Copter-3.4-rc1 should appear in the mission planner’s “Beta firmware” link within a couple of hours of this post. All feedback welcome.
Changes from 3.3.3
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EKF2 allows “boat mode” (attitude initialisation without gyro calibration)
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Throw mode
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Terrain following:
a) support terrain altitudes during missions using GCS’s map data or rangefinder (i.e. Lidar)
b) LightWare range finder driver fixes (I2C works)
c) Bebop sonar support -
Precision Landing using IRLock sensor
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Attitude controller re-organisation (all parameter changes automatically moved and scales adjusted)
a) RATE_ parameters become ATC_RAT_ (i.e. RATE_RLL_P becomes ATC_RAT_RLL_P)
b) Rate Roll, Pitch, Yaw P, D are reduced by 10% for X, V, H frames, increased by 27% for all other frames
c) STB_ parameters becomes ATC_ANG_ (i.e. STB_RLL_P becomes ATC_ANG_RLL_P) -
Motors library improvements:
a) support OneShot ESCs (set MOT_PWM_TYPE to 0 for Normal, 1 for OneShot or 2 for OneShot125)
b) TriCopter compensates for tail servo angle
c) SingleCopter, CoaxCopter adjust control surfaces based on throttle output
d) MOT_PWM_MIN, MAX allow specifying output ranges to ESCs which are difference from throttle input channel (i.e. RC3)
e) TradHeli servo objects moved into heli class (HSV_ parameters become H_SV_) -
uAvionix Ping sensor support (ADS-B vehicles appear on GCS, avoidance will come in future release)
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Safety:
a) warning if GPS update rate is slow (under 5hz, does not stop arming)