AP_Periph 1.4 release

I’ve just released AP_Periph 1.4.0beta1
This is a major release with a significant number of changes:

  • use new AP_CheckFirmware system
  • fixed passing of WGS84 height from GPS
  • support CANFD on STM32H7
  • fixes for moving baseline yaw with DroneCAN GPS
  • fixed GPS dropout issues on F4 and L4 GPS
  • added EFI peripheral support
  • fixed non-contiguous mask for ESC telem

Please test!

4 Likes

Hi tridge,

Thanks for all your effort.
What is the least required ArduPlane version to test this?

I am lagging a little bit …

ArduPilot plane has supported CAN sensors for a long time. The first version to support CAN devices was 3.2.1 in February 2015

Hi tridge,

Thanks for the answer.
Luckily the planes are not that old… :wink:

I’ve just released 1.4.0 stable of AP_Periph, and marked master for 1.5.x development.
Changes in 1.4.0 versus last stable are:

  • use new AP_CheckFirmware system
  • fixed passing of WGS84 height from GPS
  • support CANFD on STM32H7
  • fixes for moving baseline yaw with DroneCAN GPS
  • fixed GPS dropout issues on F4 and L4 GPS
  • added EFI peripheral support
  • fixed non-contiguous mask for ESC telem
2 Likes

Testing 1.4 on a G491KEU6 all working :slight_smile: 2 of them are going in a quad plane.

I’m playing with CANFD, running master on fc and ap_periph 1.4 on node, when I turn on canfd and I can connect to slcan either through mission planner or dronecan_gui but the node shows up but not with the periph name and I can’t get parameters. With fdcan off the node works fine.
I have selected the node in fdcan mode and I can see baro pressure in the subscriber so it must be working. Any help would be appreciated.

I’ve just released AP_Periph 1.4.1 to fix an issue with compasses on peripherals. The only change is a fix for an issue that caused compass data to be all zero.
Fix is building on the build servers now.