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831 lines
44 KiB
Plaintext
831 lines
44 KiB
Plaintext
--- RELEASE-14.06 --- Peanuts Schnapps ---
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This is the Mid 2014 release.
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This version supports the CopterControl, CC3D, Atom and the Revolution Flight controllers as well as the OPLink Modems.
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This release includes many additions, improvements and fixes, it is the result of many thousands of hours of development and testing.
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Some key additions in this release:
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- Many additions and changes aimed at gps/navigation functionality for the Revolution platform including GPS assisted flight modes: Return To Base, Position Hold, AutoCruise and Position Vario(LOS, FPV and NSEW).
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- Stabilization refactoring and enhancements for even better flight performance.
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- Completely new sensor calibration routines and greatly enhanced GUI.
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- Additional 3rd Party Hardware support, notably the MS4525DO based airspeed sensors and WS281x LED drivers.
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- Performance improvements in both embedded firmware and GCS.
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The full list of features, improvements and bugfixes in this release is accessible here:
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http://progress.openpilot.org/issues/?filter=11460
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** New Feature & Improvements
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* [OP-943] - Start using F4's Core Coupled RAM for more than just the IRQ handler stack
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* [OP-974] - Make Bootloader Version available while flight software is running
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* [OP-975] - Reconsider the calibration process
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* [OP-1063] - Multirotor Configuration
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* [OP-1068] - Add support for magnetometer calibration matrix in place of scaling parameters
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* [OP-1149] - handle thermal bias calculation/calibration to gyro and accel
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* [OP-1150] - Create UI to allow users to perform board thermal calibration
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* [OP-1159] - Remove "Rev" checkboxes on input tab for channels on which it doesn't have an affect
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* [OP-1161] - Add Alarm for Magnetometer if disturbed or uncalibrated
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* [OP-1174] - Beautify Uploader gadget popups
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* [OP-1194] - Scope gadget - plot and legend visibility state should be persisted between runs
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* [OP-1198] - Allow GCS gadgets to save/restore individual state
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* [OP-1216] - Refactor Flight Control Modules
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* [OP-1230] - automatically load the correct firmware file when GCS is running in a development environment
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* [OP-1233] - Add make options to skip qmake and build a specific GCS directory
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* [OP-1245] - Add GUI to control if, what, when and how to do flight side logging.
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* [OP-1247] - Remove Noise calibration from Revo calibration config widget
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* [OP-1250] - Add GPS Protocol configuration in the Hardware configuration panel
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* [OP-1258] - Update GCC ARM Embedded to 4.8-2014-q1
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* [OP-1259] - Cruise Control tweaks
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* [OP-1260] - Rattitude tweaks
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* [OP-1273] - Implementation of the PixHawk airspeed sensor based on the MS4525DO
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* [OP-1282] - Include I2C Alarm into Eagletree speed sensor module
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* [OP-1287] - GPS assisted flight for Revo
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* [OP-1299] - Autodetect number of cells in Battery module
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* [OP-1302] - Improve on board led functionality
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* [OP-1303] - Add PathPlan Alarm in System Health
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* [OP-1307] - Create a bare DiscoveryF4 target for debugging and development purposes
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* [OP-1308] - Set the same logic to CRITICAL Alarm and same logic to ERROR Alarm
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* [OP-1312] - Implement a PIOS WS281x driver
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* [OP-1335] - ConfigTaskWidget - Add support to bind GComboBox to integer property
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* [OP-1339] - System Health panel improvement
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* [OP-1378] - Check Limits for flight modes
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* [OP-1342] - PFD widget emits lots of warning
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* [OP-1350] - TakeOff location handling to be used with RTB
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* [OP-1358] - Split board rotation into user set configuration and calibrated offset
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* [OP-1365] - Add instrumentation functions for flight code
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* [OP-1374] - Automatically enable the right PathFollower
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* [OP-1390] - OpenGL support for older Graphics Cards
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* [OP-1413] - Disable Land flight mode
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** Bug
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* [OP-792] - 'Autotune' still showing up in flight mode settings in GCS
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* [OP-1026] - Provide some standard method of calibrating CPU speed and load measurement for boards
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* [OP-1033] - Data transfer errors on USB HID on F1 devices
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* [OP-1043] - Ground OPLinkMini refuses to connect to one Revo unless first connected to another Revo
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* [OP-1056] - GPS does not set home location when erased after lock has been established
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* [OP-1080] - Unreliable detection of board through OPLink
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* [OP-1100] - gcs plist for mac shows wrong associated filetypes, leftover from qtcreator
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* [OP-1131] - Firmware mismatch check is not done if Uploader gadget is not active
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* [OP-1172] - Some fonts are not defined in config files
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* [OP-1196] - Board rotation in GCS not shown correctly upon connection but correctly saved in memory
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* [OP-1212] - Fix Priority queue handling in telemetry
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* [OP-1226] - screen problems
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* [OP-1227] - High CPU load in ratitude mode on CopterControl
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* [OP-1232] - Setting high telemetry rates for periodic uavobject triggers eventsystem warning.
