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522 lines
25 KiB
Plaintext
522 lines
25 KiB
Plaintext
--- RELEASE-13.06 --- Italian Stallion Release ---
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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.
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The firmware files folder has been removed in this release. These files
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are now integrated into the GCS so they are always up to date and there is
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less risk of a firmware mismatch. To update your firmware you must use
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either Vehicle Setup Wizard (big green button at the top right on the
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Welcome GCS tab) or the new Auto-Update button on the GCS Firmware tab.
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- Responsiveness sliders.
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To simplify tuning, we have introduced a new Responsiveness slider that
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will allow you to modify stick response. For best results, you should
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still tune your system with PIDs as tight as possible for better
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stabilisation. This will result in better stabilisation, and at the
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same time soft or sharp response according to your preferences.
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- Auto-Update firmware.
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This feature simplifies all OpenPilot board firmware updates. Now all
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you have to do is click "Auto-update" on the Firmware tab and follow the
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instructions to reflash your OpenPilot board. This is essentially the
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same as Rescue but uses the embedded firmware images so there is no need
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to browse for them anymore.
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- Erase Settings Option.
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We previously had a hacky way to delete bad or incompatible settings from
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our OpenPilot boards. This old special firmware that did this is now
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deprecated and the functionality is now integrated into the latest
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bootloaders and firmwares.
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To erase settings enter DFU (boot) mode (using Halt or Rescue function)
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and click the "Erase settings" button on the Firmware tab and follow the
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instructions. This will NOT work with an older bootloader and the "Erase
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settings" button will be disabled if an out of date bootloader is detected.
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- Language defaults.
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GCS now uses the system default language (only French and English are
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available currently, please contribute translations). You can change the
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language in the GCS Options at any time.
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- CDC driver install option (Windows only).
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This is an optional USB virtual serial port that is useful, for example,
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for updating your GPS configuration using the U-Blox u-Center software.
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It is NOT required for normal configuration of OpenPilot boards. If it is
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not installed, virtual serial port features will not be available. This
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driver is not signed by Microsoft, but in fact it uses serial port drivers
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from Windows and only the driver information INF file is supplied by
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OpenPilot.
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- Lots of help tooltips were added to the GCS. Hovering your mouse over an
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option in the GCS will show them, please review for help during tuning/
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setting up.
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- A large amount of general improvements, code clean ups and minor bugs
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resolved.
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KNOWN ISSUES:
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- On Linux you should remove the OpenPilot package if it was previously
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installed, then install this new one. This is a known issue and likely
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be fixed later.
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- Due to changes in USB descriptors to support new features, USB drivers
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on Windows must be updated. If after using Rescue or Wizard or Auto-Update
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button the GCS cannot connect to the board, you may be experiencing this
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USB issue. To resolve it you should remove the old drivers (ones with
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yellow exclamation mark) and allow Windows to find them again.
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Here is how to do it:
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Windows XP:
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- Right click on "My Computer" on your desktop and select "Properties".
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- Select the "Hardware" tab.
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- Select the "Device Manager".
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- Scroll down the list until you see the "Universal Serial Bus Controllers"
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selection.
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- Click it to expand the list of USB drivers. Right-click on the driver(s)
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you wish to uninstall and select "Uninstall".
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Windows 7/Vista:
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- Right click on "My Computer" on your desktop and select "Properties".
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- Select "Device Manager" in the upper left-hand corner of the window.
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- Scroll down the list until you see the "Universal Serial Bus Controllers"
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selection.
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- Click it to expand the list of USB drivers. Right-click on the driver(s)
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you wish to uninstall and select "Uninstall".
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Then disconnect the board from USB, wait few seconds and re-connect it to
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your computer. Windows should find new drivers and install them properly.
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- If GCS crashes when switching to the Flight Data tab, it usually means
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your PC needs newer video drivers. That tab contains a ModelView widget
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which uses OpenGL. It is known to crash on some graphics cards with old
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and buggy drivers.
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- Sensor calibration is not final. It will be reworked completely to
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increase its accuracy and make it easier to use.
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- Until the calibration is reworked, default attitude estimation algorithm
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used by Revo is a complimentary filter with magnetometers disabled. Hence
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Revo does not use them yet to correct yaw drift. Magnetometers can be
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enabled, but you should properly calibrate them first. That's the reason
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why they are disabled by default.
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- AltitudeHold mode is enabled, but it is not officially supported. Do
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not expect it to work perfectly and be considered production quality.
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You may play with it and report your issues and suggestions at your own
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risk. If you are not using a case for your Revo, we strongly recommend
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covering the barometer sensor with some foam to shield the sensor from
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wind and light.
