Rover-3.5.1-rc1 has been released for beta testing and should be available from the Ground Stations using the “Beta Firmwares” link in a few hours. The changes are in the ReleaseNotes and also copied below.
Changes from 3.5.0
WHEEL_DISTANCE mavlink messages sent to ground station and companion computers
Bug fixes:
a) EKF compass switching fix for vehicles with 3 compasses
b) Guided’s heading-and-speed controller no longer uses lane based speed control
c) Pre-arm check fix that all required motors for the frame are configured
d) Prevent loss of active IMU from causing loss of attitude control
e) Added startup check for Hex CubeBlack sensor failure
f) don’t reset INS_ENABLE_MASK based on found IMUs
The important fixes in this release are (2a) and (2d) which can lead to loss of attitude control (i.e. steering) in the case of a bad compass or IMU.
Any and all beta testing and feedback is greatly appreciated!
Sorry, it was a typo, it should have been “lane based speed control”(video description).
We can’t use lane-based-speed-control while using Guided’s heading-and-speed controller (which very few people use) because there isn’t really a “lane”. With this controller the vehicle should maintain a specific heading and forward speed and should not slow down. We were incorrectly trying to use lane-based-speed-control but this could cause the vehicle to slow down when it shouldn’t.
As a side note, we could enhance this heading-and-speed controller so that it slows down if the target heading is a long way from the current heading. So for example, if it’s asked to do a 180deg turn, it could slow-down and do a tight turn instead of a really wide turn. This is similar but slightly different from the lane-based-speed-control though.