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* [OP-1235] - Some fixes for altitude estimation
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* [OP-1237] - Blank/Black Buttons on Vehicle Configuration Multirotor Throttle Curve
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* [OP-1241] - TxPID Does not work for Bank 3 PID settings
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* [OP-1243] - OPMap widget context menu duplicating some menu separators each time its opened
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* [OP-1252] - Update GCS to qt 5.2.1
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* [OP-1266] - Gyro and accel thermal compensation is not applied if one or more coefficients have negative value
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* [OP-1267] - Incorrect UAV position on GCS OPMap after homeLocation modification
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* [OP-1272] - Unable to debug in SWD mode a revo board
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* [OP-1283] - SystemHealthGadgetWidget::updateAlarms misinterprets coordinates in SVG file
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* [OP-1284] - RTB flies into ground if base is high
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* [OP-1285] - Erase Settings ToolTip is wrong
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* [OP-1288] - GPS PositionHold immediately flies several meters away if Home is not close
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* [OP-1291] - fix matlab import after UAVTalk changes
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* [OP-1294] - Fix stack sizes for CopterControl
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* [OP-1295] - Autoupdate not working
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* [OP-1296] - Altitude Hold causes copter to ascent at full throttle when far from home location
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* [OP-1297] - OPMap fails to read in saved waypoints correctly
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* [OP-1300] - SystemHealth gadget does not show "Configuration Alarm"
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* [OP-1301] - Hardware settings can't be saved with CC/CC3D
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* [OP-1304] - Revo stack alarm
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* [OP-1314] - Fix Airspeed stack size
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* [OP-1315] - Unable to arm UAV when AirspeedSensorType is set to GroundspeedBaseWindEstimation
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* [OP-1323] - GCS font fixes
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* [OP-1325] - fix event system warnings to be errors
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* [OP-1326] - set AIrspeedSensor default back to "None"
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* [OP-1327] - SystemAlarms must be non-acked
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* [OP-1329] - Various fixes to airspeed module
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* [OP-1330] - Cannot set homelocation.set=false when gps reception is optimal
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* [OP-1331] - Input and Output Channel Configuration alignments issues
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* [OP-1332] - PiOS alarms does not reset alarm state on timer overflow
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* [OP-1333] - Output Channel Configuration alignments issues
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* [OP-1340] - Auto-update greyed out - not available
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* [OP-1343] - GCS Configuration - Input Channel ResponseTime not saved
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* [OP-1346] - Input Channel Response Time mismatch between GCS config screen and UAVObject
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* [OP-1347] - Flight logs settings - UI / segfault
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* [OP-1348] - Config Gadget flashes next panel when connecting/disconnecting board
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* [OP-1351] - GCS Calibration UI polishing
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* [OP-1352] - Headwind-improvements for FixedWingPathFollower
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* [OP-1353] - HITL Flightgear fails to set Position and velocity correctly
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* [OP-1354] - Current and voltage not shown in PFD
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* [OP-1355] - magnetometer calibration and board rotation don't play along
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* [OP-1363] - sanitychecks MUST check if magnetometers and GPS are enabled for any pathfollower modes (outdoor mode selected)
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* [OP-1371] - sanitychecks overzealous: hitl/sitl broken
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* [OP-1375] - Update Mag Ki and Kp default settings
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* [OP-1376] - Calibration results not saved to SD
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* [OP-1377] - Calibration config panel has Apply button even when not in Expert mode
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* [OP-1383] - GCS crashes when connected via serial port
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* [OP-1384] - Revo Board Rotation data is cleared to zero by other calibration steps
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* [OP-1389] - GCS Crashes exiting Flight side log window
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* [OP-1391] - System allows arming if current flight mode uses Thrust Control = AH or AV
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* [OP-1393] - SerialPlugin destructor generates valgrind error
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* [OP-1394] - Flight display widget - telemetry data does not zero on disconnection
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* [OP-1408] - Board rotation is not always saved during Revo calibration
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* [OP-1412] - INS13Outdoor Yaw Gyro drift
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* [OP-1415] - Repeated names in CREDITS.txt
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* [OP-1419] - GCS does not set Z magnetometer scale correctly on mag calibration
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* [OP-1421] - Cruise Control xml defaultvalue incorrect
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** Tasks
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* [OP-1274] - Update FreeRTOS to 8.0
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* [OP-1337] - French translations updates (14.04/05)
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* [OP-1254] - Update to QT5.2.1 for Linux x86/64
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* [OP-1263] - Move SDL out of Qt install
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* [OP-1309] - Stabilization refactoring
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--- RELEASE-14.01 --- Cruising Ratt ---
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This is the first 2014 software release.
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This version still supports the CopterControl and CC3D.
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It includes some major "under the hood" changes like migration
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to Qt5.1 and QtQuick2 widgets, an overhaul of UAVTalk to improve
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Telemetry and OPLink reliability.
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Some additions in this release:
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- "Rattitude" flight mode;
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- Altitude Hold Reimplementation;
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- Multiple PID banks;
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- "Cruise Control"
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the full list of features, improvements and bufixes shipping
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in this release is accessible here:
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http://progress.openpilot.org/issues/?filter=11260
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** Improvement
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* [OP-771] - Change Wizard wording for better usability
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* [OP-791] - Integrate About Authors, OpenPilot GCS, Plugins dialogs into a single dialog window
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* [OP-803] - Gadgets get their configuration set twice when restoring workspaces during GCS startup
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* [OP-835] - Upgrade GCS to use Qt 5.1.0
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* [OP-883] - Make system and flight targets cleanup, pass 01
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* [OP-913] - Poor UAVObject data structure alignment on flight side causes performance degradation
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* [OP-951] - Add -Wshadow to flight CFLAGS and fix compilation breakage that results
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* [OP-966] - Scope Plugin Cleanup
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* [OP-984] - Provide multi PID banks, these should be assignable per flight mode.
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* [OP-996] - Add GCS option to remember the last selected workspace
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* [OP-1022] - Additional improvements for altitude hold
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* [OP-1036] - Improvements to Fixed Wing PathFollower and Nav
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* [OP-1059] - Typo (2x) in OpenPilot Setup Wizard - Output Calibration Window
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* [OP-1063] - Multirotor Configuration
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* [OP-1071] - Make map "emergency" lines less strong and dashed
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* [OP-1079] - Update to FreeRTOS v7.5.2
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* [OP-1082] - Add a ticker on the Welcome page showing Jira activity alongside the 'Project News'
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* [OP-1083] - Fix minor English spelling errors in stabilization tooltips
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* [OP-1085] - Upgrade GCS to use Qt 5.1.1
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* [OP-1094] - Turn on Progress for large SDK downloads / remove for MD5 files
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* [OP-1104] - Create BL version 6 to support larger firmware
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* [OP-1105] - If firmware .info blob is missing, test string is too long
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* [OP-1107] - Convert About dialog to QTQuick 2.0 and cleanup code.