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- Note that throttle stick in AltitudeHold mode is used to control vertical
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velocity, sometimes called vario altitude in other platforms, centre stick
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means hold altitude and there is a dead band around centre stick.
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- There are currently no configuration options for the Radio module in
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the Revolution except for Radio enable/disable and output power. This is
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intentional because all configuration should be done using its paired
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ground OPLink coordinator.
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How to configure the Revolution to OPLinkMini radio link:
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- Make sure you have the newest bootloaders and matching firmwares
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between the Revolution, GCS and OPLink.
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- Enable the radio in the Revolution, click save and disconnect the board
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from USB.
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- Power it from external supply to continue.
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- Then connect the OPLink board to USB and scroll down in the GCS config
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widget to find OPLink icon at the end of list. This icon is only
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available when an OPLink is detected.
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- To pair the two radios, select the Revolution side radio address in the
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list of found boards, select it, click Add to add to the list of paired
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radios and click Save. After unplugging the board from the USB and
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plugging back your OPLink it should show "Connected", and you can
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continue with the configuration.
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- Do not set the Revolution modem or OPLinkMini output power to high values
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without antenna connected, this can damage the hardware.
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JIRA issues addressed in this release:
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Due to major rework of all code and integration of Revo code into mainline
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(next) it is almost impossible to list all corresponding JIRA issues for the
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list above. Some of them can be found using this link:
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http://progress.openpilot.org/issues/?filter=10860
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OP-678, OP-693, OP-719, OP-726, OP-727, OP-747, OP-761, OP-769, OP-770,
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OP-772, OP-784, OP-792, OP-804, OP-807, OP-812, OP-816, OP-817, OP-820,
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OP-821, OP-843, OP-846, OP-854, OP-855, OP-856, OP-861, OP-864, OP-867,
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OP-871, OP-873, OP-874, OP-875, OP-879, OP-885, OP-886, OP-888, OP-889,
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OP-890, OP-891, OP-892, OP-893, OP-894, OP-895, OP-896, OP-897, OP-898,
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OP-899, OP-900, OP-903, OP-905, OP-906, OP-907, OP-910, OP-912, OP-917,
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OP-920, OP-925, OP-926, OP-928, OP-935, OP-936, OP-939, OP-952, OP-955,
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OP-957, OP-958, OP-965, OP-968, OP-969, OP-970, OP-976, OP-977, OP-980,
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OP-981, OP-982, OP-983, OP-987, OP-988, OP-989, OP-990, OP-991, OP-993
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OP-997, OP-998, OP-999, OP-1000, OP-1005, OP-1009, OP-1011, OP-1012, OP-1013,
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Short summary of changes. For a complete list see the git log.
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Flight code changes:
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- initial version of Revo code;
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- initial version of OPLinkMini code;
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- CopterControl/CC3D code reworked to reuse parts of Revo code;
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- switched to new ARM-supported GCC 4.7 toolchain with hardware floating point support;
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- major code cleanup and use of compiler warning flags to early catch errors;
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- major directory and Makefiles reorganisation and cleanup;
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- all source code fixed to use float variables instead of doubles (to use hardware FPU);
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- added multi-binding support for OPLinkMini;
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- added frequency hopping for Revo and OPLinkMini;
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- added auto-configuration for OPLinkMini remote modem / Revo;
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- replaced entire flash generation code;
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- new U-Blox GPS binary protocol parser;
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- added STM32 DSP library;
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- updated STM32 CMSIS library;
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- updated STM32 USB OTG driver;
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- updated STM32 F1 StdPeriph driver library;
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- updated STM32 F4 StdPeriph driver library;
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- updated FreeRTOS (real-time operating system used by the flight code to run many tasks);
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- PyMite moved to a library;
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- fixed nasty bug in PyMite Makefile, single file was rebuilt 5 times fo no reason;
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- added configurable accel/gyro rates;
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- added visualisation of errors in bootloader updater;
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- added numerous sanity checks to the flight code to prevent unsafe arming;
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- new flash file system, much faster and higly optimised;
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- Revo settings are now stored in embedded MCU flash freeing up external one for flight logs;
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- OPLinkMini now stores settings in the MCU flash using FlashFS too;
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- a catalog of known flash types is used to support different flash types by the same firmware;
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- fixed broken overo submodule remote repository link;
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- fixed DSMX protocol error with some Tx/Rx combintions;
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- added new pios_*.h headers to support commonly used constants, functions and defines;
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- numerous fixes for data alignment and memory allocation strategy;
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- new bootloaders to support more features (for example, board settings erase);
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- added new feature to erase settings without special firmware;
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- removed CC/CC3D setting erase firmware (now not necessary due to new erase feature);
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- introduced new delayed callback scheduler to run modules from a single task;
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- many changes to AeroSim-RC simulator interface;
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- fixed broken debug pins API;
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- fixed few bugs in the EKF code;
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- introduced bootloader updater for F4 boards (including Revo and OSD);
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- some changes in RAM and flash memory partitioning to better utilize resources;
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- changes in bootloader to allow remote reboot via serial port or radio modem;
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- the EKF "Huge Formula" is replaced by optimised set of of loops to make it editable;
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- Cyr's attitude patch is ported from CC3D to Revo;
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- added magnetometer options (mags are disabled by default for Revo complimenary filter);
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- advance camera stabilisation is now officially released;
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- Revo alarm led now distinguish between Critical(lit led), Error(blink fast), Warning(blink slowly) Alarm condition
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- Revo alarm led flash fast(like in Error Alarm) during calibration using complementary attitude estimation.
