL, AUTO, LOITER10982) fast waypoints - copter does not stop at waypoints unless delay is specified10993) WPNAV_LOIT_SPEED added to allow faster/slower loiter repositioning11004) removed speed limits on auto missions11015) enhance LAND mission command takes lat/lon coordinates11026) bug fix for RTL not pointing home sometimes11037) centrifugal correction disabled when copter is disarmed to stop HUD moving11048) centrifugal correction disabled when sat count less than 6 (AHRS_GPS_MINSATS)11059) compass calibration reliability improvements when run from mission planner110610) bug fix to allow compassmot to be run from mission planner terminal screen110711) add support for H-quad frame110812) add COMPASS_ORIENT parameter to support external compass in any orientation1109------------------------------------------------------------------1110ArduCopter 3.0.0-rc1 01-May-20131111Improvements over 2.9.1b:11121) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan)11132) 3D waypoint navigation library (Leonard/Randy)1114WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL1115WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL11163) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team)11174) Safety improvements:1118Tin-can shaped fence (set FENCE_ENABLED to 1 and copter will RTL if alt > 150m or horizontal distance from home > 300m) (Randy/Tridge/Leonard)1119GCS 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)1120pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy)11215) motor interference compensation for compass (Jonathan/Randy)11226) Circle mode improvements:1123set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates)1124CIRCLE_RATE parameter allows controlling direction and speed of rotation in CIRCLE mode and LOITER_TURNS (can also be adjusted in flight from CH6 knob)11257) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy)11268) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig)11279) performance improvements to dataflash logging (Tridge)112810) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge)112911) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy)113012) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex)1131------------------------------------------------------------------1132ArduCopter 2.9.1b 30-Feb-20131133Improvements over 2.9.1:11341) reduce INS_MPU6K_FILTER to 20hz11352) reduce InertialNav Z-axis time constant to 5 (was 7)11363) increased max InertialNav accel correction to 3 m/s (was 1m/s)11374) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew11385) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)11396) reduce yaw_rate P default to 0.20 (was 0.25)1140------------------------------------------------------------------1141ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-20131142Improvements over 2.9.1-rc1:11431) small corretion to use of THR_MID to scale lower end of manual throttle between THR_MIN and 500 instead of 0 and 50011442) bug fix for longitude scaling being incorrectly calculated using Next Waypoint instead of home which could lead to scaling being 111453) ESC calibration change to set update rate to ESCs to 50hz to allow simonk ESC to be calibrated1146------------------------------------------------------------------1147ArduCopter 2.9.1-rc1 31-Jan-20131148Improvements over 2.9:11491) THR_MID parameter added to allow users to adjust the manual throttle so that vehicle hovers at about mid stick11502) bug fix for autotrim - roll axis was backwards11513) bug fix to set sonar_alt_health to zero when sonar is disabled11524) capture level roll and pitch trims as part of accel calibration11535) bug fix to ppm encoder false positives1154------------------------------------------------------------------1155ArduCopter 2.9 & 2.9-rc5 14-Jan-20131156Improvements over 2.9-rc4:11571) add constraint to loiter commanded roll and pitch angles11582) relax altitude requirement for take-off command to complete1159------------------------------------------------------------------1160ArduCopter 2.9-rc4 12-Jan-20131161Improvements over 2.9-rc3:11621) Smoother transition between manual and auto flight modes (Leonard)11632) bug fix for LAND not actually landing when initiated from failsafe (Randy/Craig)1164------------------------------------------------------------------1165ArduCopter 2.9-rc3 11-Jan-20131166Improvements over 2.9-rc2:11671) alt hold with sonar improvements - now on by default (Leonard/Randy)11682) performance and memory usage improvements (Tridge/Randy)11693) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold (Randy)11704) bug fix: altitude error reported to GCS (Randy)11715) limit inertial nav's max accel offset correction to 100cm/s/s to speed up recovery after hard impacts (Randy)_11726) moved rate controllers to run after ins read (Tridge/Randy)1173------------------------------------------------------------------1174ArduCopter 2.9-rc2 31-Dec-20121175Improvements over 2.9-rc1:11761) increased throttle rate gains from 1.0 to 6.011772) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library)1178------------------------------------------------------------------1179ArduCopter 2.9-rc1 23-Dec-20121180Improvements over 2.8.1:11811) altitude hold improvements:1182a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason]1183b)accel based throttle controller [Leonard/Randy]1184c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt]1185d)parameters to control climb rate:1186AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s)1187PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s)11882) landing improvements [Leonard/Randy]1189LAND_SPEED - allows you to set the landing speed in cm/s11903) camera related improvements:1191a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno]1192b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy]1193c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy]1194YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never)11954) trad heli improvements [Rob]1196a) code tested and brought back into the fold (2.8.1 was never released for trad helis)1197b) enabled rate controller (previously only used angle controllers)1198c) fix to rotor speed controllers - now operates by switching off channel 81199d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode1200e) removed angle boost function because it created more problems than it solved1201f) bug fix to allow collective pitch to use the entire range of servos12025) mediatek gps driver improvements [Craig]1203a) added support for 1.9 firmware1204b) bug fix to start-up routine so sbas can be enabled12056) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland]1206a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming1207b) failsafe triggered in unlikely case of a PPM encoder failure1208c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered12097) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge]12108) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland]12119) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard]1212ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level1213ACRO_TRAINER - 1 to enable the auto-bring-upright feature121410) other changes and bug fixes:1215a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason]1216#define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees1217#define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees1218b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason]1219c) event and state logging [Jason]1220d) allow cli to be used over telemetry link [Tridge]1221e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy]1222f) bug fix so do_set_servo command works [Randy]1223g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge]1224h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason]1225i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy]1226j) removed unused stab_d from roll and pitch controller [Jason]1227k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy]1228l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others]12291230------------------------------------------------------------------1231ArduCopter 2.8.1 22-Oct-20121232Improvements over 2.8:1233- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM212341235Improvements over 2.7.3:1236- Improved ACRO mode (Leonard Hall)1237- Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)1238- Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)1239- Less bouncy Stabilize yaw control (Leonard)1240- OpticalFlow sensor support for APM2.5 (Randy)1241- DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)1242- Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)1243- Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)1244- More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)1245- GPS NMEA bug fix (Alexey Kozin)1246- Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)12471248Bug Fixes / Parameter changes:1249- fixed skipping of last waypoint (Jason)1250- resolved twitching when no GPS attached (Tridge)1251- fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)1252- moved Roll-Pitch I terms from Stabilize controllers to Rate controllers1253- TILT_COMPENSATION param tuned for TradHeli (Rob)12541255Code Cleanup:1256- HAL changes for platform portability (Pat Hickey)1257- Removed INSTANT_PWM (Randy)1258------------------------------------------------------------------125912601261