************************************************************************************************** 固件有区分硬件,请不要刷错!! ArduPlane_FMU_V2.apj :是给有1Mb Bug的Pixhawk飞控(无高阶功能,例如自动调参) ArduPlane_FMU_V3.apj :是给Pixhawk/Pixhawk2 Cube/Pixhack V2,V3/Pixraptor飞控 ArduPlane_FMU_V4.apj :是给PixRacer飞控 ArduPlane_FMU_V5.apj :是给F7(STM32F7),包括Pixhawk4/Pixhack5/Pixhawk2 Cube(黃色) ArduPlane_F4BY.apj :是给F4BY飞控 ArduPlane_PH4_mini.apj :是给Pixhawk4-Mini飞控 ArduPlane_CUAVv5Nano.apj :是给CUAV V5 Nano飞控 ArduPlane_SAU2.apj :是给UAV-AI的SAU-II飞控 ArduPlane_CubeOrange_H7.apj :是给H7(STM32H7)Pixhawk2 Cube(橘色) note: 1. No longer support and compile *.PX4 firmware, will be replaced with ChibiOS instead of Nuttx. 2.V4 (PixRacer) is a mini board (through the machine), only 6 PWM can not be used in VTOL, but can be used in Tailsitter (tail-sitting). 3. The update of the "*" character in front indicates that the group firmware is available, and the official does not. 4. The version identification code will appear at the top left of the MP ground station, you can know which version is currently used. ************************************************************************************************** Firmware name:ArduPlane-20190929 (V4.1.0-DEV) Version identification code:04ee459e ================================================================= 1. Synchronize the official code . Firmware version number updated toV4.1.0 *2.Q_TRANS_FAIL If the setting is >30 (use distance), the transition time is more than 20 seconds and it is still considered a transition failure. *3.Q_TRANS_FAIL_MOD (transition failure save mode) and Q_ASSIST_ALT_MOD (low altitude protection save mode) If you set 21 (QRTL), if you leave home, if you >300M, it will become QLAND (in situ, because you can't fly back) If 17=QSTABILIZE,18=QHOVER,19=QLOITER, when the remote control is out of control (or shut down), it will change to QLAND. *4. "Stop protection" during flight, "overturn protection", tilting will tilt at the fastest speed (ignoring the setting of TILT_RATE_UP) 固件名称:ArduPlane-20190920 (V3.10.0-DEV) 版本识别码:7c2c6dba ================================================================= 1. Synchronize the official code Corrected the installation of two CANBUS compasses at the same time, the ID position may be interchanged when rebooting. Correct the bug that the range finder is lower than the lower limit and becomes a negative value. It will suddenly climb or the forward push motor will suddenly turn up. Fixed an I2C bug (may crash in some cases) Support for STM32H7 MCU (Pixhawk2 CubeOrange Orange) .microSD card will reconnect due to bad contact due to vibration Support for additional RC input on any UART Added AFS_MAX_RANGE parameter to limit maximum flight mileage The serial port adds the reverse/half-duplex/exchange mode SERINAL_OPTIONS parameter to support more types of data transmission or devices. New fuel flow battery type (oil engine fuel tank measurement) Support RObotis bus steering gear .CANBUS servos increase the agreement between KDECAN and ToshibaCAN Support DLVR I2C airspeed sensor / RM3100 compass / Invensense IMU Buzzer/safety switch/LED/airspeed meter supporting CANBUS protocol Added Q_TKOFF_ARSP_LIM parameter to limit the ground beyond this wind speed will refuse to take off. Added Q_TKOFF_FAIL_SCL parameter, automatic takeoff beyond this limit will be automatically landed. *2. Added conversion failure protection (default is 0=disabled). Q_TRANS_FAIL Condition setting for conversion to fixed wing failure 0 = disabled 1~ 30 = Conversion is more than this number of seconds is considered a failure (seconds) 31~999 = Conversion beyond this distance is considered a failure (m) Q_TRANS_FAIL_MOD What mode is saved when the conversion fails (default is 20=QLAND) 0=disable, 17=QSTABILIZE,18=QHOVER,19=QLOITER,20=QLAND,21=QRTL *3. Automatic landing code optimization 固件名称:ArduPlane-20190823 (V3.10.0-DEV) 版本识别码:c445362f ================================================================= 1. Synchronize the official code Fixed Pixhawk2 Cube flight control, a few hardware heater temperature is not controlled. Fix CUAV V5 Nano flight control USB can not connect problems. Fixed a major bug in the official IOMCU! Note: This BUG will cause the motor to temporarily stop (Note: Group firmware IOMCU processing is somewhat different from the official and will not occur) *2. Restore the CAN_D1_UC_MAG_ID parameter that has been deleted, because someone responds to two CANBUS compasses installed together, sometimes rebooting The two CANBUS compass IDs will be adjusted. If you have this situation, please use CAN_D1_UC_MAG_ID to set it yourself. Set the method to find it. *3. Fixed the problem that the QLOITER mode angle is too large (the angle is very large when striking the rod), the angle relationship is as follows: Q_ANGLE_MAX=4000 (all rotor mode angles will be limited to <=40 degrees) Q_P_ANGLE_MAX=30 (modes related to position control, including QLOITER/QRTL/QLAND/TAKEOFF, are limited to <=30 degrees) Q_LOIT_ANG_MAX=25 (QLOITER mode, angle is limited to <=25 degrees) Note: The setting cannot exceed the previous level. For example, Q_ANGLE_MAX=4500 and Q_LOIT_ANG_MAX=60, the maximum is 45 degrees. *4. Servo output PWM/CAN1+CAN2 is expanded to 32 (this must be dedicated hardware), generally Pixhawk (Cube/CUAV/F4BY/...) Expanded to 20, the latter 6 (Servo15_Function-Servo20_Function) is output by Serial SBUS to PWM. Corresponding mode: PWM1=Servo15, PWM2=Servo16, PWM3=Servo17, PWM4=Servo18,PWM5=Servo19 ,PWM6=Servo20,PWM7=Servo7,PWM8=Servo8,...,PWM14=Servo14 Setting method: Serial5(1-5)_protocol=15(http://ardupilot.org/copter/_images/sbus_inverter.png) Serial5(1-5)_baud=100 *5. Q_TILT_RATE_DN and Q_TILT_RATE_UP of the tilting model can input 4 digits to enable seamless transition, for example: Q_TILT_RATE_DN=1018 (indicating that the transition can be used by firmware from 10 degrees to 18 degrees per second) Q_TILT_RATE_UP=60 (indicating that the conversion is back at 60 degrees per second) Q_TILT_FIX_ANGLE=10 (fixed wing vector angle 10=10 degrees) Q_TILT_FIX_GAIN=60 (fixed wing vector sensitivity 60=60%) Q_TILT_MAX=70 Q_TILT_THR_DN=100 Q_TILT_THR_UP=30 Q_TRAN_PIT_MAX=7 Q_TRAN_RLL_MAX=9 Q_TRAN_YAW_GAIN=0.3 Q_TRANS_DECEL=2.5 (Deceleration rate, the smaller the value, the slower the car but the longer the distance is required to slide) TRIM_PITCH_CD=150 (Note: When the MP is pressed horizontally, please ensure the level of the four-axis arm, completely based on multi-axis level. , instead of the fixed wing. The elevation angle of the fixed wing is set in this parameter, 150 = 1.5 degrees, 250 = 2.5 degrees...) RTL_RADIUS=65 (RTL starts to convert to rotor mode and slides home at 65 meters) You can also enable the weathervane parameters: Q_WVANE_GAIN=0.15 Q_WVANE_MINROLL=2 The above parameters apply to most models. 固件名称:ArduPlane-20190717 (V3.10.0-DEV) 版本识别码:210c2070 ================================================================= 1. Synchronize the official code Support RTK dual antenna direction finding (using NMEA GPHDT protocol) to replace traditional compass. This type of RTK GPS is usually very expensive. Increase the biaxial tilting type (Bi-Copter, commonly known as 'Avatar', VTOL for tilting, non-tailed) Improvements for EKF2/3: Even for inactive IMUs, learn EKF biases to make IMU failover more powerful EKF uses the Earth's magnetic field model to reduce compass errors in flight After locking, EKF switches to the first healthy IMU IMU fixes samples discarded at high CPU usage Added support for Ublox F9 GPS Reset the altitude after locking to reduce the impact of the barometer drift. *2. Optimized for medium/large tilting vertical takeoff and landing (takeoff weight >15Kg or wingspan >3.6m). Mainly for sensor and integrator algorithm optimization, and supports industrial grade sensors. *3. Optimization of transition smoothing of tilting models. The *4.4+1 model releases the control of the ROLL in advance to shorten the conversion distance. Limited by the Q_TRAN_RLL_MAX parameter, the shorter distance increases the angle, if too large, it will cause tilt or heading deviation. 固件名称:ArduPlane-20190617 (V3.10.0-DEV) 版本识别码:b9023161 ================================================================= 1. Synchronize the official code *2. Landing code refactoring. Landing (conversion rotor -> positioning -> descent phase 1 -> descent phase 2) is more stable and accurate, and can also accept the lever shift of the remote control. Recommended parameters: Q_RTL_MODE=1 (enable hybrid return) RTL_RADIUS=90 (converted to a rotor at 90 meters close to home) Q_TRANS_DECEL=2 (deceleration rate is 2, the smaller the value, the slower the car is) Q_TILT_RATE_UP=30 (converts the rotor to 30 degrees per second, 90 degrees is 3 seconds) Q_TILT_THR_UP=10 (the throttle is zoomed to 10% when converted back to the rotor, almost no power coasting) Q_WP_SPEED_DN=250 (the first stage drops at a speed of 2.5 meters per second) Q_LAND_FINAL_ALT=9 (9 meters off the ground into the second phase of decline) Q_LAND_SPEED=80 (the second stage drops at a rate of 0.8 meters per second) *3. Tilting model conversion code optimization Correctly set the horizontal angle difference between the rotor and the fixed wing, for example, TRIM_PITCH_CD=250 (2.5 degrees), which can be high during the transition to the fixed wing. And have better flight efficiency. Converting the rotor back to the rotor provides another setting method that does not climb high and the car is smooth. Q_TILT_RATE_DN=10-15 (the bigger the airplane accelerates, the more it will take 9 seconds to tilt the 10 degrees per second to accelerate the runaway into a fixed wing) Q_TILT_RATE_UP=30 (30 degrees per second, meaning 3 seconds to convert back to multiple axes) Q_TILT_THR_UP=10 (During the multi-axis conversion, the maximum throttle is zoomed to 10%, sliding with a small throttle for 3 seconds, unless the airspeed advances to a low speed) SRV_MIX_QUAD=-0.2 (all multi-axis mode fixed-wing rudder faces only participate in 20%, negative values ​​include self-stabilizing feedback also 20%) Note: The old firmware should not set Q_TILT_THR_UP like this, it may get the opposite effect. *4. Other minor modifications Modifying the voltage supply over 5.8V will give an error (infinitely innovative flight control can be supplied at 12V) The remote control loses control logic to prevent the problem that RC?_OPT=104 will be replaced by CH5 main mode after losing control and recovering. Unlimited innovation CANBUS compass can coexist with two compasses at the same time (an external high-precision compass / a CAN GPS built-in compass) Correction of the hanging model in the LOITER mode (or out of control), the remote control will not enter the problem of out of control protection. Fixed an issue where Internal errors detected (?) was frequently reported. 固件名称:ArduPlane-20190516 (V3.10.0-DEV) 版本识别码:0a3fe322 ================================================================= 1. Synchronize the official code New CANBUS range finder / CANBUS optical flow sensor .Watchdog optimization Correct the EKF2/EKF3 to select the wrong bug when the IMU fails! . Attitude controller optimization Added CRT_SIN parameter to critical sinking speed in m/s, and battery failure to trigger emergency parachute *2. Correct the problem of frequent error reporting by IOMCU, and reduce the frequent alarm sounds on the ground (3 down-conversion + 3 ascending). *3. Dual power switchboard support, setting method: Servo?