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- Redo gyro bias zero after calibration parameters changes
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- Do not raise GPS alarm if a gps port is not configured.
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- fixed numerous internal firmware bugs (too many to list here).
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GCS code changes:
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- nice loading splash screen;
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- now GCS uses system language by default if translation is available, English otherwise;
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- French translation officially added. Please help with other languages;
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- fixed some crashes of uploader gadget;
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- fixed double config read on restore;
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- improvements in GCS options dialog handling;
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- optimised option dialog creating;
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- added UI tooltips for many options;
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- removed unused yet options from configuration UI;
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- removed GCS config dialog on the first run, one default is used now if missing;
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- added Revo configuration page, similar to CC/CC3D one;
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- added OPLinkMini configuration page;
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- hardware options are now dynamically enabled/disabled to allow supported configurations only;
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- new artwork for all boards everywhere;
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- optimised some 3D models;
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- new About dialog showing version info and contributors list;
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- fixed badly broken HiTL options dialog;
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- fixed compilation problem on OSX, now GCS should be compatible with OSX 10.5+;
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- major vehicle config cleanup with lazy creation (speeds up GCS start);
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- UI config pages improvements (responsiveness, etc)
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- new auto-update feature added, *.opfw firmware files removed from distributables;
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- anti-aliased scope plugin;
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- numerous code fixes and cleanups (too many to list here);
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- USB HID code is replaced by new cross-platform hidapi library to fix old Linux/OSX problems.
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- Adds GUI to set Altitude Hold filter parameters.
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- Adds configurable units for velocity/speed and altitude in QML PFD. Units are configured in settings panel.
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- Reduces precision of the PDOP value in the PFD display to 1 decimal.
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- Remove deprecated powerlog
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Common parts:
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- added simple toolchain install make targets;
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- added self-hosted toolchains to ensure that they're always available;
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- added support for globally istalled tools used by many working copies;
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- added Windows bootstrap script to pull all other build tools;
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- added unit testing framework, also supported by Bamboo CI server and agents;
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- added code style formatting make targets, easy to use by developers;
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- added doxygen make targets. The documentation still must be completely revised, though;
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- enforced global line ending policy, source files are updated accordingly;
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- reworked packaging to provide correct dependencies and safe multi-threaded builds;
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- multiply renames of board names and directories, now we have correct names;
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- fixed dependencies in Makefiles, now 'make -j' works reliably;
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- CLEAN_BUILD make option is deprecated, use 'package' or 'clean_package' instead;
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- simposix elf is now included into linux distribution and can be run with default GCS settings;
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- revised 'make help' message;
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- updated Windows driver to support Revolution and use correct board names.
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Android GCS:
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- old and buggy code was removed;
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- full rewrite has been started.
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Infrastructure:
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- Bamboo continuous integration server is actively used;
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- around 10 build agents running 4 different operating systems are set up;
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- every push to any branch is now build-tested, and unit tests run are performed;
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2012-11-17
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Advanced camera stabilization features.
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They include optional manual control input filtering (moved from camera stabilization to manual
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control input and now available also for main controls), optional airframe attitude filtering
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used by camera stabilization, and optional camera actuator feed forward to improve gimbal response.
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--- RELEASE-12.10.2 --- Mayan Apocalypse Release ---
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List of issues resolved in this maintenance release:
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http://progress.openpilot.org/issues/?filter=10361
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OP-459, OP-545, OP-674, OP-679, OP-685, OP-686, OP-687, OP-690, OP-691,
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OP-702, OP-703, OP-714, OP-715, OP-716, OP-721, OP-728, OP-746, OP-748,
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OP-749, OP-750, OP-758, OP-759, OP-760
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Here is a list of some known unresolved issues. If an issue has JIRA ID [OP-XXX],
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you may track it using the following URL: http://bugs.openpilot.org/browse/OP-XXX
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+ Only French translation is updated, use English for other locales or help with translations.
