Brain-20150928-R1

Fixes two arming related bugs:

• Vehicles could inadvertently arm if switch arming was selected and no arming switch was configured.
• If an arming command was sent while the vehicle was unable to arm because of alarms, the vehicle could arm later when the alarms clear.

Brain-20150928

Based on Tau Labs release 20150922.

Brain-Specific Changes

• Support for AcroPlus insanity factor configuration in OSD menu. Thanks @fujin !
• Support for display of throttle stick position in OSD.

Tau Labs Changes

• Navigation, return-to-home, and path following significantly improved.
• It is possible to also use the throttle stick to control altitude in position hold mode, by manually setting vtolpathfollowersettings.LoiterAllowAltControl and ThrottleControl to True.
• A new "zippy loiter" mode is available when in position-hold mode. The pitch/roll inputs can control moderately aggressive multirotor position changes, and when stick is neutral it holds position. The GPS and position control loop is still coupled at all times, but it feels much more interactive than it did before.
• An "AcroPlus" flight mode, similar to Acro+ in OpenPilot and other projects, was added. Large stick inputs become direct actuator activation.
• Gyro lowpass filters are now target and sampling frequency independent, and configurable in a UAVO in terms of cutoff frequency in Hz (StabilizationSettings.GyroCutoff). Helicopter and large multirotor users may want to decrease this value; 250-size and smaller often benefit from increasing it. (Default tuning is for the most part general purpose, though).
• The GCS is now built using QT 5.5.
• FrSky support updated to work better with newer OpenTX, and various encoding improvements were made.
• Various small GCS bugfixes and enhancements were made.
• Small changes were made to default tuning. Default tuning is still intended to be quite conservative but closer to working well for more users.
• TxPid now covers various nav/vtolpathfollower parameters.
• Removal of obsolete/unmaintained targets-- revolution prototype, freedom.

Known Issues

• For Linux you will have to install .udev rules for the device. This is the likely cause if you cannot connect to it. To do this download the udev permissions file from here and then run sudo cp taulabs.udev /etc/udev/rules.d/45-taulabs-permissions.rules && sudo udevadm control --reload-rules
• For Windows if you have any connectivity issues, please uninstall all the drivers associated with your hardware and reboot.

Brain-20150720-r1

• Fixes bug that caused erroneous GPS accuracy (PDOP) display in OSD
• Allows use of 460Hz accelrometer low-pass filter
• Decreases weighting of accelrometer in complementary filter

Brain-20150720

Based on TauLabs release 20150713.

Brain-Specific Changes

• Brain now uses ChibiOS as real-time operating system; resulting in improved performance and reduced latency.
• Configurable MPU sampling rate (up to 1kHz) for more locked-in flight.
• Numerous OSD improvements: graphic icons, home direction arrow, display of flight statistics, display of custom text (e.g. call sign), configurable stick expo through OSD menu and more!
• Native FrSky RSSI support: select "PPM+FrSky" mode for the RxPort and connect the FrSky PWM RSSI signal to pin 8. Pin 7 will output FrSky Sensor Hub data (needs external inverter).
• Logging to on-board 64Mbit flash chip for offline analysis.
• Fixed bug that prevented input types other than PWM and PPM to work in the vehicle wizard.
• Fixed bug that prevented GPS to work on MainPort

TauLabs Changes

• Improvements to navigation; position feedforward control scheme, soft deadbands to assist waypoint capture, improvements to waypoint handling. Numerous bugfixes and performance improvements. Also, a new improved 14 state INS. Also improvements to GPS interface and autoconfiguration.
• Support for OneShot/synchronous PWM for better control loop latency/tau/system bandwidth. To use OneShot125 ESCs, select "Update Rate = SyncPWM" and "Resolution = 12MHz" and set the output limits to MIN=125us MAX=250us.
• Various improvements to PicoC support.
• Improvements to arming/disarming. Arming and disarming times are configurable. There are new switch+delay and switch+throttle+delay modes that allow gyro offset calibration during the delay time.
• New flightstats module that tracks flight distances, battery used, speeds and altitudes, etc.
• Support for RSSI information via S.bus, native FrSky PWM RSSI support, display of RSSI information in GCS.
• Functionality for developers, including new Python API, improved and unified Posix simulators, improved compilation speeds, etc.
• Various other performance and stability improvements.

Installation Notes

• For Linux you will have to install .udev rules for the device. This is the likely cause if you cannot connect to it. To do this download the udev permissions file from here and then run sudo cp taulabs.udev /etc/udev/rules.d/45-taulabs-permissions.rules && sudo udevadm control --reload-rules
• For Windows if you have any connectivity issues, please uninstall all the drivers associated with your hardware and reboot.

Known issues

• GPS satellite count in PFD can be missing or wrong.

Brain-20150213-r1

• Fixes a bug that may cause a reset of the flight controller when flying at distances of more than 1km from home

Brain-20150213

Based on Tau Labs release 20150131

Brain-Specific Changes:

• OSD: Menu for configuring important settings. video
• OSD: Allow toggling of "Home:" and "RSSI:" text
• OSD: Option to display GPS location in MGRS coordinates
• Support for FrSky smart port telemetry on all serial ports
• Added support for temperature compensated HMC5983 external compass
• Fixed bug that resulted in wrong temperature readings from MPU9250. Redo temperature compensation if used!

Tau Labs Changes:

• MWRate mode - a flight control mode very similar to that from MultiWii that allows extremely aggressive flying while being totally locked in.
• Improved behavior of altitude hold for takeoff and landing. Arming allowed in AH mode. It is now possible to have entire flights in Altitude Hold mode.
• MWRate settings import from BaseFlight/CleanFlight. No need to retune when switching over.
• DSM Resolution autodetection. Simplifies input configuration.
• Removed feedforward from GCS. This is stage one of deprecating this feature which should not be used with modern ESCs.
• Flight logging to flash support. Used for creating “black box” logs while flying.
• Spektrum binding fix. This requires an updated boot loader and will not work on the MainPort (because of the inverter).