_Function=122 (dual power switchboard) Then insert the switch board signal line into the corresponding PWM port, it will automatically switch the power of the rotor (including auxiliary) mode and fixed-wing mode. For example, the rotor mode uses a high C number of small capacity LiPO batteries, while the fixed wing mode automatically uses 18650 or low power fuel cells. *4. Add left rear and right rear tilt steering gear (Q_TILT_MASK=10 or 15), X4 double pushback and X4 four tilting machine. Servo?_Function=123 (left rear-tilt steering gear) Servo?_Function=124 (right rear-tilt steering gear) *5. Added automatic speed return function (only in automatic and cruise mode). FS_MAX_WIND_SPD=12 (maximum wind speed m/s, default is 0=disabled) FS_MAX_WIND_SEC=30 (returns when the maximum wind speed exceeds a few seconds, the default is 30 seconds) The wind speed unit is m/s (m/s). If you want to use the wind level, please refer to the following table: Series m/s (m/s) Land situation / sea surface situation =========================================================== ================================ 2 1.6-3.3 Windy surface, the leaves have sound, the general weather mark rotates / the microwave is obvious, the peak is smooth and not broken 3 3.4-5.4 The leaves and twigs are shaking, the flags are waving/wavelet, the peaks begin to rupture, the bubbles are like beads, and the peaks are evenly foamed. 4 5.5-7.9 Dust and sand flying, paper flying, small trunk shaking / wavelet getting higher, crest foam gradually 5 8.0-10.7 A small tree with leaves sway, the inland water surface has a small wave / medium wave is getting higher, the peak is white foam, occasional spray 6 10.8-13.8 The big branches are shaking, the wires are vocal, the umbrella is difficult/large waves are formed, the range of white foam is increased, and the waves are gradually rising. 7 13.9-17.1 The whole tree is shaking, there is resistance in the wind, and the sea surface rushing/spraying foam is blowing along the wind. 8 17.2-20.7 The twigs are blown, the wind is difficult to advance, the waves are rising, the crests are broken, and the waves are obviously blown along the wind. *6. Automatic mode remote control is out of control FS_AUTO_UNLOCK=0 The mode switch will be locked. You must play the YAV lever several times to the left and right (you can't hit the bottom left or right, it will be retrieved about 3-5 times) FS_AUTO_UNLOCK=1 The lock mode switch will not be locked in any case. FS_AUTO_UNLOCK=2 Same as 0 (out of control lock mode switch) and the automatic mode is locked as soon as it is unlocked (no loss of control is also locked), once it is retrieved, it is no longer locked. Note: Only the remote control mode switch can be locked (the mode cannot be switched), the ground station can still switch mode, and the remote control can still fine-tune the shift. 固件名称:ArduPlane-20190426 (V3.10.0-DEV) 版本识别码:b1bc4268 ================================================================= 1.同步官方代码 .防止故障的IMUs导致失去姿态控制. 这个是针对Pixhawk2 Cube飞控IMU硬件Bug所做出的修正,问题报告在这个网页: https://discuss.cubepilot.org/t/sb-0000002-critical-service-bulletin-for-cubes-purchased-between-january-2019-to-present-do-not-fly/406 注意:这个并不会修复硬件,只是把前2个故障的IMUs可以确定转移到第3个IMU而已, 而且会检查Pixhawk2 Cube是否被玩家把第3个IMU给禁用了. 固件名称:ArduPlane-20190415 (V3.10.0-DEV) 版本识别码:cb88bc7f ================================================================= 1. Synchronize the official code Fix a major bug in speed/height processing. This error occurs in the TECS (Total Energy Control System) and can cause a sustained pitch drop that eventually causes the aircraft to fall. This repair includes the protection of the pitch integrator and the correction of transient causes in the airspeed demand affecting the airspeed required by the TECS. Note: This error is not determined in the group firmware, because the group firmware is different from the official firmware, so use the group firmware. If you want to update the old version, you can use the official firmware to update it. Optimization of the .EKF code. .Refactoring *2. Optimized the landing code to improve the accuracy of the landing (RTL/VTOL_LAND), which can accept faster and larger winds. The landing process is mainly affected by the following parameters (if you do not know how to set it, please use the following parameters): Q_TRANS_DECEL=1.5 (deceleration rate, default is 2, the smaller the value, the longer the taxi distance and the slower the brakes) RTL_RADIUS=90 (how many meters from home starts to turn to multi-axis, if it is 0, use WP_LOITER_RAD parameter value) The above two parameters take it as large, for example, the approach speed is very fast and the deceleration rate is set to be small, and it will be converted farther than RTL_RADIUS. Q_TILT_THR_UP=30 (maximum throttle limit when converting back to multi-axis, if the throttle is too large, it will rise and climb) Q_TILT_RATE_UP=80 (converted back to the speed of multi-axis tilt back, if set too slow, it will rise and climb) If the above two parameters are set too small, they will go high. Q_WP_SPEED_DN=250 (default is 150, 150 centimeters per second = 1.5 meters, changed to 2.5 meters per second) Q_LAND_FINAL_ALT=12 (to avoid the barometer error, change the final landing phase to 12 meters and start deceleration) Q_LAND_SPEED=80 (or 90, final descent phase speed, 80 cm per second = 0.8 m) Q_LAND_DETECT=4 (falling and tilting method, please refer to the 20181216 version for details) Note: The wind will drop heavily (for example, wind >12m/s), but it can be safely landed. 固件名称:ArduPlane-20190325 (V3.10.0-DEV) 版本识别码:e155ddbe ================================================================= 1. Synchronize the official code *2. Fix the problem that the wind is falling and shaking and looking for the position too slowly. Increasing the speed of the first phase can reduce the shaking, for example: Q_WP_SPEED_DN=250 (default is 150, 150 centimeters per second = 1.5 meters, changed to 2.5 meters per second) Q_LAND_FINAL_ALT=12 (to avoid the barometer error, change the final landing phase to 12 meters and start deceleration) Q_LAND_SPEED=80 (or 90, final descent phase speed, 80 cm per second = 0.8 m) *3. After the automatic mode task ends (the landing is completed and locked), set the mode to QSTABILIZE. This is for people who often directly hit the pole to unlock the takeoff, but did not pay attention to the mode is still in the AUTO to unlock and fly. 固件名称:ArduPlane-20190319 (V3.10.0-DEV) 版本识别码:3907466f ================================================================= 1. Synchronize the official code Fix some bugs .ChibiOS code optimization New support for IMUs: ICM20602/ICM2648/ICM20649 New support for STM32F7, STM32H7 The landing phase can use boosts to maintain position. Optimize the tailstock code. Optimize the landing code. 2. Added QACRO mode (multi-axis manual mode, mode code 23), adjusted using acro_r/p/y_rate parameter 3. Added Q_M_SLEW_DN_TIME, Q_M_SLEW_UP_TIME parameter, range 0-0.5 Q_M_SLEW_DN_TIME Limits the throttle output from 0 to the maximum time (in seconds, the default 0 is disabled) Q_M_SLEW_UP_TIME Limits the throttle output from maximum to 0 (in seconds, default 0 is disabled) This makes the control smoother (eg 0.25), prevents sudden sharp changes and reduces the strange acceleration of the motor. *4. Multi-site landing support: Automatic use of Terrain data, if there is Li-DAR laser, laser priority, for example, the landing point is much higher than the takeoff point Can avoid landing or landing when landing. Using the secondary development ground station can take off again and take off to the next point, the MP official version can not be lifted again after landing. *5. Added support for the following variable pitch models (see HeliPlane.txt for details) Pure pitch multi-axis (Q_ENABLE=2 will not change the aircraft, AUTO is still multi-axis mode), oil / electric can be. .V44 variable pitch (can be tilted forward / backward tilted / fully tilted / not tilted 4 + x) .Y3 variable pitch (can be tilted forward / full tilted) *6. Optimized conversion code (including 4+1 models) 固件名称:ArduPlane-20190214 (V3.10.0-DEV) 版本识别码:effeebfe ================================================================= 1. Synchronize the official code. Fixed a lot of bugs (especially tailstock) . Attitude control code optimization. .QLOITER enters idle speed faster when landing. . tail-type new 4 paddle type / auxiliary motor 2. Added support for CANBUS ESC. Toshiba CAN ESC (http://ardupilot.org/copter/docs/common-toshiba-can-escs.html) KDE CAN ESC (https://www.kdedirect.com/products/kde-uas125uvc) 3. Added Q_TRANS_FAIL parameter (1-60=maximum conversion seconds, 0=no limit, default 0). The maximum number of seconds to switch to the fixed wing. If it cannot be converted successfully and exceeds the set number of seconds, it will fall in place. *4. Reduce the log record, mainly for recording only CAM (photo POS) when the log is too much, resulting in very slow data download. The records will be rearranged as follows. If you choose to record only CAM, the log is reduced to 1%. Select record LOG_CTUN to increase QTUN, CTRL, RATE, PSC Select record LOG_TECS to add TECS, TEC2 Select record LOG_CMD to increase STAT *5. ALT_HOLD_RTL Self-return parameter increase <-1 setting: >=0: Return to the set height, for example 8000 (8000 cm = 80 m) will return to 80 m height when returning. =-1: Returned at the height of the time. <-1: Same as above, but if the height is less than the setting, climb to the height, for example -8000 (cm), if it is lower than 80 meters, climb to 80 meters. If it is higher than 80, it will return to the altitude at that time. *6. Parameter Q_M_HOVER_LEARN Automatic throttle learning (the official has this parameter but no effect) Q_M_HOVER_LEARN=0 (disabled) Q_M_HOVER_LEARN=1 (enable throttle auto learning) When automatic throttle learning is enabled, the QSTABILIZE throttle stick will be hovered in the middle according to the battery voltage and motor KV. Switching back to QSTABILIZE mode by other modes (such as QLOITER) will not cause a sudden climb or fall, making the operation easier. *7. Increase the Q_TRAN_YAW_GAIN parameter (the heading lock sensitivity during the transition from multi-axis to fixed-wing mode) Q_TRAN_YAW_GAIN=0 (disabled) Q_TRAN_YAW_GAIN=0.1-1 (the heading lock sensitivity, the default is 0.3, the tilt/vector model can be used, other models are invalid) In the crosswind, the conversion will have better heading locking ability. In the direction of the head before the conversion, it is the same direction after the success of the fixed wing. Commissioning: The default 0.3 applies to most aircraft. If the crosswind will yaw, it can be increased. If it is too large (overshoot), it will cause the wing to swing left and right (after a while). *8. Increase the Q_SLIP_GAIN parameter (inclination/vector model anti-slip sensitivity) Q_SLIP_GAIN=0 (disabled, default is 0) Q_SLIP_GAIN=0.1-1 (anti-slip sensitivity) Flying forward in a straight line in the crosswind, but the nose will be offset at an angle, causing the aircraft to be out of order. This parameter can be used to maintain the attitude using the vector of the tilting machine. Then use the coordination of differential / tail rudder / aileron / vector to improve this situation. Debugging: Starting from 0.1, if it is too large (excessive), it will cause the snake to advance (can't hold the line) or the turning posture is bad. 