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* [OP-1110] - Move Welcome screen to QtQuick 2
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* [OP-1111] - Move About to QtQuick2
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* [OP-1112] - Update contributors in GCS
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* [OP-1113] - Convert new PFD design to QtQuik2
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* [OP-1117] - Implement Horizon mode
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* [OP-1120] - Waypoint upload to board should be transacted
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* [OP-1133] - UAVTalk - expose send/request all instances of multi instance uav objects + related uavtalk fixes
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* [OP-1137] - Make Configuration Checkbox checked by default during uninstall
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* [OP-1141] - Add a further bias correction to barometer to better handle thermal variations
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* [OP-1143] - Missing Linux udev rules for Revolution boards
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* [OP-1153] - Provide a mean to instrument SystemMod stack utilization
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* [OP-1154] - Config Option to Automatically Increase Copter Throttle per 1/cos(bank_angle)
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* [OP-1158] - Add flight plan consistency checks
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* [OP-1160] - Some dev Env improvements, git hooks for messages, make prepare etc.
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** Task
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* [OP-775] - Add ARM DSP library to OP codebase
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* [OP-813] - Manage merge of translation work to French
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* [OP-839] - Disable pyMyte dependency until really used
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* [OP-901] - Update STM32 StdPeriphLib to current
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* [OP-1087] - Update Qt used from Makefile to 5.1.1 for Windows and Mac
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* [OP-1109] - Created share Qt5 QtQuick2 port branch
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* [OP-1115] - Remove old artwork from the Artwork folder in Git
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* [OP-1119] - Write GCS plugin to access and display on board logs through uavtalk and export .opl files from logged uavobjects
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* [OP-1058] - UAVO:Implement a structured named accessors for multielement fields (Flight side)
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** Bug
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* [OP-844] - Fix header comments in altitudehold.c
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* [OP-845] - Fix reading serial number from USB device on mac platform
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* [OP-846] - make qt_sdk_install fails
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* [OP-865] - PWM output 6 does not work on RM
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* [OP-887] - Provide some standard method of calibrating CPU speed and load measurement for boards
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* [OP-924] - PPM output does not have failsafe
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* [OP-934] - Incorrect timeout handling in rfm22b receiver
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* [OP-971] - Add UI to set AccellTau with revo board
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* [OP-1004] - UAVObjectBrowser, buttons don't work when scientific display is turned on
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* [OP-1014] - Com port connections are not working on OPLink
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* [OP-1018] - Zero point initialization in ETASv3 Airspeed sensor buggy
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* [OP-1027] - Segfault in UAVObjectBrowser when "Request"ing a UAVObjectCategory
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* [OP-1042] - Revo firmware version isn't read correctly through OPLink
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* [OP-1046] - Waypoint upload incomplete, no visual confirmation of failed uploads in uavobjectbrowser and waypoint editor
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* [OP-1048] - Attitude is not working with AccelTau > 0
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* [OP-1049] - CC3D attitude estimation failure after multiple settings changes and reboots
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* [OP-1067] - Invalid value for "LinkState"
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* [OP-1076] - CF Attitude filter in next randomly re-initializes on arming.
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* [OP-1078] - GCS segfaults if you close it after playing a log file
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* [OP-1080] - Unreliable detection of board through OPLink
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* [OP-1095] - GCS crashing on macosx 10.9 upon connection of oplink mini
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* [OP-1098] - CDC driver fails installation in Windows 8 or 8.1
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* [OP-1099] - Hidden icons in Configuration tab
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* [OP-1101] - Tools.mk has a few tabs and they need to be converted to spaces
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* [OP-1102] - OP GCS registers some file types is should not
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* [OP-1103] - GCS can not be compiled on OSX 10.8 after update to Qt5.1.1
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* [OP-1108] - Minor bugs found while reading the code
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* [OP-1114] - QGLWidget prohibits QListWidgetItem, set AA_DontCreateNativeWidgetSiblings as work around
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* [OP-1118] - QComboBox in UAVObjectBrowser does not stay in focus on Mac OSX
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* [OP-1121] - GCS will not exit if the Waypoint editor/PathPlanner dialog is open
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* [OP-1123] - GCS assertion failure when loading a waypoint file
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* [OP-1125] - UAVTalk - acking/nacking multi instance uavobjects is broken (when sending individual instances)
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* [OP-1132] - LIBEAY32.dll missing from installer
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* [OP-1139] - Add higher order correction to MS5611 driver for low and very low temperature compensation
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* [OP-1142] - No yaw in Horizon mode
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* [OP-1145] - OPLM to GCS link not reliable
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* [OP-1148] - Futaba R7008SB S.Bus protocol not supported
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* [OP-1151] - PFD display - inverted flight
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* [OP-1152] - Check Stack usage for CopterControl & CC3D
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* [OP-1155] - Fix OSX Packaging for GCS
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* [OP-1157] - sin_lookup_deg() returns garbage for negative angles
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* [OP-1166] - GCS misses yaw neutral setting on sync from initial connection
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* [OP-1167] - New flight mode switch position UAVO to work better with SITL, HITL
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* [OP-1168] - GCS Reload Board Data button doesn't work
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* [OP-1169] - GCS UAVO object titles off by one
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* [OP-1176] - Cruise Control checkboxes use wrong Default button
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* [OP-1177] - AltHold - Need a setting to allow disabling of bank angle throttle compensation in AH
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* [OP-1178] - After re-factoring of ConfigTaskWidget code the OPLink config page does not work reliably.
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* [OP-1179] - About box not working in Linux64 build (but probably the same is for Linux32)
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* [OP-1180] - GCS AltHold Tab - Reload button and update in real time
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* [OP-1181] - on radio configuration the pitch slider has maxed out on its own three times randomly
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* [OP-1182] - Telemetry monitor widget is too small on Mac
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* [OP-1183] - UAVBrowser displays hex string as decimal
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* [OP-1184] - Scope gadget - Stack monitor configurations need a cleanup
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* [OP-1188] - Optimize Stabilization Module stack size usage
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* [OP-1191] - Revo OPLink bug in GCS
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* [OP-1192] - Even though Throttle is off there is motor movement in some situations.
