The ArduPilot development team is proud to announce the release of version 3.5.1 of APM:Plane. This is a minor release with primarily small changes.

The changes in this release are:

  • update uavcan to new protocol
  • always exit loiter in AUTO towards next waypoint
  • support more multicopter types in quadplane
  • added support for reverse thrust landings
  • added LAND_THR_SLEW parameter
  • added LAND_THEN_NEUTRL parameter
  • fixed reporting of armed state with safety switch
  • added optional arming check for minimum voltage
  • support motor test for quadplanes
  • added QLAND flight mode (quadplane land mode)
  • added TECS_LAND_SRC (land sink rate change)
  • use throttle slew in quadplane transition
  • added PID tuning for quadplane
  • improved text message queueing to ground stations
  • added LAND_THR_SLEW parameter
  • re-organisation of HAL_Linux bus API
  • improved NMEA parsing in GPS driver
  • changed TECS_LAND_SPDWGT default to -1
  • improved autoconfig of uBlox GPS driver
  • support a wider range of Lightware serial Lidars
  • improved non-GPS performance of EKF2
  • allow for indoor flight of quadplanes
  • improved compass fusion in EKF2
  • improved support for Pixracer board
  • improved NavIO2 support
  • added BATT_WATT_MAX parameter


The reverse thrust landing is particularly exciting as that adds a whole new range of possibilities for landing in restricted areas. Many thanks to Tom for the great work on getting this done.

The uavcan change to the new protocol has been a long time coming, and I'd like to thank Holger for both his great work on this and his patience given how long it has taken to be in a release. This adds support for automatic canbus node assignment which makes setup much easier, and also supports the latest versions of the Zubax canbus GPS.

My apologies if your favourite feature didn't make it into this release! There are a lot more changes pending but we needed to call a halt for the release eventually. This release has had a lot of flight testing and I'm confident it will be a great release.

Happy flying!

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Comment by iskess on May 2, 2016 at 1:07am
No new development applies to the APM. All new features are Pixhawk only.

Developer
Comment by Tom Pittenger on May 2, 2016 at 1:07am

@MichaelThomas Support for APM 2.x hardware ended a year ago, no new features have been added to it since it was retired. Therefor yes, this is PixHawk compatible hardware only. What firmware version are you running?

Comment by Michael Thomas on May 2, 2016 at 1:52am

Ah ok, that would explain it!

I'm running V3.4.0 - I'm guessing this is the latest APM supported firmware? When I installed the latest firmware from Mission Planner I assumed it went to the latest firmware V3.5.3

Time to upgrade I think..

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