Copter 3.5-rc1 28-Jan-2017
Changes from 3.4.4
1) Multicopter firmware consolidated into single binary, users must set FRAME_CLASS parameter (1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri)
2) PixRacer specific items:
a) board LEDs supported
b) ESC calibration start problem resolved (was sometimes not detecting high throttle from pilot)
3) Relaxed compass calibration and compass consistency checks
4) Sensor and Optional Hardware Improvements:
a) IMU sampling rate for MPU9250, ICM20608 IMUs to 8kHz for improved vibration resistance (Pixracer, Pixhawk2)
b) Onboard Display (http://ardupilot.org/copter/docs/common-display-onboard.html)
c) Here+ RTK GPS (UBlox M8P RTK) support
d) LightWare I2C drivers usable on Copter (thanks to in-tree drivers below)
e) MaxBotix sonar with serial interface now supported
f) Bebop optical flow (but sonar not yet operational making this feature currently impossible to use)
5) Precision Loiter using IRLock sensor (set CH7_OPT to 39)
6) Delivery improvements:
a) Servo gripper (http://ardupilot.org/copter/docs/common-gripper-servo.html)
b) Package_Place mission command (drops package without vehicle landing)
7) Pozyx support for Non-GPS flight (http://ardupilot.org/copter/docs/common-pozyx.html)
8) EKF improvements:
a) improved blending of optical flow and GPS
b) EKF3 added in ride-along. Enable by setting EK3_ENABLE=1
c) improvements when using range finder as primary height reference
9) Object Avoidance improvements (http://ardupilot.org/dev/docs/code-overview-object-avoidance.html):
a) uses mini-fence
b) accepts MAVLink distance-sensor messages
c) simple avoidance in AltHold mode
10) Other improvements:
a) pre-arm check that logging is working
b) better reporting of battery failsafe to ground stations
c) reduced minimum waypoint speed to 20cm/s
d) Flight time recorder (http://ardupilot.org/copter/docs/common-flight-time-recorder.html)
e) UBlox GPS baud rate fix (was occasionally selecting wrong rate)
11) Technical improvements (users may not see a functional change):
a) in-tree drivers lead to improved sharing of drivers with Linux boards
b) copter arming checks consolidated with other vehicles
Changes from 3.4.4
1) Multicopter firmware consolidated into single binary, users must set FRAME_CLASS parameter (1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri)
2) PixRacer specific items:
a) board LEDs supported
b) ESC calibration start problem resolved (was sometimes not detecting high throttle from pilot)
3) Relaxed compass calibration and compass consistency checks
4) Sensor and Optional Hardware Improvements:
a) IMU sampling rate for MPU9250, ICM20608 IMUs to 8kHz for improved vibration resistance (Pixracer, Pixhawk2)
b) Onboard Display (http://ardupilot.org/copter/docs/common-display-onboard.html)
c) Here+ RTK GPS (UBlox M8P RTK) support
d) LightWare I2C drivers usable on Copter (thanks to in-tree drivers below)
e) MaxBotix sonar with serial interface now supported
f) Bebop optical flow (but sonar not yet operational making this feature currently impossible to use)
5) Precision Loiter using IRLock sensor (set CH7_OPT to 39)
6) Delivery improvements:
a) Servo gripper (http://ardupilot.org/copter/docs/common-gripper-servo.html)
b) Package_Place mission command (drops package without vehicle landing)
7) Pozyx support for Non-GPS flight (http://ardupilot.org/copter/docs/common-pozyx.html)
8) EKF improvements:
a) improved blending of optical flow and GPS
b) EKF3 added in ride-along. Enable by setting EK3_ENABLE=1
c) improvements when using range finder as primary height reference
9) Object Avoidance improvements (http://ardupilot.org/dev/docs/code-overview-object-avoidance.html):
a) uses mini-fence
b) accepts MAVLink distance-sensor messages
c) simple avoidance in AltHold mode
10) Other improvements:
a) pre-arm check that logging is working
b) better reporting of battery failsafe to ground stations
c) reduced minimum waypoint speed to 20cm/s
d) Flight time recorder (http://ardupilot.org/copter/docs/common-flight-time-recorder.html)
e) UBlox GPS baud rate fix (was occasionally selecting wrong rate)
11) Technical improvements (users may not see a functional change):
a) in-tree drivers lead to improved sharing of drivers with Linux boards
b) copter arming checks consolidated with other vehicles