固件名称:ArduPlane-20190103 (V3.10.0-DEV) 版本识别码:bba35462 ================================================================= 1. Synchronize the official code New parameter BRD_SD_SLOWDOWN (SD card write speed), normal (high speed) SD card, please keep the default 0, bad card often leak log can increase itself. . Added half-duplex data transfer protocol. New serial port pass-through (received data will be passed to another port) function, parameter: SERIAL_PASS1/SERIAL_PASS2/SERIAL_PASSTIMO The multi-axis auto-tuning process is written into the LOG, and the range value is modified (the PID that is called out is more reasonable) No longer support and compile *.PX4 firmware, will be replaced with ChibiOS instead of Nuttx. . Vector tailstock code correction and optimization. *2. When the remote control throttle is >0%, the ground station will be forbidden to unlock. Firmware Name: ArduPlane-20181220 (V3.10.0-DEV) Version Identifier: 447fab59 =========================================================== =============== 1. Synchronize the official code Correct the problem that the barometer will report an error when it is turned on. Optimization of space velocity calculations. When FLIGHT_OPTIONS=8 (bit3), the target airspeed TRIM_ARSPD_CM is used in the Cruise or FBWB mode. 2. Multi-axis automatic adjustment correction: If you adjust multiple axes at the same time (PITCH+ROLL+YAW), if you want to give up (not all completed) in the middle, you can store the adjusted axes. 3. The route command VTOL_LAND (automatic hover reduction is enabled, enabled with Q_OPTIONS=16), add: a. Use the landing airspeed specified by the TECS_LAND_ARSPD parameter first. b. Add the Q_FW_LND_APR_RAD parameter to specify the radius of the automatic hover (unit: m). 4. Correct Q_A_RAT_YAW_P overshoot (when the P value is outrageous) will cause the problem of exceeding the stroke amount, and the ground can not be tested. Fixed wing vector problem. Known issues: Self-test is a bit too strict. As long as the air pressure or compass changes a little, you will often hear 3 rises + 3 down-tunes on the ground. If you don't want to hear the warning tone, you can exclude the barometer from the self-test (of course risk At your own risk, for example, a real fault...) 固件名称:ArduPlane-20181216 (V3.10.0-DEV) 版本识别码:1f8db08d ================================================================= 1. Synchronize the official code 2. Added multi-axis mode auto-tuning (QAUTOTUNE mode), automatic tuning steps: a) Set any flight mode to QAUTOTUNE mode Since the current Mission Planner does not recognize this mode (there will be an update later), so enter the full parameter list will FLTMODE?=22 (number of QAUTOTUNE mode), for example, temporarily change the original FBWA (number 5) to 22. b) Set the parameter Q_AUTOTUNE_AGGR=0.1 (0.1 = aggressive, 0.075 = medium, 0.050 = weak) This hopes to automatically adjust the results of the adjustments, the greater the value, the more aggressive (corrected and strong) c) Select the parameter Q_AUTOTUNE_AXES to select the combination of the axes (roll, pitch, yaw) to be adjusted. Q_AUTOTUNE_AXES=1 (only roll) Q_AUTOTUNE_AXES=2 (only the pitch axis is adjusted) Q_AUTOTUNE_AXES=4 (only adjust the yaw axis) Q_AUTOTUNE_AXES=7 (three axes are adjusted together, 1+2+4=7, of course, 1+4=5 only roll + yaw) The suggestion to hang up is adjusted by one axis to prevent the battery from running out, or to suspend the ESC for a long time. d) Find a windless or breezy sky and wide field to take off in multi-axis mode (QS/QH/QL mode), then cut the switch to just The specified QAUTOTUNE mode. Note: The adjustment mode is similar to QHOVER (the fixed height mode), the throttle is centered and the height is fixed, so pay attention to your throttle to be centered. e) At this time, the automatic adjustment will start. If you run too far, you can pull the rod back (you can get in at any time). After pulling back, the pole will continue to adjust. When it is no longer shaking, it means that the adjustment has been completed. At this time, you can try it with a shot. If you feel satisfied, you will land in QAUTOTUNE mode. And locking is memory, if you are not satisfied, cut to another mode and then lock (do not remember). *3. Modify the Q_LAND_DETECT parameter value and increase the 4&5 option (because the previous threshold is changed strictly, the multiplayer response is too slow, so the current 4 is the previous 3) Q_LAND_DETECT Automatic landing completion (including AUTO/RTL/QLAND) detection method. 0=Use the barometer to not change >20 cm in a few seconds (locking slow >5 seconds, this is the default old way) 1=With a barometer, it does not change >20 cm in a few seconds (fast lock >3 seconds) 2=Use ground effect + ACC-Z to judge (locking slow > 2 seconds) 3=Use ground effect + ACC-Z to judge (locked > 1 second, default value) 4=Use ground effect + ACC-Z to judge (locking fast > 0.5 seconds) 5=Use ground effect + ACC-Z to judge (locking extremely fast > 0.3 seconds) note: a.Q_LAND_DETECT=5 Please use with care!! When the updraft is strong and the carrier is light and powerful, it is difficult to drop when the throttle is lowered. May be 6 meters off the ground (the second stage landing height) was misjudged and locked!! b. Small aircraft (not touching the ground) If you use 3-5 for a long time to lock, please use 0 or 1. 固件名称:ArduPlane-20181212 (V3.10.0-DEV) 版本识别码:3d1a3a0c ================================================================= 1. Synchronize the official code *2. Remote control out of control protection optimization Use all channels of memory for some remote range or digital remote control (such as ULRS/OPENLRS/Huazhiyi/...) To handle the remote control of the runaway protection, to ensure that the automatic mode is not affected by other channels when the controller is out of control (for example, CH5 is placed in the RTL before the CH3 is pulled low). *3. Improve the threshold of Q_LAND_DETECT=3 Some air planes with large wings and light weights, when they hit the automatic landing, they encounter a strong updraft. The throttle receives the lowest and is difficult to land, and may be mistaken. Judging as ground effect (already touched). *4. When the multi-axis mode is locked, the rudder surface of the fixed wing can be set to neutral or freely swing (no PWM output) to avoid falling behind the steering gear. LAND_THEN_NEUTRAL=0 (none) LAND_THEN_NEUTRAL=1 (downward rudder surface neutral) LAND_THEN_NEUTRAL=2 (No PWM is output after landing, the rudder surface is free to swing) 固件名称:ArduPlane-20181125 (V3.10.0-DEV) 版本识别码:b6519c88 ================================================================= 1. Synchronize the official code 2. Added VTOL_LAND automatic hovering down and windward multi-axis landing function. Instructions: Set the parameter Q_OPTIONS=16 to enable this function (Note: Q_OPTIONS other function bits definition please look down, have detailed definition) The speed bar of the route command VTOL_LAND is rotated to multi-axis to multi-axis. For example, if it is 50 meters, it will automatically circle to 50 meters if it exceeds 50 meters (not hovering if it is less than 50 meters) The height of the VTOL_LAND input will automatically find the wind direction and convert to multiple axes, and finally land in the multi-axis mode head against the wind. Demonstration: http://v.youku.com/v_show/id_XMzkzMzQwNjYyOA==.html Warning: Please pay attention to whether there is any obstacle near the landing point. If there is any obstacle, the height of VTOL_LAND at the MP input should be greater than the obstacle height. *3. The ground station will unlock in the AUTO mode and then take off again (3 seconds countdown). *4. Multi-axis conversion to fixed-wing code optimization, mainly to improve the impact of crosswind on conversion. If the conversion is also a structural problem, you can use the following methods: Regardless of the direction in which the direction is fixed to the left yaw, turn the left tilt steering gear forward a little (about 20-80pwm to try). Regardless of the direction in which the direction is fixed to the right yaw, tilt the right steering gear forward a little (about 20-80pwm to try). 固件名称:ArduPlane-20181106 (V3.10.0-DEV) 版本识别码:38eed4ba ================================================================= 1. Synchronize the official code .Battery failure protection voltage parameter conversion repair .Safety switch start repair (occasionally not properly initialized) .SD card record clearing is only available when locked (avoid the user trying to erase the log while flying) .Pixracer LED Color Fix .RC input processing fix Enable the safety switch on the Pixhawk F7 board Modified airspeed fix for .MP ground station (not available before) New support for some boards     固件名称:ArduPlane-20181005 (V3.10.0-DEV) 版本识别码:9cd62e81 ================================================================= 1. Synchronize the official code Fixed a bug where the COMPASS_AUTO_ROT parameter caused the compass to be rotated twice during calibration! Fixed an issue where switching to QLoiter mode gestures would change dramatically. Some fixes for ChibiOS (including RSSI/Dshot/safety switches and some minor fixes) *2. Optimization of the transition algorithm from multi-axis to fixed-wing, the main impact: a. The transition current is reduced. b. The heading control is more straight. If the conversion is also a structural problem, you can use the following methods: Regardless of the direction in which the conversion is fixed to the left, turn the left tilt steering gear a little forward (about 20-80pwm to try). Regardless of the direction in which the conversion is fixed to the right, tilt the right steering gear forward a little (about 20-80pwm to try). *3. Added support for SAU-II flight control (Chengdu UAV-AI unlimited innovation): a. Automatic mode (AUTO) smoothing, especially if the nose is not aligned with the next waypoint on the ground, the conversion will be steady and smooth. b. Model 4+1 (or 4+2), transitional second stage (Q_TRANSITION_MS period) smooth height control. 固件名称:ArduPlane-20180915 (V3.10.0-DEV) 版本识别码:0e0d847f ================================================================= 1. Synchronize the official code Added .Q_OPTIONS parameter Bitmask0 (bit0 is decimal 1): conversion limit ROLL angle Note: This option is not used. The group firmware Q_TRAN_RLL_MAX parameter should be used (with scaling smoothing capability, stable) Bitmask1 (bit1 is decimal 2): ​​The hanging model uses the runway to take off (sliding takeoff). Bitmask2 (bit2 is decimal 4): The hanging model uses the runway to land (sliding down). Bitmask3 (bit3 is decimal 8): The takeoff command is not executed when the height is greater than the takeoff altitude. Bitmask4 (bit4 is decimal 16): Enable VTOL_LAND to hover down and wind up to multi-axis landing. For example, Q_OPTIONS=8, indicating that the current altitude > automatic takeoff altitude ignores the takeoff command. The official fixes a lot of bugs, but most of the official bugs won't happen in this firmware (because the algorithm and control methods are different), only the affected ones are listed. a. Fixed an ADC error affecting the analog input of some flight control boards. b. Fixed a dead reckoning error that caused GPS to be lost. c. Fixed that if the aircraft did not have enough power to climb to reach the target height during take-off, the attitude was unstable. *2. New parameter NAVL1_SMOOTH=Smooth route control, this is a bit type, the default is 3 (bit0+bit1 are both open) Bit0(1): RTL smoothing Bit1(2): route (turning) smoothing Bit2(4): Bit3(8): Just add the functions you want, for example bit0+bit1=1+2=3 *3. The enhancement of crosswind ability will be more stable when the fixed wing is converted back to multi-axis heading, and the transition to the fixed wing will be smoother. *4. The Skywalker X8 (delta wing model) has better support. 