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* [OP-1211] - dT calculation in Stabilization and other modules unsafe
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* [OP-1218] - PIOS_COM is not thread safe
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* [OP-1228] - GCS Quits unexpectedly
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--- RELEASE-13.06.04 ---
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This maintenance release includes the following fixes missing in (previously not released to public) RELEASE-13.06.03.
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- Fixed issues with Google Maps;
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- Includes new signed version of CDC drivers for Windows platforms;
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JIRA issues addressed in this maintenance release:
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OP-1044, OP-1070, OP-1072
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Use the following link for a comprehensive list of issues addressed by this release
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http://progress.openpilot.org/issues/?filter=11060
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--- RELEASE-13.06.03 ---
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This maintenance release addresses the following issues:
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- Fixed CC3D attitude estimation failure after multiple settings changes and reboots.
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- Fixed OPLink crashes when erasing settings
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JIRA issues addressed in this maintenance release:
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OP-1049, OP-1050
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--- RELEASE-13.06.02 ---
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Refactoring of OPLink radio driver. Auto-configuration was removed, and a
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one-way link was added, including a ppm-only mode that is intended to be used
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when only a PPM link is desired. PPM-only mode configures the modem as a
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one-way link running at 9600 bps (air datarate) and only sends PPM packets.
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--- RELEASE-13.06.01 --- Italian Stallion Release ---
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It applies the following changes to previously not released to public RELEASE-13.06
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- Temporary disabled AltitudeHold and AltitudeVario flight modes. They were not
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officially supported. But since people expected well-known production quality
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behavior, it is better to make them final, then reenable
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- Fix windows hid connection failure if board was already connected and gcs started;
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- Fixed a bug that lead to disabled controls with some settings combination in CC/CC3D hardware page
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- Fixed a bug that prevent to correct saving stabilization settings for CC/CC3D
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- Fixes Uploader GUI and automatically close AutoUpdate panel after 7s
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JIRA issues addressed in this release:
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OP-1028 OP-1020 OP-1024
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--- RELEASE-13.06 ---
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This is the first official OpenPilot Revolution software release. This version
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also supports the CopterControl, CC3D, OPLinkMini and the upcoming OP OSD.
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There a number of significant backend changes in this version compared to
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previous software releases: from new toolchains and build system to a source
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code reformatting that is inline with our project style guidelines.
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The goal of this release is to provide CC3D-style features for the new
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Revolution platform (using the Revo's internal modem and external OPLinkMini
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board). Advanced features such as Altitude Hold, Position Hold, Guidance,
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Return to Home, and AutoLanding are still in development and will be available
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in future releases. The availability of those features will depend on how many
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people are able to contribute with code, testing and documentation.
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Remember that the first Revo hardware batch was intended for developers/
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bleeding-edge testers, not end users who want a 100% final platform.
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- New bootloaders are REQUIRED for this release to support new features such
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as erase settings and others. As always, bootloaders can be updated without
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any special programmer hardware using the bootloader updater firmware files.
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- F1 boards (CC, CC3D, OPLinkMini) require bootloader version 4 or higher.
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- F4 boards (Revolution, OSD prototype) require bootloader version 5 or higher.
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- Check the wiki for details of how to update them:
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http://wiki.openpilot.org/display/BUILDS/Bootloader+update
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Please remember to take a moment to view these important tutorials:
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http://wiki.openpilot.org/display/Doc/OpenPilot+Tutorials
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What's New / Release Notes
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--------------------------
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NEW:
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|
|
- Firmware folders removed.
|
|
The firmware files folder has been removed in this release. These files
|
|
are now integrated into the GCS so they are always up to date and there is
|
|
less risk of a firmware mismatch. To update your firmware you must use
|
|
either Vehicle Setup Wizard (big green button at the top right on the
|
|
Welcome GCS tab) or the new Auto-Update button on the GCS Firmware tab.
|
|
|
|
- Responsiveness sliders.
|
|
To simplify tuning, we have introduced a new Responsiveness slider that
|
|
will allow you to modify stick response. For best results, you should
|
|
still tune your system with PIDs as tight as possible for better
|
|
stabilisation. This will result in better stabilisation, and at the
|
|
same time soft or sharp response according to your preferences.
|
|
|
|
- Auto-Update firmware.
|
|
This feature simplifies all OpenPilot board firmware updates. Now all
|
|
you have to do is click "Auto-update" on the Firmware tab and follow the
|
|
instructions to reflash your OpenPilot board. This is essentially the
|
|
same as Rescue but uses the embedded firmware images so there is no need
|
|
to browse for them anymore.
|
|
|
|
- Erase Settings Option.
|
|
We previously had a hacky way to delete bad or incompatible settings from
|
|
our OpenPilot boards. This old special firmware that did this is now
|
|
deprecated and the functionality is now integrated into the latest
|
|
bootloaders and firmwares.
|
|
|
|
To erase settings enter DFU (boot) mode (using Halt or Rescue function)
|
|
and click the "Erase settings" button on the Firmware tab and follow the
|
|
instructions. This will NOT work with an older bootloader and the "Erase
|
|
settings" button will be disabled if an out of date bootloader is detected.
|
|
|
|
- Language defaults.
|
|
GCS now uses the system default language (only French and English are
|
|
available currently, please contribute translations). You can change the
|
|
language in the GCS Options at any time.
|
|
|
|
- CDC driver install option (Windows only).
|
|
This is an optional USB virtual serial port that is useful, for example,
|
|
for updating your GPS configuration using the U-Blox u-Center software.
|
|
It is NOT required for normal configuration of OpenPilot boards. If it is
|
|
not installed, virtual serial port features will not be available. This
|
|
driver is not signed by Microsoft, but in fact it uses serial port drivers
|
|
from Windows and only the driver information INF file is supplied by
|
|
OpenPilot.