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+ Radio Wizard confused by a reversed throttle, fix it on your transmitter before starting wizard.
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+ Radio Wizard Throttle display does not show full range properly.
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+ [Windows 8] USB Driver is broken.
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+ Firmware Update Instructions on Firmware Tab not entirely accurate for all upgrade paths.
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+ Tricopter's using Vehicle Wizard need to check servo does not need reversed manually.
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+ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
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+ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
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+ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
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+ [OP-732] Import UAV Settings for inactive modules crashes the running firmware (board restarts).
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Workaround: update firmware, power cycle, enable modules, power cycle, import configuration.
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+ [OP-747] Board infinitely reboots itself after firmware upgrade (settings erase firmware is a workaround).
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+ [OP-723] GCS uses the system language ot the 1st run. After restart it uses English (can be changed later).
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+ [OP-725] GCS camera stab config error message disappears too fast (but config error is cleared as it should)
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+ [OP-767] GCS does not send AttitudeActual packets over serial port when GPS is connected and system is armed
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+ [OP-768] GCS does not show UAV position on the map (master or next CC branches, but works in Revo branches)
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+ [OP-769] Can't enter "12,45" on German system. Workaround: change GCS language (in fact, locale) to German.
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2012-11-12
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Implemented smoothing filter for accelerometer data.
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Added support for Mode 3 and Mode 4 to the TX Configuration Wizard.
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--- RELEASE-12.10.1 ---
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2012-10-26
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Temporary disabled AutoTune GCS GUI. It was listed as an experimental
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feature in the previous release, there were however a few cases where
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it did not behave as expected.
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--- RELEASE-12.10 ---
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2012-10-06
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Receiver port can now be configured as PPM *and* PWM inputs.
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Pin 1 is PPM, other pins are PWM inputs.
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2012-07-27
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Added the ability to load stylesheets from external file according to operating system:
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macos.qss, linux.qss, windows.qss
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Files should be placed inside the app folder.
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2012-07-27
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Several UI changes.
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MixerCurveWidget refactoring, now as a simple and advanced view.
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2012-07-27
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Added "advanced mode" option to general settings. Right now it only shows the hidden apply buttons.
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To enable go to tools->options->General and click one of the checkboxes to give focus to the form,
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then press F7
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2012-07-27
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Made the flight mode switch and accessory pots move according to user input on the input wizard.
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2012-07-27
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Changed the board pictures on the uploader widget
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2012-07-27
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Add more verbose debug output on the UAVOBJECTS saving code.
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2012-08-11
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CopterControl can now emulate an 8-channel USB HID joystick. Primarily,
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this lets you use any RC transmitter with flight simulators on your PC.
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2012-07-20
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AeroSimRC simulator plugin is now included into the Windows distribution
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(will be installed into .../OpenPilot/misc/AeroSIM-RC directory). Still
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being an experimental development tool, it could be used to play with
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HITL version 2. Other platforms include udp_test utility which can be
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used to check the connectivity with AeroSimRC plugin running on Windows
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machine.
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2012-07-10
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On Windows the installation mode was changed from per-user to per-machine
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(for all users) installation. It is recommended to completely uninstall
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previous version before installing new one to remove per-user installed
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files. Per-machine installation requires elevated (administrator) previleges
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during install. But since the same rights are now required to install
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optional CDC driver (virtual communication port), it was deemed acceptable.
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2012-06-04
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AeroSimRC support merged into next
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2012-05-26
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VirtualFlybar which allows a more aggressive flight mode than rate mode
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support. Also PiroCompensation added.
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2012-05-26
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Revert some UI changes that didn't work consistently between OSX and Windows.
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2012-05-24
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Merged the updated firmware for the PipXtreme, thanks to Brian for a lot of
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work on this.
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2012-05-04
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Support for CC3D. This involved changes to various things such as the sensors
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being split from AttitudeRaw to Accels,Gyros,Magnetometer. A single firmware
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image fw_coptercontrol will run on both CC and CC3D. When compiling the
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bootloader one must set the HW_REVISION to the appropriate value. 0x01 is for
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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.
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|
|
|
2012-02-14
|
|
New QML based system to allow more flexible UI. Upgraded stabilization
|
|
configuration.
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|
|
|
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
|
|
Receiver 4 because output channel 8
|
|
Receiver 5 because output channel 9
|
|
Receiver 6 because output channel 10
|
|
|
|
2011-10-11
|
|
Fix for the Mac telemetry rates and specifically how long enumeration took.
|
|
|
|
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.
|
|
|
|
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.
|
|
|
|
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.
|
|
|
|
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.
|
|
|
|
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.
|