固件名称:ArduPlane-20180910 (V3.10.0-DEV) 版本识别码:b5d72224 ================================================================= 1. Synchronize the official code Reconstructed CAN code, has supported "Chengdu - Unlimited Innovation UAV-AI" all CANBUS devices (GPS / servo / smart battery / compass / airspeed meter /...) New parameter: RC?_Option Optimize some code about gesture control. Fixed a bug where the tail rudder stayed at the last position of the remote control when it was out of control! *2. New parameter SRV_MIX_QUAD=% of the fixed-wing rudder surface output when the multi-axis mode remote control is steered (range: 0-1, increment 0.01) E.g: SRV_MIX_QUAD=1 (100% rudder, default = 1) SRV_MIX_QUAD=0.5 (50% rudder) SRV_MIX_QUAD=0 (0%, fixed-wing servo is not affected by the remote control) Note: The auto-stable feedback is not affected by this parameter, only affects the fixed-rudder rudder output of all multi-axis mode remote controls. If it is negative, both rudder and feedback will affect. For example, -0.5, the remote control steer and self-stabilization feedback are 50% (full off can be set to -0.001) *3. New parameter CAN_D1_UC_MAG_ID=Specify CAN BUS compass ID 0=automatic (default) 55=External CANBUS compass (When specified, the CAN GPS built-in compass will be deactivated and the high-precision external compass will be used) *4. Corrected the stall protection is too sensitive, some airspeed measurement shock amplitude is large, so it is only 0.2 seconds after the stall is enabled to enable multi-axis assistance. *5. New level calibration method (use the old method if TRIM_PITCH_CD=0): TRIM_PITCH_CD=The angle difference between fixed wing and multi-axis (0=disable, 100=1 degree, 350=3.5 degree,... analogy, default=0) a. Accurate the six-sided calibration of the accelerometer on the flat desktop and then install it on the machine. b. Based on the multi-axis level, press [Level Calibration] on the accelerometer page and adjust the tilt servo to the ground and level. c.TRIM_PITCH_CD=200 (2 degrees) starts to lift off the test, observe the attitude of FBWA flying, if it is low, it will increase, and the head will decrease. , or observe the HUD and the rudder surface (RCOUT.CH2 lift) and adjust the parameters to appropriate. Note: .X8 (delta wing) 300-600 is appropriate, other aircraft start to adjust at 200 (2 degrees). The switching mode (example QSTABILIZE->FBWA) will see the angle change in the MP's HUD. *6. Multiple optimizations for all delta wing models (eg X8) (including conversion / fixed wing mode / multi-axis mode) 固件名称:ArduPlane-20180816 (V3.10.0-DEV) 版本识别码:0f7c837d ================================================================= 1. Synchronize the official code Most of them are modifications and optimizations for ChibiOS. *2. Support for CANBUS (CANBUS device produced by Chengdu UAV-AI) .CANBUS GPS/Compass/RGB LED support (CAN1_DEV and CAN2_DEV are available) .CANBUS airspeed meter support (CAN1_DEV and CAN2_DEV are available) *3. Added [Emergency Route] function. If the RTL is triggered in the automatic mode (eg low voltage / runaway / ground station cut return / ...), you can choose to travel home safely by a certain route. This function is best done by a modified ground station (it will make it unreasonable), so be careful if you use the general ground station input parameters. Parameters: In theory, this parameter is controlled by the ground station, but you can enter it yourself without a special ground station (please enter it carefully). WP_EMC_1=nnnxxx (6 digits in total, disabled if parameter is 0) Nnn=Exceeding this waypoint number will enable the emergency route. Xxx=Enter the waypoint number of the emergency route. If it is less than 3 digits, it will be filled in front. For example: WP_EMC_1=6025, then nnn=6, xxx=25 Indicates that the automatic route flies over the sixth point. If RTL occurs, it will go home with the waypoint 25->26->27->.... For example: WP_EMC_1=30125, then nnn=30, xxx=125 Indicates that the automatic route flies over the 30th point. If RTL occurs, the route is extended by the waypoint 125->126->127->.... Note: If there is no dedicated ground station (it will be reasonable if the automatic check is reasonable), please check this every time you upload the route. *4. Other minor modifications: .THR_MAX Fixed wing maximum throttle limit changed to proportional scaling. For three-turn type: switch height = 3 power / switch medium = double front pull / switch low = single push back RC?_OPT=3 (In the same way, the motor that is not used will not automatically dump back) RC?_OPT=31 (same function, but the tail motor will automatically dump back when double forward pull) RC?_OPT=32 (same function, the tail motor will automatically dump back when double forward pull, the front pull motor will automatically dump back when single push back) 固件名称:ArduPlane-20180802 (V3.10.0-DEV) 版本识别码:5d923aed ================================================================= 1. Synchronize the official code Some fixes for .ChibiOS. Fix the problem that some sounds of the buzzer will not play. Some fixes for .TECS. . Remove the "no io thread heartbeat" error message. *2.CANBUS airspeed meter support Parameters: ARSP_TYPE (airspeed meter type) 0: disabled 1:I2C-MS4525D0 2:Analog 3: I2C-MS5525 4: I2C-MS5525 (0x76) 5: I2C-MS5525 (0x77) 6: I2C-SDP3X 7: CANBUS Enable ARBUS_TYPE=7 to enable the CANBUS airspeed meter. *3. Added RLT automatic hovering circle to reduce height function. Q_RTL_LOIT_MIN=The height is greater than this value to enable the hovering height, the default is 500 meters. Q_RTL_LOIT_RAD=Circle radius, default 110 meters (counterclockwise if negative) Q_RTL_LOIT_ALT=Hovering down to this height, default 100 meters Note: 1. The above three units are all meters, and the default value is conservative. Please modify it as necessary. 2. Please make sure there are no obstacles in the HOME radius that are higher than RTL_LOIT_ALT. 3. When approaching RTL_RADIUS (if 0, use WP_LOITER_RAD) radius starts to circle lower, when the height arrives, it will turn into multi-axis landing at the appropriate angle. 4. The center of the circle is determined by the RTL_RADIUS parameter. If HOME is to be on the tangent of the outer diameter of the circle, set RTL_RADIUS to the same as Q_RTL_LOIT_RAD. 5. The radius of the circle should be appropriate. The default 110 meters is a good radius. When the spiral is high, the current is <=1A. 6. Rally Point will also be lowered in this way. *4. Added turntable pan/tilt. When enabled, it will always aim the camera at the next waypoint (WP) in automatic (AUTO) mode to solve the yaw/slide heading offset. MNT_AUTO_WP=1 (1=enabled, 0=disabled, default is 0) Note: The type of pan/tilt is the same as the current setting, which can be a servo turntable or a brushless head. E.g: WP MNT_AUTO_WP=1 (Enable Turntable PTZ Lock WP) MNT_TYPE=1 (Enable the servo head, if your brushless head supports the Mavlink protocol, you can also use the brushless head) MNT_DEFLT_MODE=3 (This setting is not used in automatic mode, the default 3 is to control the pan/tilt with the remote control knob) MNT_RC_IN_PAN=6 (Use the remote control CH6 knob to control the pan/tilt rotation. Note: the knob will be disabled in the automatic mode because of the lock WP) MNT_STAB_PAN=1 (Enable YAW Axial PTZ) SERVO11_FUNCTION=6 (using AUX3 plug-in head servo, you can also use SERVO8 or other empty PWM output) *5. The remote control function switch is changed from RC?_TRIM to RC7_OPT ~ RC9_OPT, because TRIM will be troubled by zeroing each time the remote controller is calibrated. The RC?_OPT function code is as follows: 0=disabled 3=3 vector Y3 dedicated (low position = rear side single motor thrust, neutral = front side double motor thrust, high position = front and rear three motor thrust) 4=4 tilting X4 dedicated (low position = rear side double motor thrust, medium position = front side double motor thrust, high position = front and rear four motor thrust) 104=switch center = LOITER (circle), switch high = RTL (self-return) 106=switch center = FBWB (FBWB fixed mode), switch high = CRUISE (cruise mode) 109=Camera shutter trigger 116=Auto mode (cancelled, because of doubts, the control and re-control will switch to the mode of the main mode switch instead of automatic) 118=QLand mode (in-situ multi-axis mode self-drop) 124=Air Mission Reset 128=Relay 1 (switch high = on, switch low = off) 134=Relay 2 (switch high = on, switch low = off) 135=Relay 3 (switch high = on, switch low = off) 136=Relay 4 (switch high = on, switch low = off) E.g: RC7_OPT=104, the remote control switch CH7 is in the Loiter mode when it is in the middle position, and it is RTL when it is turned on. RC9_OPT=109, the remote control switch CH9 will take a photo when it hits the high position (and will store the CAM bit) 固件名称:ArduPlane-20180725 (V3.10.0-DEV) 版本识别码:b1300367 ================================================================= 1. Synchronize the official code Mainly for a bunch of corrections and optimizations of ChibiOS, as well as some new flight control boards and OSD support. 