|
|
|
|
- Lots of help tooltips were added to the GCS. Hovering your mouse over an
|
|
option in the GCS will show them, please review for help during tuning/
|
|
setting up.
|
|
|
|
- A large amount of general improvements, code clean ups and minor bugs
|
|
resolved.
|
|
|
|
KNOWN ISSUES:
|
|
|
|
- On Linux you should remove the OpenPilot package if it was previously
|
|
installed, then install this new one. This is a known issue and likely
|
|
be fixed later.
|
|
|
|
- Due to changes in USB descriptors to support new features, USB drivers
|
|
on Windows must be updated. If after using Rescue or Wizard or Auto-Update
|
|
button the GCS cannot connect to the board, you may be experiencing this
|
|
USB issue. To resolve it you should remove the old drivers (ones with
|
|
yellow exclamation mark) and allow Windows to find them again.
|
|
|
|
Here is how to do it:
|
|
|
|
Windows XP:
|
|
- Right click on "My Computer" on your desktop and select "Properties".
|
|
- Select the "Hardware" tab.
|
|
- Select the "Device Manager".
|
|
- Scroll down the list until you see the "Universal Serial Bus Controllers"
|
|
selection.
|
|
- Click it to expand the list of USB drivers. Right-click on the driver(s)
|
|
you wish to uninstall and select "Uninstall".
|
|
|
|
Windows 7/Vista:
|
|
- Right click on "My Computer" on your desktop and select "Properties".
|
|
- Select "Device Manager" in the upper left-hand corner of the window.
|
|
- Scroll down the list until you see the "Universal Serial Bus Controllers"
|
|
selection.
|
|
- Click it to expand the list of USB drivers. Right-click on the driver(s)
|
|
you wish to uninstall and select "Uninstall".
|
|
|
|
Then disconnect the board from USB, wait few seconds and re-connect it to
|
|
your computer. Windows should find new drivers and install them properly.
|
|
|
|
- If GCS crashes when switching to the Flight Data tab, it usually means
|
|
your PC needs newer video drivers. That tab contains a ModelView widget
|
|
which uses OpenGL. It is known to crash on some graphics cards with old
|
|
and buggy drivers.
|
|
|
|
- Sensor calibration is not final. It will be reworked completely to
|
|
increase its accuracy and make it easier to use.
|
|
|
|
- Until the calibration is reworked, default attitude estimation algorithm
|
|
used by Revo is a complimentary filter with magnetometers disabled. Hence
|
|
Revo does not use them yet to correct yaw drift. Magnetometers can be
|
|
enabled, but you should properly calibrate them first. That's the reason
|
|
why they are disabled by default.
|
|
|
|
- AltitudeHold/Vario modes are enabled but not officially supported. Do
|
|
not expect it to work perfectly and be considered production quality.
|
|
You may play with it and report your issues and suggestions at your own
|
|
risk. If you are not using a case for your Revo, we strongly recommend
|
|
covering the barometer sensor with some foam to shield the sensor from
|
|
wind and light.
|
|
|
|
- Note that throttle stick in AltitudeVario mode is used to control vertical
|
|
velocity, sometimes called vario altitude in other platforms, centre stick
|
|
means hold altitude and there is a dead band around centre stick.
|
|
|
|
- There are currently no configuration options for the Radio module in
|
|
the Revolution except for Radio enable/disable and output power. This is
|
|
intentional because all configuration should be done using its paired
|
|
ground OPLink coordinator.
|
|
|
|
How to configure the Revolution to OPLinkMini radio link:
|
|
|
|
- Make sure you have the newest bootloaders and matching firmwares
|
|
between the Revolution, GCS and OPLink.
|
|
- Enable the radio in the Revolution, click save and disconnect the board
|
|
from USB.
|
|
- Power it from external supply to continue.
|
|
- Then connect the OPLink board to USB and scroll down in the GCS config
|
|
widget to find OPLink icon at the end of list. This icon is only
|
|
available when an OPLink is detected.
|
|
- To pair the two radios, select the Revolution side radio address in the
|
|
list of found boards, select it, click Add to add to the list of paired
|
|
radios and click Save. After unplugging the board from the USB and
|
|
plugging back your OPLink it should show "Connected", and you can
|
|
continue with the configuration.
|
|
|
|
- Do not set the Revolution modem or OPLinkMini output power to high values
|
|
without antenna connected, this can damage the hardware.
|
|
|
|
JIRA issues addressed in this release:
|
|
|
|
Due to major rework of all code and integration of Revo code into mainline
|
|
(next) it is almost impossible to list all corresponding JIRA issues for the
|
|
list above. Some of them can be found using this link:
|
|
http://progress.openpilot.org/issues/?filter=10860
|
|
|
|
OP-678, OP-682, OP-693, OP-719, OP-726, OP-727, OP-747, OP-761, OP-769,
|
|
OP-770, OP-772, OP-781, OP-784, OP-792, OP-804, OP-807, OP-812, OP-816,
|
|
OP-817, OP-820, OP-821, OP-834, OP-843, OP-846, OP-854, OP-855, OP-856,
|
|
OP-861, OP-864, OP-867, OP-871, OP-873, OP-874, OP-875, OP-879, OP-885,
|
|
OP-886, OP-888, OP-889, OP-890, OP-891, OP-892, OP-893, OP-894, OP-895,
|
|
OP-896, OP-897, OP-898, OP-899, OP-900, OP-903, OP-905, OP-906, OP-907,
|
|
OP-910, OP-912, OP-917, OP-920, OP-925, OP-926, OP-928, OP-935, OP-936,
|
|
OP-939, OP-952, OP-955, OP-957, OP-958, OP-965, OP-968, OP-969, OP-970,
|
|
OP-977, OP-979, OP-980, OP-981, OP-982, OP-983, OP-988, OP-989, OP-990,
|
|
OP-991, OP-993, OP-997, OP-998, OP-999, OP-1000, OP-1002, OP-1005, OP-1007,
|
|
OP-1008, OP-1009, OP-1010, OP-1011, OP-1012, OP-1013, OP-1015, OP-1016, OP-1021
|
|
|
|
Short summary of changes. For a complete list see the git log.
