ArduCopter-2.8.1 released

[Jumpy07]

In case you missed it....       just in time for the rctimer 2.5 APM :-)

ArduCopter-2.8.1 released

Improvements over 2.8:
- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM2

Improvements over 2.7.3:
- Improved ACRO mode (Leonard Hall)
- Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)
- Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)
- Less bouncy Stabilize yaw control (Leonard)
- OpticalFlow sensor support for APM2.5 (Randy)
- DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)
- Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)
- Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)
- More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)
- GPS NMEA bug fix (Alexey Kozin)
- Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)

Bug Fixes / Parameter changes:
- fixed skipping of last waypoint (Jason)
- resolved twitching when no GPS attached (Tridge)
- fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)
- moved Roll-Pitch I terms from Stabilize controllers to Rate controllers
- TILT_COMPENSATION param tuned for TradHeli (Rob)

Code Cleanup:
- HAL changes for platform portability (Pat Hickey)
- Removed INSTANT_PWM (Randy)

[secretman]

ya it suck that';s not mega lol

[Jumpy07]

ya it suck that';s not mega lol

Dont think it will be that long.. Sir Alex is working on it as we speak...  on of his developments is to include FrSky telemetry conversion into the next version of MegaPirate for the Crius..  he is just waiting on some harware to test

[secretman]

nice ! i can help if i want , im a beta tester mouhahaha

[Gaza07]

Thanks for posting Jumpy I will be keeping my eyes out for the Megapirate version