2. New parameters *Q_TRAN_RLL_MAX: The maximum roll (ROLL) angle allowed during conversion, default 5 (degrees). This parameter will gradually increase the angle with the increase of airspeed and ground speed (maximum 2.5 times, but will not exceed LIM_ROLL_CD) Use: Converting the fixed wing If the nose is not aligned with the route, it will turn while turning (the posture is not good), so the new parameters are smoothed. *Q_TILT_SRV_SYNC: Canbus enables angle return/protection This is a bit-form parameter, and each bit is represented as follows: Bit1 (1) = angle allows maximum offset of 5 degrees Bit2(2)=An angle allows a maximum offset of 10 degrees Bit3(4)=An angle allows a maximum offset of 15 degrees Bit4(8)=Angle offset duration >100ms (microseconds) is fault Bit5(16)=Angle offset duration >200ms (microseconds) is fault Bit6(32)=Angle offset duration >300ms (microseconds) is fault Bit7(64)=Whether to report back to the ground station when the fault occurs Bit8 (128) = fault strain level 1 (failed to unlock / disable conversion / synchronous tilt) Bit9(256)=Debug mode (the angle information will be sent to the ground station continuously) Bit10 (512) = fault strain level 2 (appropriate treatment according to the angle of failure, multi-axis landing or fixed-wing home hovering) E.g: 1. The general fault is only alarm but not limited: bit2+bit5+bit7 = 2+16+64=82 2. Fault alarm + limit: bit2+bit5+bit7+bit8 = 2+16+64+128=210 3. Only output servo information at the ground station: bit2+bit5+bit9 = 2+16+256=274 Q_TAILSIT_THSCMX: The maximum value for tailstock throttle zoom. Decreasing this value reduces low frequency oscillations. *3. Update the QRTL/QLAND code. The current official code is very beautiful to simulate (because the simulation is in perfect condition), but the actual use is not ideal! So the new group firmware QRTL and the landing are rewritten, which will be more accurate and more stable. Firmware Name: ArduPlane-20180713 (V3.10.0-DEV) Version Identifier: 08da22 =========================================================== ============= 1. Synchronize the official code Mainly for the correction and optimization of OSD and ChibiOS. *2. Correct the route command (TAKEOFF/VTOL_TAKEOFF). If you accidentally add coordinates (latitude and longitude), it may cause the bomber. Or it will not rise vertically when taking off, but will fly diagonally toward the wrong point. So the group firmware will delete the coordinates of the command (if you deliberately read it with MP, you will find that it changes back to 0) If there is no person to update, TAKEOFF/VTOL_TAKEOFF remember not to give coordinates, please maintain 0, otherwise there will be problems. *3.Q_TILT_DN_THR and Q_TILT_UP_THR are renamed to Q_TILT_THR_DN and Q_TILT_THR_UP This way the parameter tables will be arranged together for easy viewing. Firmware Name: ArduPlane-20180702 (V3.9.0-DEV) Version Identifier: 802f6a =========================================================== ============= 1. Synchronize the official code .F7 (STM32F7) support, including Pixhawk4/Pixhack5/Pixhawk2 Cube (orange) Fixed a lot of ChibiOS Bugs! *2. Does not trigger low voltage when returning or landing (F/S_Battery) Firmware Name: ArduPlane-20180610 (V3.9.0-DEV) Version Identifier: b95fe2 =========================================================== ============= 1. Synchronize the official code 2.ChibiOS support Added FMU_V2/V3/V4/V5 (F7) firmware support. Note: ChibiOS is still in the test, novices are not recommended to brush. *3. New parameter Q_TILT_THR_DN is converted from multi-axis to fixed-wing throttle limit (example: 0,100=100%, 90=maximum 90%) Uses: When the power is too large, the fuselage structure cannot be supported. After the conversion is completed, it is limited by the THR_MAX (fixed wing maximum throttle) parameter. Firmware Name: ArduPlane-20180601 (V3.9.0-DEV) Version Identifier: 31c6d7 =========================================================== ============= 1. Synchronize the official code *2. Correct the following Log units (the original MP will be divided by 100, for example, the ground speed 20 is displayed as 0.20) GPS.Spd POWR.Vcc POWR.Servo *3. New parameters FS_AUTO_UNLOCK automatic mode remote control out of control lock mode switch (1 = no lock, 0 = lock) The default is 0 (lock mode, you must hit the YAV bar to take control), if you set the risk of 1 And the bomber does not send the log up (see the ArduPlane-20171124 version update instructions below) Transaction parameters: Q_ASSIST_ALT=Height protection, when setting a negative value, you can specify a remote control channel (knob or switch) to specify the height, -6 is CH6, -7 is CH7...-14 is CH14, when the knob or switch is in the neutral position (PWM=1500), it is 25 meters high. In the low position (PWM<1100), the height protection is turned off, in the high position (PWM > 1900 is 50 meters, PWM > 2100 is 65 meters) If it is positive (>0), specify the height (20=20 meters), see the ArduPlane-20180502 update instructions below. Q_ASSIST_ALT_MOD=Which mode is used to save the machine, see the ArduPlane-20180502 update instructions below. a. Set a 21 (QRTL) mode. b. If the remote control is out of control (or not turned on), then the QLAND self-drop mode will save the machine. Firmware Name: ArduPlane-20180516 (V3.9.0-DEV) Version Identifier: fd4463 =========================================================== ============= 1. Synchronize the official code * Self-test does not check the Trim value after RC7 (including RC7). *2. Support CAN Bus bus steering angle feedback / fault detection and strain. *3. New parameters (functions) Q_LAND_DETECT Automatic landing completion (including AUTO/RTL/QLAND) detection method. 0=Use the barometer to not change >20 cm in a few seconds (locking slow >5 seconds, this is the default old way) 1=With a barometer, it does not change >20 cm in a few seconds (fast lock >3 seconds) 2=Use ground effect + ACC-Z to judge (locking slow > 2 seconds) 3=Use ground effect + ACC-Z to judge (locked > 1 second, default value) 4=Use ground effect + ACC-Z to judge (locking fast > 0.5 seconds) 5=Use the ground effect + ACC-Z to judge (the lock is extremely fast > 0.3 seconds), the updraft is strong and the carrier is light and powerful, please use it carefully!! When it is difficult to land when the throttle is lowered, it may be locked 6 meters above the ground (the landing height of the second stage)!! Note: For small aircraft (<2Kg) or aircraft with high vibration, please keep the default mode set to 0 or 1. *4. Automatic mode can be manually lifted and converted to AUTO. Firmware Name: ArduPlane-20180502 (V3.9.0-DEV) Version Identifier: fd4463 =========================================================== ============= note: This new version of the firmware code changes quite a bit, from the old version to this version may need to adjust the parameters Can fly, so it is recommended that novices do not use for the time being, let the friends who are familiar with PID first try. 1. Synchronize the official code New support for FBM320 and DPS280 barometers . Added DEVO-M data transmission support Fixed a bug where the tangential angle was incorrect when lotto_to_alt (circled up or down) left. Correct the value error sent to the ground station (missing the temperature as the pressure value). Fix the bug that the safety switch may be pressed in the air, increase the BRD_SAFETYOPTION parameter. Modify the default installation orientation for Here GPS's ICM-20948 compass. Correction of the tailstock type transition from FBWA to QSTABILIZE throttle sometimes suddenly pulls down the bug. 2. Added BLHELI ESC support (ChibiOS must be used) Adjusting/brushing firmware to Blheli via BLHeliSuite via Pixhawk's USB port .Dshot150/300/600/1200 Support Http://ardupilot.org/copter/docs/common-dshot.html#esc-telemetry 3. Vertical takeoff and landing (VTOL) optimization Replace the old multi-axis attitude control with a new position control algorithm. Use a new rate attitude controller during the transition (transition) (the transition is smoother / the height control is better) The horizontal position controller runs at full speed of 400hz (old 50hz) New L1 distance calculation method (turning will be smoother) .New / Transaction parameters Q_A_INPUT_TC (attitude control input time constant), the smaller the value, the larger the response, the larger the value, the smaller the response Example: Q_A_INPUT_TC=0.5 is very soft, 0.2 soft, 0.15, 0.1 fast, 0.05 very fast Speed ​​gain doubled, Q_P_VELXY_P, Q_P_VELXY_I, Q_P_VELXY_D parameters may have to be adjusted (tune up) .Q_P_ANGLE_MAX Position controller angle limit (0-45 degrees), if set to 0, use Q_ANGLE_MAX Multi-axis QLOITER adds brake control, parameters: WPNAV_BRK_JERK, BRK_ACCEL and BRK_DELAY Tilt angle Q_WP_LOIT_ANGM (0-45), if set to 0, 70% angle of Q_ANGLE_MAX * Fixed the problem that when the GPS accuracy is poor and it returns to land, it may stop at the top of HOME and not fall. * Added conversion back to multi-axis throttle scaling parameter. If it is converted back to multi-axis, it will increase the value. For example, 60 (%) TILT_THR_UP=0 is disabled, 1~99 is throttle zoom% * Added low height assistance parameters: Q_ASSIST_ALT=0.5 seconds below this height triggers the rescue (0=disable, 1~300=1m~300m) Q_ASSIST_ALT_MOD=What mode is used to save the machine (0=disable, 17=QSTABILIZE,18=QHOVER,19=QLOITER,20=QLAND,21=QRTL) Note: At least the flight must have exceeded ASSIST_ALT + 5 meters in fixed-wing mode, if not, it will not trigger. *4. CAN BUS servo / ESC / GPS support. Note: In the mass production of the hardware (currently not available), only a small number of group friends who have obtained the sample test. *5. Added support for helicopter-based aircraft, see HeliPlane.txt file (with instructions) Note: The structure has not yet been mass-produced (currently not available), and it is also only available for group friends who have the ability to DIY their own structure. Firmware Name: ArduPlane-20180222 (V3.9.0-DEV) =========================================================== ============= 1. Synchronize the official code Correct the EKF height estimate with bugs! Support for ChibiOS Code sorting and some optimizations about timers. Known issues: The new firmware has a parameter (current ratio) BATT_AMP_PERVOLT has been changed to BATT_AMP_PERVLT, and the MP has not been updated yet. Therefore, the power management page will have an error "The BATT_AMP_PERVOLT parameter could not be found". If you want to change the parameters of the power supply measurement. Please go to all the parameter tables yourself and change the BATT_AMP_PERVLT parameter directly. Functional change: Fixed wing winding mode (LOITER mode) The original point of entry is the outer diameter of the circle. The new version has been changed to the center of the point and the height can be Change with the elevator, but let go of the elevator will automatically climb back to the original height. *2. Correction When the safety switch is disabled (or not installed), the motor sometimes turns 1~2 turns when power is on. This code has been rewritten (this problem has been cured) *3. Variable pitch sag starts testing. Firmware Name: ArduPlane-20180127 (V3.9.0-DEV) =========================================================== ============= 1. Synchronize the official code *2. Modify the Y3 conversion algorithm, mainly for Y3, when the crosswind transitions, the left and right wings will swing forward (not beautiful). Can be modified by Q_WVANE_MINROLL=1~3 (usually a value between 1 and 3) You can start with 0.5 (0.5 1 1.5 2 2.5 3) until the rocking phenomenon disappears. *3. Modify the multi-axis attitude algorithm to integrate the high-speed tilt servo, if you use high-quality high-speed tilt servo With reference to the new parameter tuning, multi-axis performance is better (hands and more wind resistant). Firmware Name: ArduPlane-20180114 (V3.9.0-DEV) =========================================================== ============= 1. Synchronize the official code (released in V3.8.5) Dual airspeed meter support (failover) New MS5525 barometer, SDP33 airspeed meter support Optimize motor thrust calculation Modified some Mavlink protocol content and DataFlash records Reset the ground speed when GPS is lost until the GPS is locked again. Fixed a bug in the new airspeed meter (MS5525) driver in time . Added support for PocketPilot Code finishing and some optimizations about EKF and barometers. Firmware Name: ArduPlane-20171229 (V3.8.3-DEV) =========================================================== ============= 1. Synchronize the official code: *2. Correction When the safety switch