|
|
|
|
Flight code changes:
|
|
- initial version of Revo code;
|
|
- initial version of OPLinkMini code;
|
|
- CopterControl/CC3D code reworked to reuse parts of Revo code;
|
|
- switched to new ARM-supported GCC 4.7 toolchain with hardware floating point support;
|
|
- major code cleanup and use of compiler warning flags to early catch errors;
|
|
- major directory and Makefiles reorganisation and cleanup;
|
|
- all source code fixed to use float variables instead of doubles (to use hardware FPU);
|
|
- added multi-binding support for OPLinkMini;
|
|
- added frequency hopping for Revo and OPLinkMini;
|
|
- added auto-configuration for OPLinkMini remote modem / Revo;
|
|
- replaced entire flash generation code;
|
|
- new U-Blox GPS binary protocol parser;
|
|
- added STM32 DSP library;
|
|
- updated STM32 CMSIS library;
|
|
- updated STM32 USB OTG driver;
|
|
- updated STM32 F1 StdPeriph driver library;
|
|
- updated STM32 F4 StdPeriph driver library;
|
|
- updated FreeRTOS (real-time operating system used by the flight code to run many tasks);
|
|
- PyMite moved to a library;
|
|
- fixed nasty bug in PyMite Makefile, single file was rebuilt 5 times fo no reason;
|
|
- added configurable accel/gyro rates;
|
|
- added visualisation of errors in bootloader updater;
|
|
- added numerous sanity checks to the flight code to prevent unsafe arming;
|
|
- new flash file system, much faster and higly optimised;
|
|
- Revo data flash is splitted into two partitions, one for settings, another for user data (logs, etc);
|
|
- OPLinkMini now stores settings in the MCU flash using FlashFS too;
|
|
- a catalog of known flash types is used to support different flash types by the same firmware;
|
|
- fixed broken overo submodule remote repository link;
|
|
- fixed DSMX protocol error with some Tx/Rx combintions;
|
|
- added new pios_*.h headers to support commonly used constants, functions and defines;
|
|
- numerous fixes for data alignment and memory allocation strategy;
|
|
- new bootloaders to support more features (for example, board settings erase);
|
|
- added new feature to erase settings without special firmware;
|
|
- removed CC/CC3D setting erase firmware (now not necessary due to new erase feature);
|
|
- introduced new delayed callback scheduler to run modules from a single task;
|
|
- many changes to AeroSim-RC simulator interface;
|
|
- fixed broken debug pins API;
|
|
- fixed few bugs in the EKF code;
|
|
- introduced bootloader updater for F4 boards (including Revo and OSD);
|
|
- some changes in RAM and flash memory partitioning to better utilize resources;
|
|
- changes in bootloader to allow remote reboot via serial port or radio modem;
|
|
- the EKF "Huge Formula" is replaced by optimised set of of loops to make it editable;
|
|
- Cyr's attitude patch is ported from CC3D to Revo;
|
|
- added magnetometer options (mags are disabled by default for Revo complimenary filter);
|
|
- advance camera stabilisation is now officially released;
|
|
- Revo alarm led now distinguish between Critical(lit led), Error(blink fast), Warning(blink slowly) Alarm condition
|
|
- Revo alarm led flash fast(like in Error Alarm) during calibration using complementary attitude estimation.
|
|
- Redo gyro bias zero after calibration parameters changes
|
|
- Do not raise GPS alarm if a gps port is not configured.
|
|
- fixed numerous internal firmware bugs (too many to list here).
|
|
|
|
GCS code changes:
|
|
- nice loading splash screen;
|
|
- now GCS uses system language by default if translation is available, English otherwise;
|
|
- French translation officially added. Please help with other languages;
|
|
- fixed some crashes of uploader gadget;
|
|
- fixed double config read on restore;
|
|
- improvements in GCS options dialog handling;
|
|
- optimised option dialog creating;
|
|
- added UI tooltips for many options;
|
|
- removed unused yet options from configuration UI;
|
|
- removed GCS config dialog on the first run, one default is used now if missing;
|
|
- added Revo configuration page, similar to CC/CC3D one;
|
|
- added OPLinkMini configuration page;
|
|
- hardware options are now dynamically enabled/disabled to allow supported configurations only;
|
|
- new artwork for all boards everywhere;
|
|
|
|
- optimised some 3D models;
|
|
- new About dialog showing version info and contributors list;
|
|
- fixed badly broken HiTL options dialog;
|
|
- fixed compilation problem on OSX, now GCS should be compatible with OSX 10.5+;
|
|
- major vehicle config cleanup with lazy creation (speeds up GCS start);
|
|
- UI config pages improvements (responsiveness, etc)
|
|
- new auto-update feature added, *.opfw firmware files removed from distributables;
|
|
- anti-aliased scope plugin;
|
|
- numerous code fixes and cleanups (too many to list here);
|
|
- USB HID code is replaced by new cross-platform hidapi library to fix old Linux/OSX problems.
|
|
- Adds GUI to set Altitude Hold filter parameters.
|
|
- Adds configurable units for velocity/speed and altitude in QML PFD. Units are configured in settings panel.
|
|
- Reduces precision of the PDOP value in the PFD display to 1 decimal.
|
|
- Remove deprecated powerlog
|
|
|
|
Common parts:
|
|
- added simple toolchain install make targets;
|
|
- added self-hosted toolchains to ensure that they're always available;
|
|
- added support for globally istalled tools used by many working copies;
|
|
- added Windows bootstrap script to pull all other build tools;
|
|
- added unit testing framework, also supported by Bamboo CI server and agents;
|
|
- added code style formatting make targets, easy to use by developers;
|
|
- added doxygen make targets. The documentation still must be completely revised, though;
|
|
- enforced global line ending policy, source files are updated accordingly;
|
|
- reworked packaging to provide correct dependencies and safe multi-threaded builds;
|
|
- multiply renames of board names and directories, now we have correct names;
|
|
- fixed dependencies in Makefiles, now 'make -j' works reliably;
|
|
- CLEAN_BUILD make option is deprecated, use 'package' or 'clean_package' instead;
|
|
- simposix elf is now included into linux distribution and can be run with default GCS settings;
|
|
- revised 'make help' message;
|
|
- updated Windows driver to support Revolution and use correct board names.
