Plane 3.6.0 released

The ArduPilot development team is proud to announce the release of version 3.6.0 of APM:Plane. This is a major update so please read the notes carefully.

The biggest changes in this release are:

  • major update to PX4Firmware code
  • major update to QuadPlane code
  • addition of MAVLink2 support

The updated PX4Firmware tree greatly improves support for the new Pixracer boards as well as improving scheduling performance and UAVCAN
support.

The QuadPlane changes are very extensive in this release. A lot of new features have been added, including:

  • improved automatic weathervaning
  • greatly improved support for mixed fixed wing and VTOL missions
  • automatic RTL with VTOL land
  • VTOL GUIDED mode support
  • greatly improved transition code
  • new tuning system for VTOL motors
  • extensive upgrade to logging system for much better flight analysis

The new QuadPlane features are documented at:

http://ardupilot.org/plane/docs/quadplane-support.html

There is also a prototype implementation supporting tiltrotors and tiltwings, but so far it has only been flown in simulations and it
should be considered very experimental.

Detailed changes include:

  • added motortest for all quad motors in sequence
  • merge upstream PX4Firmware changes
  • new AC_AttitudeControl library from copter for quadplane
  • modified default gains for quadplanes
  • new velocity controller for initial quadplane landing
  • smooth out final descent for VTOL landing
  • changed default loop rate for quadplanes to 300Hz
  • support up to 16 output channels (two via SBUS output only)
  • fixed bug with landing flare for high values of LAND_FLARE_SEC
  • improved crash detection logic
  • added in-flight transmitter tuning
  • fix handling of SET_HOME_POSITION
  • added Q_VFWD_GAIN for forward motor in VTOL modes
  • added Q_WVANE_GAIN for active weathervaning
  • log the number of lost log messages
  • Move position update to 50hz loop rather then the 10hz
  • Suppress throttle when parachute release initiated, not after release.
  • support Y6 frame class in quadplane
  • log L1 xtrack error integrator and remove extra yaw logging
  • limit roll before calculating load factor
  • simplify landing flare logic
  • smooth-out the end of takeoff pitch by reducing takeoff pitch min via TKOFF_PLIM_SEC
  • added support for DO_VTOL_TRANSITION as a mission item
  • fixed is_flying() for VTOL flight
  • added Q_ENABLE=2 for starting AUTO in VTOL
  • reload airspeed after VTOL landing
  • lower default VTOL ANGLE_MAX to 30 degrees
  • Change mode to RTL on end of mission rather then staying in auto
  • implemented QRTL for quadplane RTL
  • added Q_RTL_MODE parameter for QRTL after RTL approach
  • reduced the rate of EKF and attitude logging to 25Hz
  • added CHUTE_DELAY_MS parameter
  • allow remapping of any input channel to any output channel
  • numerous waf build improvements
  • support fast timer capture for camera trigger feedback
  • numerous improvements for Pixracer support
  • added more general tiltrotor support to SITL
  • only save learned compass offsets when disarmed
  • support MISSION_ITEM_INT for more accurate waypoint positions
  • change parachute deployment altitude to above ground not home
  • added AP_Tuning system for QuadPlane tuning
  • added initial support for tiltrotors and tiltwings
  • added LOG_REPLAY and LOG_DISARMED parameters
  • added Q_GUIDED_MODE parameter
  • major update to QuadPlane documentation
  • added MAVLink2 support
  • fixed origin vs home altitude discrepancy
  • improved Lidar based landing glide slope
  • fixed throttle failsafe with THR_PASS_STAB=1
  • prevent EKF blocking during baro and airspeed cal
  • allow for ground testing of parachutes with CHUTE_MINALT=0
  • fixed elevator stick mixing for above 50% input
  • added QuadPlane ESC calibration