is disabled (or not installed), the motor sometimes turns 1~2 turns when power is on. Firmware Name: ArduPlane-20171220 (V3.8.3-DEV) =========================================================== ============= 1. Synchronize the official code: Fix some memory usage and construct create() issues. Remove some unused code. Fixed multi-axis boost throttle control problem .EKF and ARHS code optimization. Fixed some problems with SBUS OUT and single-line servo protocol. There are also some official minor fixes. Firmware Name: ArduPlane-20171128 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official code: Fixed compass calibration sometimes stuck at 33% progress. In the case of multi-axis assisted flight, the minimum airspeed can be set to be small (for example, 0) There are still a lot of minor corrections, please check the official website. *2. It is judged to change the ground speed by turning the fixed wing back to the multi-axis mode (originally it is the airspeed priority, and the ground speed is used when there is no airspeed) *3. Record more NAV (navigation information). Firmware Name: ArduPlane-20171124 (V3.8.2-DEV) =========================================================== ============= *1. After the AUTO (automatic mode) remote control is out of control (F/S), the recovery signal will lock the mode and the mode switch is invalid. The YAV lever must be shaken left and right for more than 3 times in 3 seconds (the swing direction cannot be too large to the limit) to unlock. This is to prevent the remote control signal from being interrupted (or the receiver is bad) and mistakenly think that it is necessary to retrieve control and turn from AUTO to a certain mode. Firmware name: ArduPlane-20171121 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official code 2. Support Volz servo (can monitor servo temperature / angle / current...) *3. RTL and QLAND's self-descending process can be artificially controlled to shift (for example, just someone or a car at the bottom) Both stages of landing can be shifted. At this time, the throttle is uncontrollable and the shift is prohibited when the throttle is F/S or 0% (in case it is controlled) *4. Two-stage automatic landing code optimization (no step/stable transition). *5. Optimize the Y3 transition code (mainly for the X8 Flying Wing 3 vector model) Gùjiàn míngchēng:ArduPlane-20171108 (V3.8.2-DEV) =============================================================== 1. Qiǎngpò PX4IO gēngxīn Pixhawk2 Cube shuā V3 gùjiàn IO méi gēngxīn, zàochéng Mission Planner rèn bùdé Cube, rúguǒ yǒu zhège wèntí de rén, qǐng zhòngshuā zhège bǎnběn jí kě. 2. Xiūzhèng wèi jiěsuǒ shí shǐliàng wúfǎ yùnzuò de wèntí, zhège shì fāngbiàn wǒmen dìmiàn tiáo jī (tiáozhěng shǐ liáng jiǎodù) yòng. 3. Zìdòng jiàngluò bìng zìdòng shàng suǒ de pànduàn gèng wèi yánjǐn. Gùjiàn míngchēng:ArduPlane-20171105 (V3.8.2-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn (V3.8.3_Beta4 fābù) #wěi zuò shì dàimǎ yōuhuà (bāokuò xuán tíng wěndìng dù jí zhuǎnhuàn guòdù de wěndìng dù dàfú tíshēng) #xīn zēng cānshù Q_TRANS_DECEL (jiǎnsù lǜ m/s/s, yù shè wèi 2.0) Yòng yú zìdòng zhuǎnhuàn (gùdìng yì zhuǎn dào duō zhóu) de jiǎnsù lǜ, zhí yuè dà zé jiǎnsù yuè kuài jùlí yuè duǎn. 2. Xīn zēng fēi kòng bǎn Pixhawk3 PRO de zhīchí, duìyìng gùjiàn ArduPlane-v4_PRO.Px4 gùjiàn míngchēng:ArduPlane-20171030 (V3.8.2-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn (V3.8.3_Beta1 fābù) #yǔnxǔ zài GUIDED móshì xià shǐyòng Q_GUIDED_MODE = 0 jìnxíng chuízhí qǐfēi #xiūzhèngle MANUAL_RCMASK de cuòwù #wěi zuò shì pínghuá zhuǎnhuàn #xīn zēng hángxiàn mìnglìng LOITER_TO_ALT #zài FMUv3 I2C shàng zēngjiāle IST8310 luópán #shàng suǒ shí jìlù guānjiàn xìnxī #fǎngzhēn nénglì de gǎijìn 2.TECS: Gǎijìnle duì VTOL zhuǎnhuàn de zhīchí 3. Xīn zēng Q_MAV_TYPE cānshù, kě zhēnduì mǒu xiē dìmiàn zhàn fāsòng xīntiào zhǒnglèi, yǐ bìmiǎn dìmiàn zhàn duàn xiàn, zhí rúxià: 0:AUTO,1:FIXED_WING,2:QUADROTOR,3:COAXIAL,4:HELICOPTER,7:AIRSHIP,8:FREE_BALLOON, 9:ROCKET,10:GROUND_ROVER,11:SURFACE_BOAT,12:SUBMARINE,16:FLAPPING_WING,17:KITE, 19:VTOL_DUOROTOR,20:VTOL_QUADROTOR,21:VTOL_TILTROTOR zhù: Rúguǒ shì MP/Tower zé shǐyòng yù shè de 0 jí kě. 4. Zhēnduì jiàngluò dàimǎ de yōuhuà 5. Zhēnduì zìdòng hángxiàn dàimǎ de yōuhuà 6. Duǎn shīkòng FS_SHORT_ACTN kě guānbì, kě shèzhì de zhí rúxià: 0:CIRCLE/bù dòngzuò (zài AUTO|GUIDED|LOITER móshì xià),1:CIRCLE,2:FBWA,3: Guānbì (bù dòngzuò) 7. Xīn zēng Q_OPTIONS cānshù, yǔnxǔ chuí qǐ jī xíng xuǎnzé shǐyòng gùdìng yì qǐfēi hé zhuólù wèi biǎoshì: Bit0:LevelTransition(zhuǎnhuàn dào gùdìng yì shíjī yì qīngxié bìxū zài LEVEL_ROLL_LIMIT jiǎodù nèi) bit1:AllowFWTakeoff(kěyǐ yòng gùdìng yì qǐfēi) bit2:AllowFWLand(kěyǐ yòng gùdìng yì jiàngluò) lìrú 1(bit0) biǎoshì zhuǎnhuàn qíjiān jī yì bìxū bǎochí zài LEVEL_ROLL_LIMIT jiǎodù nèi. Lìrú 6(bit1,bit2) biǎoshì yǔnxǔ shǐyòng gùdìng yì móshì (ér bùshì chuí qǐ móshì) qǐfēi jí jiàngluò. Gùjiàn míngchēng:ArduPlane-20171011 (V3.8.2-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn *2. Xīn zēng gùdìng yì shǐliàng cānshù (yù shè shì guānbì de) Q_TILT_FIX_ANGLE=10(gùdìng yì shǐ liáng jiǎodù,0=guān,10=10 dù) Q_TILT_FIX_GAIN=100(gùdìng yì shǐliàng gǎndù,0=guān,100=100%) tiáoshì fāngfǎ: 1. Xiān jiāng Q_TILT_FIX_ANGLE=10, Q_TILT_FIX_GAIN=100 2. Qiēhuàn shǒudòng/QStabilize móshì, shèzhì hǎo Servo9_Min/Servo9_Max jí Servo10_Min/Servo10_Max xíngchéng liàng 3.QStabilize móshì, tuī yóumén (bùyào jiěsuǒ), dǎ YAW shì shì jiǎodù (jiǎng huì yī qián yī hòu bǎidòng, dàn yòu bù huì kǎn dào jī yì) 4. Shǒudòng móshì, tuī yóumén (bùyào jiěsuǒ), dǎ shēngjiàngduò shì jiǎodù (huì tóngshàng tóng xià), dǎ fù yì shì jiǎodù (huì yī qián yī hòu), 5.FBW*móshì, tuī yóumén (bùyào jiěsuǒ), jī shēn wǎng qián qīng zé duò jī jiǎodù cháo shàng, wǎng yòuqīng zé duò jī jiǎodù wǎng shàng. 6. Dōu diào hǎole jiù bǎ Q_TILT_FIX_GAIN=50, shēng kōng cèshì, rúguǒ juédé bùgòu zài zìxíng zēngjiā (zuìdà dào 100%). Yòngtú: Lìyòng shǐliàng lái fǔzhù gùdìng yì duò miàn xiūzhèng, duò shīxiào réng yǒu yīdìng de kòngzhì nénglì. Hángxiàn yā de gèng hǎo, páshēng jí xiàjiàng gèng róngyì, gāodù bǎochí gèng hǎo, kě jiějué hěnduō zǎi jī de máobìng huò pì xìng. Gùjiàn míngchēng:ArduPlane-20171006 (V3.8.2-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn 2. Xīn zēng Y6F jī xíng jí xiūzhèng yīxiē GPS xiě rù log de wèntí. Q_M_THST_EXPO(diànjī tuīlì qūxiàn) yǔnxǔ shèzhì fù zhí, jiējìn 0 wèi xiànxìng, fǒuzé wèi qūxiàn. Zhù:Q_M_THST_EXPO cānshù rúguǒ shè 0 de rén, qǐng bǎ tā gǎi chéng 0.1(Zuìxiǎo zhí), yù shè wèi 0.65 3. Qīng zhuǎn de shuāng fā chà sù gǎndù cānshù tǒngyī gǎi chéng RUDD_DT_GAIN(yù shè wèi 10=10%), zhè jiāng shǐyòng yú gùdìng yì suǒyǒu móshì (bāokuò shǒudòng móshì), tōngcháng shè 20%~30%jiù yǒu bùcuò deguò wān xiàoguǒle. 4. Lèisì duō zhóu CH?_OPT de cānshù: RC7_TRIM ~ RC12_TRIM zhí: 3=3 Shǐliàng Y3 zhuānyòng (dīwèi =hòu cè dān diànjī tuīlì, zhōng wèi =qián cè shuāng diànjī tuīlì, gāowèi =qiánhòu sān diànjī tuīlì) 4=4 qīng zhuǎn X4 zhuānyòng (dīwèi =hòu cè shuāng diànjī tuīlì, zhōng wèi =qián cè shuāng diànjī tuīlì, gāowèi =qiánhòu sì diànjī tuīlì) 104=kāiguān zhōng wèi =LOITER(rào quān), kāiguān gāowèi =RTL(zì fǎn) 106=kāiguān zhōng wèi =FBWB(FBWB dìng gāo móshì), kāiguān gāowèi =CRUISE(xúnháng móshì) 109=xiàngjī kuàimén chùfā 116=Auto móshì 118=QLand móshì (yuán dì duō zhóu móshì zì jiàng) 124=hángxiàn rènwù chóng zhì (Auto Mission Reset) 128=jìdiànqì 1 (kāiguān gāowèi =kāi, kāiguān dīwèi =guān) 134=jìdiànqì 2 (kāiguān gāowèi =kāi, kāiguān dīwèi =guān) 135=jìdiànqì 3 (kāiguān gāowèi =kāi, kāiguān dīwèi =guān) 136=jìdiànqì 4 (kāiguān gāowèi =kāi, kāiguān dīwèi =guān) lìrú: RC7_TRIM=104, zé yáokòng qì kāiguān CH7 zài zhōng wèi shí shì Loiter móshì, kāi kāidǎ dào gāowèi shì RTL. RC9_TRIM=109, zé yáokòng qì kāiguān CH9 dǎ dào gāowèi jiù huì pāi yī zhāng xiàngpiàn (qiě huì cún CAM wèizhì). Rúguǒ RC7_TRIM~RC12_TRIM de zhí bùshì yǐshàng biānhào, zé wú zuòyòng. Gùjiàn míngchēng:ArduPlane-20170922 (V3.8.2-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn 2.QLoiter jí QLand pínghuá kòngzhì (àn sùdù yù gū suǒdìng wèizhì, dàodá cái suǒ wèizhì yǐ bìmiǎn táitóu) 3.Log zhōng de"Reset alt target"dānwèi yóu gōngfēn gǎi wèi mǐ 4. Xīn zēng Mavlink mìnglìng DO_SET_HOME (chóng shè HOME de wèizhì) gùjiàn míngchēng:ArduPlane-20170911 (V3.8.2-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn (V3.8.2 Fābù) 2.GUIDED(dǎo yǐn móshì) zhīchí QGroundControl dìmiàn zhàn gǎibiàn gāodù. 3. Zhīchí QGroundControl dìmiàn zhàn yòng yáo gān (Joystick) kòngzhì fēijī. Gùjiàn míngchēng:ArduPlane-20170909 (V3.8.2-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn (V3.8.2Beta1 fābù) xiūzhèng Septentrio (SBF) GPS qūdòng de cuòwù de, shǐyòng Septentrio/RTK de rén wùbì gēngxīn. 2.GUIDED(dǎo yǐn móshì) zhīchí VTOL zìdòng qǐfēi/gǎibiàn gāodù gōngnéng. 3. Guòdù (xuányì gēn dìng yì zhī jiān de zhuǎnhuàn) jiāng gèng wéi pínghuá. Gùjiàn míngchēng:ArduPlane-20170907 (V3.8.2-DEV) =============================================================== 1.RTL gāodù pínghuá kòngzhì (yóu dìng yì zìdòng zhuǎn wèi duō zhóu huá xiàng Q_RTL_ALT=30 mǐ, zhè duàn pínghuá kòngzhì) gùjiàn míngchēng:ArduPlane-20170903 (V3.8.1-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn (V3.8.1 Wěndìng bǎn fābù, dàimǎ zhěnglǐ jí yīxiē guānfāng xiǎo bug xiūzhèng) 2. Xīn zēng yīgè shù chuán kǒu, xiànzài SERIAL5 kěyǐ shèzhì wéi yībān shù chuán kǒu (bù zài zhǐ néng dāng NSH) gùjiàn míngchēng:ArduPlane-20170810 (V3.8.1-DEV) =============================================================== 1. Tóngbù guānfāng gùjiàn 2. Xīn zēng sān shǐliàng Y3 zhīchí, zhǐyào bǎ Q_TILT_MASK=11 Servo*_Function=45(hòu shǐliàng qīng zhuǎn duò jī) RC7_TRIM=3(huò RC8_Trim=3 huò RC9_Trim=3 huò RC10_Trim=3 rèn xuǎn qí yī, wù chóngfù) dāng zhège yáokòng qì kāiguān: Dīwèi =hòu cè dān diànjī tuīlì zhōng wèi =qián cè shuāng diànjī tuīlì gāowèi =qiánhòu sān diànjī tuīlì qǐyòng Pitch zhù tuī: Q_VFWD_GAIN=0.1(Fǎnyìng tài dà zé 0.05, Juédé tài xiǎo zé 0.2) Qítā shèzhì tóng Y3 gùjiàn míngchēng:ArduPlane-20170806 (V3.8.1) =============================================================== 1. Tóngbù guānfāng gùjiàn (V3.8.0 Wěndìng bǎn fābù) 2. Xīn zēng MANUAL_RCMASK cānshù, kěyǐ zài shǒudòng móshì xià zhǐdìng nàxiē xìndào zhíjiē yóu yáokòng qì shūchū. Yě jiùshì shǒudòng móshì kěyǐ suí zìjǐ gāoxìng qù gǎo hùn kòng huò tèjì zǔhé zhī lèi de... Zhè shì yīgè bit xíngshì, shèzhì fāngfǎ jiù gēn Log_Bigmask yīyàng fāngfǎ, duìzhào rúxià: 0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6 6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11, 11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16 gùjiàn míngchēng:ArduPlane-20170730 (V3.80 Beta6) =============================================================== 1. Tóngbù guānfāng gùjiàn (zhǔyào shi yōuhuà jí xiūzhèng EKF3 zhè fāngmiàn de dàimǎ) 2. Rúguǒ jiàngluòsǎn méiyǒu chénggōng shìfàng, huì zìdòng zài chángshì. 3. Zēngjiā Show more 5000/5000 Character limit: 5000 Firmware Name: ArduPlane-20171108 (V3.8.2-DEV) =========================================================== ============= 1. Force PX4IO update Pixhawk2 Cube Brush V3 firmware IO is not updated, causing Mission Planner to recognize Cube, if there is this The person in question, please re-paint this version. 2. Fix the problem that the vector can't work when it is not unlocked. This is convenient for us to adjust the ground (adjust vector angle). 