tridge
February 25, 2019, 9:53pm
1
I’ve just released 3.9.6beta1.
This is a minor release with some important fixes for VTOL landings and EKF handling of compass switching.
fixed throttle slew on dual-motor planes
handle VTOL landings with incorrect height (or failed rangefinder)
fixed EKF alt datum reset on barometer reset
probe all I2C buses for rangefinders (fixes I2C lidar on boards with more than 2 I2C buses)
fixed lightware serial detection for newer lidars such as LW20
fixed motor relax code on VTOL landing to prevent motors powering up after touchdown
fixed forward motor in quadplane landing transition to allow motors when landing at a height lower than takeoff height
fixed throttle mix handling for VTOL planes on descent
use WP altitude for height of ground in VTOL landing, allowing for good landings at heights well above or below takeoff height
fixed EKF compass switching with 3 compasses
fixed mini-pix UART order to match case markings
added generated git hash to apj file
fixed apj generation to not change based on time of build
Happy flying!
4 Likes
Zapf
February 25, 2019, 10:09pm
2
probably meant to put this in 3.9
2 Likes
tridge
February 25, 2019, 10:19pm
3
6 and 9 look so similar when in Australia
3 Likes
yak-54
February 25, 2019, 11:28pm
4
only if you live in Canberra with all the polys
yak-54
February 25, 2019, 11:31pm
5
fixed throttle slew on dual-motor planes i like this fix now in auto takeoff it may go down the runway
tridge
March 3, 2019, 9:16pm
6
I’ve now released the final version of 3.9.6. Only one additional change went in, to allow device threads to be allocated on any heap. This is needed to fix an issue on MatekF405-Wing with a compass.
Happy flying!
1 Like
custeve
March 5, 2019, 2:15pm
7
@tridge - does this release have the DSHOT reverse thrust fix?
tridge
March 6, 2019, 10:23am
8
sorry, no, that is slated for 3.10. If you want to try it now you need to use the master builds (‘latest’ on firmware.ardupilot.org )
yak-54
March 7, 2019, 8:35pm
9
Hi all in auto land does ardupilot use the airspeed sensor and the gps speed
Rustycraft
March 25, 2019, 11:12am
10
Hi, my rangefinder Lidar lite v3 connected through pwm is not working on ap 3.9.6, is it not supported any more?
wkf94025
April 13, 2019, 5:19am
11
@tridge I’ve been away from ArduPlane for ~6 months, and was just cruising around to see what’s new in your recent releases. I saw your post a month ago about reverse thrust in master, coming in 3.10, so I studied the code at bit, but can’t tell if reverse_thrust.cpp supports BLHeli_32 or not. Curious as to the HW config you (or @MagicRuB ) are using to test that code.
Kelly
iampete
April 13, 2019, 6:54am
12
yep blheli_32 is supported. You have to enable it on the esc with blheli suite.
http://ardupilot.org/plane/docs/automatic-landing.html#reverse-thrust-landing
