Beaucoup de changements, c'est toujours en évolution, le but de la rc1 est de détecter les bug.
https://discuss.ardupilot.org/t/copter- ... ting/48545
A noter: le Wiki est normalement en phase avec les nouveautés.Changes from 3.6.11
Path Planning for Object Avoidance (aka Bendy Ruler and Dijkstra’s) replaces “Dodge” avoidance
Complex Fence support (aka stay-out zones)
Lua scripting support on the flight controller
New flight controllers:
a) Hex Cube Orange
b) Holybro Durandal
Attitude Control changes:
a) Attitude Control filters on target, Error and D-term (see ATC_RAT_x_FLTT/FLTE/FLTD)
b) Harmonic notch filter
Flight mode changes:
a) ZigZag mode (designed for crop spraying)
b) SystemId for “chirping” attitude controllers to determine vehicle response
c) StandBy mode for vehicles with multiple flight controllers
d) SmartRTL provides warnings when buffer is nearly full
e) Follow mode offsets reset to zero when vehicle leaves follow mode
f) Upward facing surface tracking using lidar
g) Circle mode points more accurately towards center
Traditional Heli:
a) Removed the parameter H_LAND_COL_MIN and functionality now uses H_COL_MID. CAUTION: ensure H_COL_MID is set to collective blade pitch that produces zero thrust
b) Incorporated a rotor speed governor in rotor speed control (RSC)
c) Moved all RSC parameters to the RSC library
d) Converted throttle curve parameters to percent
e) Converted RSC_CRITICAL, RSC_IDLE, and RSC_SETPOINT to percent
f) Created swashplate library that has presaved swashplate types for use with Heli_Single and Heli_Dual frames
g) Motor interlock with passthrough settable through RC option feature
h) Removed collective too high pre-arm check
i) Added virtual flybar for Acro flight mode
j) Fixed H_SV_MAN minimum and maximum settings for Heli_Dual
Frames:
a) BiCopter support
b) OctoV mixing improvements
RC input/output changes:
a) Serial protocols supported on any serial port
b) IBUS R/C input support
c) DO_SET_SERVO and manual passthrough can operate on the same channel
Battery improvements:
a) Up to 10 batteries can be monitored
b) “Sum” type consolidates monitoring across batteries
c) Fuel flow battery (for use with gas tanks)
Sensor/Accessory changes:
a) Robotis servo support
b) KDECAN ESCs
c) ToshibaCAN ESCs
d) BenewakeTF03 lidar
e) SD Card reliability improvements (if card removed, logging restarts)
f) Yaw from some GPS (including uBlox RTK GPS with moving baseline)
g) WS2812 LEDs (aka NeoPixel LEDs)
h) NTF_BUZZ_VOLUME allows controlling buzzer volume
Landing Gear:
a) Retracts automatically after Takeoff in Auto completes
b) Deployed automatically using SRTM database or Lidar
UAVCAN improvements:
a) dynamic node allocation
b) SLCAN pass-through
c) support for UAVCAN rangefinders, buzzers, safety switch, safety LED
Serial and Telemetry:
a) MAVLink Message-Interval allows reducing telemetry bandwidth requirements
b) SERIALn_OPTIONS for inversion, half-duplex and swap
Safety Improvements:
a) Vibration failsafe (switches to vibration resistant estimation and control)
b) Independent WatchDog gets improved logging
c) EKF failsafe triggers slightly more quickly