3. The judgment of automatic landing and automatic locking is more rigorous. Firmware Name: ArduPlane-20171105 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official firmware (released by V3.8.3_Beta4) #尾座式码设计(including hover stability and stability of conversion transition) #Add parameter Q_TRANS_DECEL (deceleration rate m/s/s, preset is 2.0) For the automatic conversion (fixed wing to multi-axis) deceleration rate, the larger the value, the faster the deceleration, the shorter the distance. 2. Added support for Pixhawk3 PRO, corresponding to firmware ArduPlane-v4_PRO.px4 Firmware Name: ArduPlane-20171030 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official firmware (released by V3.8.3_Beta1) #Allow vertical takeoff using Q_GUIDED_MODE = 0 in GUIDED mode #Fixed MANUAL_RCMASK error #尾座式转换转换 #Add route command LOITER_TO_ALT #Added IST8310 compass on FMUv3 I2C #记录Key information when locked #模拟能力's improvement 2.TECS: Improved support for VTOL conversion 3. Added Q_MAV_TYPE parameter to send heartbeat type to some ground stations to avoid ground station disconnection. The values ​​are as follows: 0: AUTO, 1: FIXED_WING, 2: QUADROTOR, 3: COAXIAL, 4: HELICOPTER, 7: AIRSHIP, 8: FREE_BALLOON, 9: ROCKET, 10: GROUND_ROVER, 11: SURFACE_BOAT, 12: SUBMARINE, 16: FLAPPING_WING, 17: KITE, 19: VTOL_DUOROTOR, 20: VTOL_QUADROTOR, 21: VTOL_TILTROTOR Note: If it is MP/Tower, use the preset 0. 4. Optimization for landing code 5. Optimization of automatic route codes 6. Short runaway FS_SHORT_ACTN can be turned off, the settable values ​​are as follows: 0: CIRCLE / no action (in AUTO|GUIDED|LOITER mode), 1: CIRCLE, 2: FBWA, 3: off (no action) 7. Added Q_OPTIONS parameter to allow the drooping model to choose to use the fixed wing to take off and land. Bit representation: Bit0: LevelTransition (the wing tilt must be within the LEVEL_ROLL_LIMIT angle when converting to a fixed wing) Bit1: AllowFWTakeoff (can take off with a fixed wing) Bit2: AllowFWLand (can be landed with a fixed wing) For example, 1 (bit0) means that the wing must remain within the LEVEL_ROLL_LIMIT angle during the transition. For example, 6 (bit1, bit2) indicates that the take-off and landing are allowed using the fixed-wing mode (instead of the sag mode). Firmware Name: ArduPlane-20171011 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official firmware *2. Added fixed wing vector parameters (default is off) Q_TILT_FIX_ANGLE=10 (fixed wing vector angle, 0=off, 10=10 degrees) Q_TILT_FIX_GAIN=100 (fixed wing vector sensitivity, 0=off, 100=100%) Debugging method: 1. First Q_TILT_FIX_ANGLE=10, Q_TILT_FIX_GAIN=100 2. Switch the manual/QStabilize mode and set the Servo9_Min/Servo9_Max and Servo10_Min/Servo10_Max strokes. 3.QStabilize mode, push the throttle (do not unlock), try the angle of YAW (the paddle will swing one after the other, but will not cut the wing) 4. Manual mode, push the throttle (do not unlock), hit the elevator test angle (same as above), play the aileron test angle (will be one after the other), 5. FBW* mode, push the throttle (do not unlock), the fuselage leans forward, the steering angle is upward, and the right is tilted to the steering angle. 6. If you have adjusted it, put Q_TILT_FIX_GAIN=50 and lift it up. If you feel that it is not enough, increase it yourself (up to 100%). use: The vector is used to assist the fixed-wing rudder surface correction, and the rudder failure still has some control ability. The route pressure is better, the climb and descent are easier, the height is better, and it can solve the problem of many carriers. Firmware Name: ArduPlane-20171006 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official firmware 2. Added Y6F model and corrected some GPS write log problems. Q_M_THST_EXPO (motor thrust curve) allows setting a negative value, close to 0 for linear, otherwise curve. Note: If the Q_M_THST_EXPO parameter is set to 0, please change it to 0.1 (minimum), the default is 0.65. 3. The tilted double-difference sensitivity parameter is uniformly changed to RUDD_DT_GAIN (default is 10=10%), which will be used for fixed wings. All modes (including manual mode) usually have a good cornering effect of 20%~30%. 4. Parameters similar to multi-axis CH?_OPT: RC7_TRIM ~ RC12_TRIM value: 3=3 vector Y3 dedicated (low position = rear side single motor thrust, neutral = front side double motor thrust, high position = front and rear three motor thrust) 4=4 tilting X4 dedicated (low position = rear side double motor thrust, medium position = front side double motor thrust, high position = front and rear four motor thrust) 104=switch center = LOITER (circle), switch high = RTL (self-return) 106=switch center = FBWB (FBWB fixed mode), switch high = CRUISE (cruise mode) 109=Camera shutter trigger 116=Auto mode 118=QLand mode (in-situ multi-axis mode self-drop) 124=Air Mission Reset 128=Relay 1 (switch high = on, switch low = off) 134=Relay 2 (switch high = on, switch low = off) 135=Relay 3 (switch high = on, switch low = off) 136=Relay 4 (switch high = on, switch low = off) E.g: RC7_TRIM=104, the remote control switch CH7 is in the Loiter mode when it is in the middle position, and it is RTL when it is turned on. RC9_TRIM=109, the remote control switch CH9 will take a photo when it hits the high position (and will store the CAM position). If the value of RC7_TRIM~RC12_TRIM is not the above number, it has no effect. Firmware Name: ArduPlane-20170922 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official firmware 2.QLoiter and QLand smoothing control (predicting the locked position by speed, reaching the locked position to avoid lifting) 3. The "Reset alt target" unit in the log is changed from centimeters to meters. 4. Add the Mavlink command DO_SET_HOME (reset the location of HOME) Firmware Name: ArduPlane-20170911 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official firmware (released in V3.8.2) 2. GUIDED (guide mode) supports QGroundControl ground station to change the height. 3. Support QGroundControl ground station to control the aircraft with a joystick (Joystick). Firmware Name: ArduPlane-20170909 (V3.8.2-DEV) =========================================================== ============= 1. Synchronize the official firmware (released in V3.8.2beta1) To correct the Septenrio (SBF) GPS driver error, people using Septentrio/RTK must update. 2. GUIDED (guiding mode) supports VTOL automatic takeoff / change height function. 3. The transition (conversion between the rotor and the fixed wing) will be smoother. Firmware Name: ArduPlane-20170907 (V3.8.2-DEV) =========================================================== ============= 1.RTL height smoothing control (automatically change from fixed wing to multi-axis sliding to Q_RTL_ALT=30 meters, this smoothing control) Firmware Name: ArduPlane-20170903 (V3.8.1-DEV) =========================================================== ============= 1. Synchronize the official firmware (V3.8.1 stable release, code finishing and some official minor bug fixes) 2. Add a new digital port, now SERIAL5 can be set to a general number port (no longer only NSH) Firmware Name: ArduPlane-20170810 (V3.8.1-DEV) =========================================================== ============= 1. Synchronize the official firmware 2. Add three vector Y3 support, just put Q_TILT_MASK=11 Servo*_Function=45 (post vector tilt steering gear) RC7_TRIM=3 (or RC8_Trim=3 or RC9_Trim=3 or RC10_Trim=3, choose one, do not repeat) When this remote control is switched: Low position = rear side single motor thrust Median = front side double motor thrust High position = front and rear three motor thrust Enable Pitch Boost: Q_VFWD_GAIN=0.1 (0.05 for too much reaction, 0.2 for too small) Other settings are the same as Y3 Firmware Name: ArduPlane-20170806 (V3.8.1) =========================================================== ============= 1. Synchronize the official firmware (V3.8.0 stable release) 2. Added MANUAL_RCMASK parameter, you can specify those channels directly in the manual mode to be output by the remote control. That is to say, the manual mode can be used as a pleasure to mix control or combination of special effects... This is a bit type, the setting method is the same as the Log_Bigmask method, as follows: 0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6 6: Chan7, 7: Chan8, 8: Chan9, 9: Chan10, 10: Chan11, 11: Chan12, 12: Chan13, 13: Chan14, 14: Chan15, 15: Chan16 Firmware Name: ArduPlane-20170730 (V3.80 Beta6) =========================================================== ============= 1. Synchronize the official firmware (mainly to optimize and correct the code of this aspect of EKF3) 2. If the parachute is not successfully released, it will automatically try again. 3. Increase Firmware Name: ArduPlane-20170714 (V3.80 Beta6) =========================================================== ============= 1. Synchronize the official firmware (V3.80 Beta6) Beta6 mainly fixes some bugs/codes in the old version/and: EKF3 code optimization. Mavlink and Log record format modification. Support for CAN Bus devices. Remove the old V-tail/flying mode (mix_mode) mode, which has been replaced by a new way. The old lift and aileron input channels have been removed and replaced by new ones. Tailed code optimization. Firmware Name: ArduPlane-20170621 (V3.80 Beta5) =========================================================== ============= 1. Synchronize the official firmware (EKF3 optimization and official small Bugs correction) 2. Mavlink's GPS protocol modification, GPS week and time can be obtained by MAVLINK_MSG_ID_GPS_RAW_INT package, the application code is as follows: //MAVLINK_MSG_ID_GPS_RAW_INT: //Mavlink Packet: 24 Uint64_t gm=mavlink_msg_gps_raw_int_get_time_usec(&msg); GPS_Time=gm/(uint64_t)100000; GPS_Week=gm%GPS_Time; Firmware name: ArduPlane-20170609 =========================================================== ============= 1. Synchronize official firmware (EKF3 optimization) *2. Vector Y3 code is optimized again Firmware Name: ArduPlane-20170601 =========================================================== ============= *1. Vector Y3 code optimization The vector servo correction will apply the Q_RAT_YAW_FF (feedforward) parameter value, so Y3 can Q_RAT_YAW_FF=0.10 to 0.35 (how much to try) Q_RAT_YAW_I is too large. Q_RAT_YAW_P, Q_ANG_YAW_P is too small, and the ANG and RAT parameters of RLL and PIT should not be too large. Firmware Name: ArduPlane-20170530 =========================================================== ============= 1. Synchronize the official code *2. Vector Y3 code optimization *3. Add two parameters like multi-axis CH7_OPT / CH8_OPT, set the method: RC7_TRIM or RC8_TRIM value: 104 = switch median = LOITER (circle), open high = RTL (self-return) 109=Camera shutter trigger 116=Auto mode 118=QLand mode (in-situ multi-axis mode self-drop) 124=Air Mission Reset 128=Relay 1 (switch high = on, switch low = off) 134=Relay 2 (switch high = on, switch low = off) 135=Relay 3 (switch high = on, switch low = off) 136=Relay 4 (switch high = on, switch low = off) E.g: RC7_TRIM=104, the remote control switch CH7 is in the Loiter mode when it is in the middle position, and it is RTL when it is turned on. RC8_TRIM=109, the remote control switch CH8 will take a photo when it hits the high position (and will store the CAM position). If the value of RC7_TRIM or RC8_TRIM is not the above number, it has no effect. Note: *2 and *3 are features not available in the official firmware. Firmware name: ArduPlane-20170519 =========================================================== ============= 1.RTL self-descending (LAND) does not use the official self-decrease code (because it is always weird) 2. The unit of measure used is unified as SI UNIT http://physics.nist.gov/cuu/Units/units.html 3. Test code (only 4 tilting models are valid, other models are not affected) VTOL when the Q_TILT_MASK=15 is tilted at the same time. If RC8_TRIM=5 (the first 2 motors 0101=5), then the remote control's CH8>1750 (switch high position), the fixed-wing mode only turns to the front side (multi-axis does not affect) If RC8_TRIM=10 (the last 2 motors 1010=10), then the remote control's CH8>1750 (switch high position), the fixed wing mode only turns to the rear side (multi-axis does not affect) If the CH8 switch is <1750 (not high), then 4 motors in fixed-wing mode will rotate at the same time (multi-axis does not affect) 4.EKF3 code optimization Firmware Name: ArduPlane-20170509 =========================================================== ============= 1. Fix Y3 boost (Q_VFWD_GAIN>0) tail steering angle problem. 