Rover-3.3.0 released!

Rover-3.3.0 has just been released as the official Rover/Boat firmware. This release includes the following features as mentioned in the earlier beta release announcement and in the Release Notes:

  1. Simple object avoidance support
  2. Circular and polygon fence support
  3. Pivot turn improvements
    a) Heading control used to aim at new target
    b) ATC_STR_ACC_MAX limits maximum rotational acceleration
    c) ATC_STR_RAT_MAX limits maximum rotation rate
  4. Allow ACRO mode without GPS for skid-steering vehicles (reverts to manual throttle)
  5. MOT_THR_MIN used as deadzone
  6. Parameter default changes:
    a) PIVOT_TURN_ANGLE default raised from 30 to 60 degrees
    b) ATC_STR_RAT_P and I reduced to 0.2
    c) ATC_STR_RAT_FILT and ATC_SPEED_FILT reduced from 50hz to 10hz to better match vehicle response time
  7. Boats report themselves as boats allowing ground stations to display boat icon on map
  8. ChibiOS support. Upload instructions are here.

And also a few minor changes to default parameters as discovered during the beta testing:

  • TURN_MAX_G reduced from 1.0 to 0.6
  • ATC_STR_ANG_P increased from 1.0 to 2.5 (converts angle error to desired turn rate during pivot turns)
  • ATC_STR_ACC_MAX reduced from 360 to 180 deg/s/s (slows acceleration in pivot turns)

This release does not include the Vectored Thrust changes mentioned in this blog post and later kindly tested by John Easton. I will be releasing a beta for 3.3.1 shortly which includes these changes though.

Thanks to those who contributed to the beta testing!