The ardupilot development team is proud to announce the release of version 3.0.2 of APM:Plane. This release combines some important bug fixes with some new features.
[color=#0000FF]I2C bug fix[/color]
The most important change for this release is a bug fix for an I2C bug in the NuttX I2C driver code that would (under some rare circumstances) cause a Pixhawk to crash. This bug fix is the primary reason for doing a new release now.
This bug was able to be reproduced by creating a 1.3m GPS cable carrying both the I2C signals for a magnetometer and the UART signals for the GPS. Interference between these two signals could cause the I2C controller to give spurious data to the I2C driver. The I2C driver did not have sufficient protection against these errors and could crash the board.
While we have not been able to reproduce this error with the normal cables that come with a Pixhawk we cannot rule out the bug triggering with shorter cables, so we are doing a fast release to fix the bug.
This release also includes an important new feature - automatic roll/pitch tuning. While this feature is still considered experimental we have had very positive feedback from beta testers and have decided
to include it in the release.
Full documentation for how to use automatic tuning is available here:
we hope that the automatic tuning will help users who have had difficulty with the standard APM:Plane manual tuning procedure. We plan on extending autotune to other aspects of fixed wing tuning in future releases.
[ul]fixed a glide slope calculation error when very close to waypoints
fixed a bug when swithing to another auto-throttle mode during auto takeoff (thanks to Marco for finding this bug!)
added MIS_AUTORESET parameter (thanks to Andrew Chapman)
support compassmot calibration by supplying current measurments to the compass driver (thanks to Jon Challinger)
fixed a GPS driver bug that could cause GPS lag in case of lost GPS samples (thanks to Jon Challinger)
fixed a LOITER_TURNS bug in missions for counter-clockwise loiter (thanks to Iskess for finding this bug)
added support for OBC termination requirements to PX4IO
added support for pressure altitude termination to OBC module
fixed EKF wind estimation with no airspeed sensor (thanks to Paul Riseborough)
improved tuning of EKF for fixed wing aircraft (thanks to Paul Riseborough)
Converted rally point code to library AP_Rally (thanks to Andrew Chapman)
added SITL checking for numerical errors[/ul]
[color=#0000FF]Thanks to testers![/color]
Many thanks to everyone who tested the beta versions of this release!
Special thanks to Marco, Paul, Jon, Iam, JNJO, sonicdahousecat and
Keeyen for providing testing of both existing features and the new