2. Tail-seat new parameter TAILSIT_VHPOW (vector thrust gain power) to improve the stability of vector take-off 3.ARSPD_USE can be set 2 When set to 0, the airspeed sensor can be recorded and displayed on the GCS, but will not be used for flight. When set to 1, it will be recorded and used for flight When set to 2, it is only used when the throttle is zero, which is useful for the glider of the airspeed gauge behind the paddle. Firmware Name: ArduPlane-20170505 =========================================================== ============= 1. Firmware V3.80 Beta5 released 2. Synchronize the official code (EKF3 code optimization) Firmware Name: ArduPlane-20170429 =========================================================== ============= 1. Added BATT_VOLT_TIMEO parameter, which can be set to low voltage for a few seconds to trigger low voltage protection. This is used for low C number batteries (such as 18650) to trigger low voltage for a long time during takeoff, so Please set this parameter to a higher C battery. 2. Vector thrust control combined with Q_VFWD_GAIN (can be pushed forward and pulled back) 3. Fix the problem that the log ATT->Yaw and DesYaw curves cannot be displayed. 4. Optimize the EKF3 code 5. Remove unnecessary code (UAVCAN ESC) and duplicate code to reduce Flash usage. 6. When the throttle is 0%, the differential control does not work. Firmware name: ArduPlane-20170424 =========================================================== ============= 1. Synchronize the official code. 2. In order to facilitate debugging, FBWA/FBWB will directly pour to the bottom when locked (if it is unlocked, it will only pour to The angle of Q_TILT_MAX is waiting for the airspeed to reach the end.) 3. Direct support for the wing and V tail left and right steering gear. This allows the individual stroke amount to be set individually, or it can be used as a special [double flying wing] or [flying wing V tail] Model, Servo*_FUNCTION code is as follows: K_elevon_left = 77 (flying wing - left steering gear) K_elevon_right = 78 (flying wing - right steering gear) K_vtail_left = 79 (V-tail-left servo) K_vtail_right = 80 (V-tail-right servo) 4. Support vector control (Y3 or existing tilting machine type) key parameter: Q_TILT_TYPE=0 (general tilt type) Q_TILT_TYPE=1 (tilt type, such as CL-84) Q_TILT_TYPE=2 (vector control model) Q_TILT_YAW_ANGLE=15 (Maximum tilt angle of vector control, 15=15 degrees. Please set it correctly, In order to avoid tilting backwards, the paddles are cut to the wing) The Servo*_FUNCTION code is as follows: k_tiltMotorLeft = 75 (vector control - left tilt steering gear) k_tiltMotorRight = 76 (vector control - right tilt steering gear) Note: The above left and right refers to the person standing behind the carrier and looking in the direction of the nose. Please do not mistake the left and right direction! Firmware Name: ArduPlane-20170421 =========================================================== ============= 1. Synchronize the official code. 2. When the tilt reaches the specified angle and the airspeed is reached, it will reach the angle of the fixed wing at the fastest speed. Firmware name: ArduPlane-20170417 =========================================================== ============= 1. Synchronize the official code 2. It is forbidden to use fixed wing mode to unlock (except manual mode) This is to prevent someone from accidentally cutting the FBWA mode on the ground. After unlocking, push the throttle again. At this time, all the motors will turn. Get up (including multi-axis motors). Also note that after unlocking, don't have to cut into the fixed-wing mode on the ground unless your plane has wheels or wants Ejection lift, if not... Please take off in multi-axis mode!! Firmware Name: ArduPlane-20170415 =========================================================== ============= 1. New: tail-sitting can also be belly-style Firmware Name: ArduPlane-V2_20170414.px4 =========================================================== ============= 1. The differential motor does not rotate at an idle speed until the tail is unlocked. Firmware Name: ArduPlane-V2_20170413.px4 =========================================================== ============= Added: 1. Vector control: SERVOn_FUNCTION=75 or 76 (75=left tilt steering gear, 76=right tilt steering gear) Q_TAILSIT_VFGAIN=0.2 (forward flight thrust vector gain) Q_TAILSIT_VHGAIN=0.3 (hover thrust vector gain) Related parameters MIXING_GAIN=0.5 (elevator mixing gain) Q_A_ACCEL_P_MAX = 40000 (fixed wing smooth to hover transition to prevent premature pull up of the nose) Firmware name: Tiltrotor_20170406.px4 =========================================================== ============= Added: 1. The log file uses a multi-threaded write lock. 2. The RUDD_DT_GAIN parameter is added to the tail-seat, and the rudder is controlled to the differential thrust (0~100%). 3. Fixed wing L1 controller update, adding LIM_BANK parameter (scaling Loiter radius according to altitude). 4.EKF3 update. 5. Added parameter BRD_IO_ENABLE (enable IO coprocessor). 6. Improve the conversion from QSTABILIZE to FBWA or QHOVER more stable. Firmware name: Tiltrotor_20170403.px4 =========================================================== ============= The V3.80 Beta4 version is released, and the more important updates are as follows: - New SRV_Channel system for setting the output servo separately - New EKF3 algorithm (not enabled by default) - Support tailstock VTOL (Tailsitter VTOL) - greatly improved the stability of the tilting machine (TiltRotor) - greatly improved the conversion code of multi-axis and fixed-wing, the conversion is more stable and fast. - Significant improvements in airspeed noise processing - RTK GPS full support - Greatly improved automatic landing accuracy - Significant improvements in height processing - FBWB_ELEV_R Firmware name: Tiltrotor_20170322.px4 =========================================================== ============= Added: 1. Synchronize the official code, the official has a bug! Correction, as follows: "Plane: initialise target height correctly on quadplane transition this fixes a bug where a plane in QSTABILIZE would drop suddenly if switched to FBWA when the target altitude had not been initialised" Firmware name: Tiltrotor_20170319.px4 =========================================================== ============= Added: 1. Q_VFWD_GAIN=0.1~0.5 You can push the Pitch rudder in the QLoiter mode to make the forward tilt acceleration, so that the multi-axis can fly very fast (0=off, 0.05 Slow, 0.2, 0.5 very fast) Note: There is a situation where the operation is reversed (pushing the elevator tilt direction reversed) For example: remote control CH2 (elevation) inversion, and in the parameters RC2_REV = 1 (lifting reverse), this does not make sense, because with CH2 normal (lifting is not reverse Phase) has the same meaning as RC2_REV=0 (lifting and not reversing). If there is such a negative negative, please remote control CH2=normal, RC2_REV=0 (positive) often). 2. Q_YAW_RATE_MAX=150, some people react to the speed difference is too strong (turning too fast, instantaneously 90 degrees), so lower some, when Q_YAW_RATE_MAX>100 starts to work (<=100 off, 150, 500 is very fast) 3. Fixed the problem that SUBS failsafe could not be triggered correctly under certain conditions. 4. Add multiple SITL simulation parameters. 5. The Q_FRAME_CLASS setting error will be reported in the Mission Planner to prevent Q_Enable from suddenly changing to 0. Firmware name: Tiltrotor_20170315.px4 =========================================================== ============= Added: 1. Synchronize the official AHRS/EKF3 code 2. Switching from fixed-wing mode back to multi-axis mode (or stall assist) will be more stable. 3. Multi-axis attitude controller optimization. 4. Record the log to increase the PIQ record (that is, the Quadplane's PID) and record the location of the home. 5.GPS_AUTO_SWITCH=2 (Improved fusion of two GPS to estimate position, GPS_TYPE2=1) Firmware name: Tiltrotor_20170228.px4 =========================================================== ============= New: Synchronize the official new code (PX4IO has refreshed, please wait for the music to stop after brushing) Firmware name: Tiltrotor_20170225.px4 =========================================================== ============= Added: 1.TILT_RATE_DN, TILT_RATE_UP parameter 2. Fixed-wing manual mode In order to avoid the player's miscut, it has been changed to 1 second and is not restricted by TILT_RATE_DN, so it can be quickly dumped to avoid There is no multi-axis assistance and the bomber. use: TILT_RATE_DN is the speed at which it is dumped (a few degrees per second) TILT_RATE_UP is the speed at which it is dumped (a few degrees per second). If it is slower, it can reduce the rapid stop or the high moment change. The plane smoothly turned back to the multi-axis. example: TILT_RATE_DN=45 Cut to fixed-wing mode for 2 seconds to the end. (1 second 45 degrees) TILT_RATE_UN=30 cut back to multi-axis mode for 3 seconds to pour back. (1 second 30 degrees) Precautions: After updating, TILT_RATE_UN is preset to 0. Please be sure to change the parameters. If you don't know how to change it, put TILT_RATE_UN and TILT_RATE_DN. Fill in the previous TILT_RATE value. Firmware name: Tiltrotor_20170223.px4 =========================================================== ============= New: Control the yaw (YAW) by using the difference in rotational speed between the left and right motors Use: Q_YAW_RATE_MAX (the rudder rotation rate) is greater than 100 to start the effect, the larger the value, the greater the control force, the fixed wing all modes apply. Example: Q_YAW_RATE_MAX=150 Firmware name: Tiltrotor_20170222.px4 =========================================================== ============= Added: Q_WVANE_MINROLL=1 (compensated wind affects yaw when 0~8 is converted) Use: If the conversion is biased at an angle, this is because the arm is too soft or the steering servo is not synchronized or affected by the wind. Try to increase Q_WVANE_MINROLL by 1 (or minus 1) until it is not biased. If it is too large, it will be biased to the other direction.