|
|
|
|
Android GCS:
|
|
- old and buggy code was removed;
|
|
- full rewrite has been started.
|
|
|
|
Infrastructure:
|
|
- Bamboo continuous integration server is actively used;
|
|
- around 10 build agents running 4 different operating systems are set up;
|
|
- every push to any branch is now build-tested, and unit tests run are performed;
|
|
|
|
2012-11-17
|
|
Advanced camera stabilization features.
|
|
They include optional manual control input filtering (moved from camera stabilization to manual
|
|
control input and now available also for main controls), optional airframe attitude filtering
|
|
used by camera stabilization, and optional camera actuator feed forward to improve gimbal response.
|
|
|
|
--- RELEASE-12.10.2 --- Mayan Apocalypse Release ---
|
|
|
|
List of issues resolved in this maintenance release:
|
|
http://progress.openpilot.org/issues/?filter=10361
|
|
|
|
OP-459, OP-545, OP-674, OP-679, OP-685, OP-686, OP-687, OP-690, OP-691,
|
|
OP-702, OP-703, OP-714, OP-715, OP-716, OP-721, OP-728, OP-746, OP-748,
|
|
OP-749, OP-750, OP-758, OP-759, OP-760
|
|
|
|
Here is a list of some known unresolved issues. If an issue has JIRA ID [OP-XXX],
|
|
you may track it using the following URL: http://bugs.openpilot.org/browse/OP-XXX
|
|
|
|
+ Only French translation is updated, use English for other locales or help with translations.
|
|
+ Radio Wizard confused by a reversed throttle, fix it on your transmitter before starting wizard.
|
|
+ Radio Wizard Throttle display does not show full range properly.
|
|
+ [Windows 8] USB Driver is broken.
|
|
+ Firmware Update Instructions on Firmware Tab not entirely accurate for all upgrade paths.
|
|
+ Tricopter's using Vehicle Wizard need to check servo does not need reversed manually.
|
|
+ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
|
|
+ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
|
|
+ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
|
|
+ [OP-732] Import UAV Settings for inactive modules crashes the running firmware (board restarts).
|
|
Workaround: update firmware, power cycle, enable modules, power cycle, import configuration.
|
|
+ [OP-747] Board infinitely reboots itself after firmware upgrade (settings erase firmware is a workaround).
|
|
+ [OP-723] GCS uses the system language ot the 1st run. After restart it uses English (can be changed later).
|
|
+ [OP-725] GCS camera stab config error message disappears too fast (but config error is cleared as it should)
|
|
+ [OP-767] GCS does not send AttitudeActual packets over serial port when GPS is connected and system is armed
|
|
+ [OP-768] GCS does not show UAV position on the map (master or next CC branches, but works in Revo branches)
|
|
+ [OP-769] Can't enter "12,45" on German system. Workaround: change GCS language (in fact, locale) to German.
|
|
|
|
2012-11-12
|
|
Implemented smoothing filter for accelerometer data.
|
|
Added support for Mode 3 and Mode 4 to the TX Configuration Wizard.
|
|
|
|
--- RELEASE-12.10.1 ---
|
|
|
|
2012-10-26
|
|
Temporary disabled AutoTune GCS GUI. It was listed as an experimental
|
|
feature in the previous release, there were however a few cases where
|
|
it did not behave as expected.
|
|
|
|
--- RELEASE-12.10 ---
|
|
|
|
2012-10-06
|
|
Receiver port can now be configured as PPM *and* PWM inputs.
|
|
Pin 1 is PPM, other pins are PWM inputs.
|
|
|
|
2012-07-27
|
|
Added the ability to load stylesheets from external file according to operating system:
|
|
macos.qss, linux.qss, windows.qss
|
|
Files should be placed inside the app folder.
|
|
|
|
2012-07-27
|
|
Several UI changes.
|
|
MixerCurveWidget refactoring, now as a simple and advanced view.
|
|
|
|
2012-07-27
|
|
Added "advanced mode" option to general settings. Right now it only shows the hidden apply buttons.
|
|
To enable go to tools->options->General and click one of the checkboxes to give focus to the form,
|
|
then press F7
|
|
|
|
2012-07-27
|
|
Made the flight mode switch and accessory pots move according to user input on the input wizard.
|
|
|
|
2012-07-27
|
|
Changed the board pictures on the uploader widget
|
|
|
|
2012-07-27
|
|
Add more verbose debug output on the UAVOBJECTS saving code.
|
|
|
|
2012-08-11
|
|
CopterControl can now emulate an 8-channel USB HID joystick. Primarily,
|
|
this lets you use any RC transmitter with flight simulators on your PC.
|
|
|
|
2012-07-20
|
|
AeroSimRC simulator plugin is now included into the Windows distribution
|
|
(will be installed into .../OpenPilot/misc/AeroSIM-RC directory). Still
|
|
being an experimental development tool, it could be used to play with
|
|
HITL version 2. Other platforms include udp_test utility which can be
|
|
used to check the connectivity with AeroSimRC plugin running on Windows
|
|
machine.
|
|
|
|
2012-07-10
|
|
On Windows the installation mode was changed from per-user to per-machine
|
|
(for all users) installation. It is recommended to completely uninstall
|
|
previous version before installing new one to remove per-user installed
|
|
files. Per-machine installation requires elevated (administrator) previleges
|
|
during install. But since the same rights are now required to install
|
|
optional CDC driver (virtual communication port), it was deemed acceptable.
