Release 3.0.1, 17 June 2016

The ArduPilot development team is proud to announce the release of version 3.0.1 of APM:Rover. This is a minor release with small but important bug fix changes.

The two main motivations for this release
1. Fixing the arming for skid steering Rovers
2. Fix to the rover steering that should really improve steering of all rovers.

Skid Steering Arming

Fixed arming for Skid Steering rovers. You should now be able to arm your skid steering rover using the steering stick. NOTE skid steering Rovers - you will not be able to disarm. The reason for this is zero throttle full left turn is a perfectly valid move for a skid steering rover as it can turn on the spot. You don't want to be executing this and have the rover disarm part way through your turn so we have disabled disarming via the steering stick. You can still disarm from the GCS. Thanks to Pierre Kancir for working on this.

Improved Steering Control

For historical reason's the steering controller was using the raw GPS data for ground speed without any filtering. If you have every graphed this data you will see on a rover its very spiky and all over the place. This spiky'ness was feeding into the lateral accel demand and causing inaccuracies/jitters. Now we using the EKF GPS filtered data which is much smoother and accurate and the steering control has greatly improved.

Improved Cornering

Previously when corning we didn't take into account any "lean or tilt" in the rover - we assumed the turns were always flat. We have changed this to now take into account any lean so turning should be more accurate. Boat users should really benefit from this too.

MAVLink2 support has been added

See this post by Tridge -

http://discuss.ardupilot.org/t/mavlink2-is-in-ardupilot-master/9188/1

The other changes in this release are:

  • setting your sonar_trigger_cm to 0 will now log the sonar data but not use it for vehicle avoidance.
  • the throttle PID is now being logged
  • range finder input is now being captured (thanks to Allan Matthew)
  • added LOG_DISARMED parameter
  • merge upstream PX4Firmware changes
  • numerous waf build improvements
  • numerous EKF2 improvements

Thanks to everyone who helped on the release.

Views: 997


MR60
Comment by Hugues on June 16, 2016 at 10:30pm

Thx for this new re!ease!

Comment by David Boulanger on June 17, 2016 at 9:05am

Thanks Grant.  Cheers.

Regards,

David R. Boulanger


Admin
Comment by Thomas J Coyle III on June 17, 2016 at 9:42am

Nice work Grant and crew, much appreciated.

Regards,

TCIII AVD

Comment by Gary McCray on June 17, 2016 at 10:28am

Great work,

Just setting up my XMaxx for it.

The improved steering should be a great help.

Best Regards,

Gary


Moderator
Comment by Sgt Ric on June 18, 2016 at 10:24am
Cool, didn't know it would work on office chairs!
Comment by David Boulanger on June 18, 2016 at 10:49am

Arduchair!!  Maybe the code in the future will allow for fire extinguisher assisted boost. 

Good job again.  I'll be taking the boat out tomorrow.

Regards,

David R. Boulanger

 


Developer
Comment by Grant Morphett on June 19, 2016 at 4:25pm

The chair is my spare office chair also know as mobile work bench :-)

Thanks, Grant.

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