|
|
|
|
2012-06-04
|
|
AeroSimRC support merged into next
|
|
|
|
2012-05-26
|
|
VirtualFlybar which allows a more aggressive flight mode than rate mode
|
|
support. Also PiroCompensation added.
|
|
|
|
2012-05-26
|
|
Revert some UI changes that didn't work consistently between OSX and Windows.
|
|
|
|
2012-05-24
|
|
Merged the updated firmware for the PipXtreme, thanks to Brian for a lot of
|
|
work on this.
|
|
|
|
2012-05-04
|
|
Support for CC3D. This involved changes to various things such as the sensors
|
|
being split from AttitudeRaw to Accels,Gyros,Magnetometer. A single firmware
|
|
image fw_coptercontrol will run on both CC and CC3D. When compiling the
|
|
bootloader one must set the HW_REVISION to the appropriate value. 0x01 is for
|
|
CC and 0x02 is for CC3D. If the wrong bootloader is installed the firmware
|
|
will not run.
|
|
|
|
2012-05-02
|
|
Reduction in the memory usage due to the UAVObject metadata. Now the update
|
|
periods are using a smaller data type and the various flags relating to access
|
|
controls and update modes are stored in a bitfield. The UAVObjectBrowser has
|
|
not been updated to allow these modes to be easily changed.
|
|
|
|
2012-03-31
|
|
Support for ground vehicle configuration has been added to the the GCS.
|
|
|
|
2012-02-14
|
|
New QML based system to allow more flexible UI. Upgraded stabilization
|
|
configuration.
|
|
|
|
2012-01-02
|
|
CC FW now supports USB Virtual Com Port (VCP/CDC) in addition to the original HID interface
|
|
New ComUsbBridge module can bridge any serial port to the USB CDC port
|
|
CC FW now detects repeated faults during init and boots with default hwsettings
|
|
|
|
2012-01-02
|
|
Added new camera stabilization features: AxisLock mode and LPF.
|
|
|
|
2011-12-10
|
|
Merged a change that sorts the UAVO fields based on size. Because this changes
|
|
all of the objects, erase all existing flash files based on this.
|
|
|
|
2011-11-04
|
|
New Spektrum/JR satellite receiver driver implementation.
|
|
It now provides explicit selection of DSM2 (and DSMJ), DSMX (10bit) and
|
|
DSMX (11bit) serial protocol variations to better serve different frame
|
|
and resolution modes. The protocol name used now is DSM instead of
|
|
previously used Spektrum to make it less ambiguous when used with JR
|
|
2.4GHz radios.
|
|
|
|
2011-10-20
|
|
Inputs can be remapped to outputs to allow up to 10 channels of control. The
|
|
receiver inputs remap as follows:
|
|
Receiver 3 because output channel 7
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|
Receiver 4 because output channel 8
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Receiver 5 because output channel 9
|
|
Receiver 6 because output channel 10
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|
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2011-10-11
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Fix for the Mac telemetry rates and specifically how long enumeration took.
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|
|
|
2011-10-08
|
|
Make the flash chip need to be have bad magic for a full second before erasing
|
|
settings. Should avoid random lost settings.
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|
|
|
2011-09-12
|
|
Max rate now ONLY applies to attitude and axis lock mode. Manual rate is the
|
|
only term that limits the rate mode now (and in axis lock when you push stick
|
|
only manual rate applies). Also integrals are reset when unused.
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|
|
|
2011-09-09
|
|
Some large updates to the input system. Now multiple receivers can be
|
|
connected at once. A wizard was added for configuring the input channels. A
|
|
specific collective pitch channel was added.
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|
|
|
2011-09-04
|
|
Improvements to the failsafe handling code for inputs. PWM power off is now
|
|
detected properly. Powering on transmitter for Spektrum Satellite no longer
|
|
causes a glitch on servos.
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|
|
|
2011-08-10
|
|
Added Camera Stabilization and a gui to configure this. This is a software
|
|
selectable module from the GUI. However, a restart is required to make it
|
|
active. The GUI does not currently expose the configuration for using the
|
|
transmitter to change the view angle but this is supported by the hardware.
|
|
|
|
2011-08-10
|
|
By default a lot of diagnostic objects that were enabled by default are now
|
|
disabled in the build. This include TaskInfo (and all the FreeRTOS options
|
|
that provide that debugging information). Also MixerStatus, I2CStatus,
|
|
WatchdogStatus and RateDesired. These can be reenabled for debugging with
|
|
-DDIAG_ALL.
|
|
|
|
2011-08-04
|
|
Fixed packaging aesthetic issues. Also avoid runtime issues on OSX Lion by
|
|
disabling the ModelView and Notify plugins for now (sorry).
|
|
|
|
2011-07-29
|
|
Added support for PPM receivers from James W. Now all 4 interfaces (R/C
|
|
standard PWM, combined PPM (MK), Spektrum satellite, Futaba S.Bus) are
|
|
supported and configurable through the GCS hardware configuration tab.
|
|
|
|
2011-07-17
|
|
Updated module initialization from Mathieu which separates the initialization
|
|
from the task startup. Also implements a method to reclaim unused ram from
|
|
initialization and end of memory for the FreeRTOS heap.
|
|
|
|
2011-07-12
|
|
Improvements to the stabilization code. Included a LPF on the gyros to smooth
|
|
out noise in high vibration environments. Also two new modes: axis-lock and
|
|
weak leveling. Axis-lock will try and hold an axis at a fixed position and
|
|
reject any disturbances. This is like heading-hold on a heli for the tail but
|
|
can be useful for other axes. Weak leveling is rate mode with a weak
|
|
correction to self level the craft - good for easier rate mode flying.
|
|
|
|
2011-07-07
|
|
Dynamic hardware configuration from Stac. The input type is now
|
|
selected from ManualControlSettings.InputMode and the aircraft must be rebooted
|
|
after changing this. Also for CopterControl the HwSettings object must
|
|
indicate which modules are connected to which ports. PPM currently not
|
|
working.
|