Plane: prepare for 3.5.2 release

WickedShell · Mar 26, 2016 · dc9d87f · dc9d87f
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diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1,8 +1,8 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #pragma once
 
-#define THISFIRMWARE "ArduPlane V3.5.1"
-#define FIRMWARE_VERSION 3,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define THISFIRMWARE "ArduPlane V3.5.2"
+#define FIRMWARE_VERSION 3,5,2,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 /*
    Lead developer: Andrew Tridgell

diff --git a/ArduPlane/release-notes.txt b/ArduPlane/release-notes.txt
@@ -1,3 +1,53 @@
+Release 3.5.2, 26th March 2016
+------------------------------
+
+The ArduPilot development team is proud to announce the release of
+version 3.5.2 of APM:Plane. This is a minor release with small
+changes.
+
+The main reason for this release over 3.5.1 is a fix for a bug where
+the px4io co-processor on a Pixhawk can run out of memory while
+booting. This causes the board to be unresponsive on boot. It only
+happens if you have a more complex servo setup and is caused by too
+much memory used by the IO failsafe mixer.
+
+The second motivation for this release is to fix an issue where during
+a geofence altitude failsafe that happens at low speed an aircraft may
+dive much further than it should to gain speed. This only happened if
+the thrust line of the aircraft combined with low pitch integrator
+gain led to the aircraft not compensating sufficiently with elevator
+at full throttle in a TECS underspeed state. To fix this two changes
+have been made:
+
+ - a minimum level of integrator in the pitch controller has been
+   added. This level has a sufficiently small time constant to avoid
+   the problem with the TECS controller in an underspeed state.
+
+ - the underspeed state in TECS has been modified so that underspeed
+   can end before the full target altitude has been reached, as long
+   as the airspeed has risen sufficiently past the minimum airspeed
+   for a sufficient period of time (by 15% above minimum airspeed for
+   3 seconds).
+
+The default P gains for both roll and pitch have also been raised from
+0.4 to 0.6. This is to help for users that fly with the default
+parameters. A value of 0.6 is safe for all aircraft that I have
+analysed logs for.
+
+The default gains and filter frequencies of the QuadPlane code have
+also been adjusted to better reflect the types of aircraft users have
+been building.
+
+Other changes include:
+
+ - improved QuadPlane logging for better analysis and tuning (adding
+   RATE and QTUN messages)
+ - fixed a bug introduced in 3.5.1 in rangefinder landing
+ - added TECS logging of speed_weight and flags
+ - improvements to the lsm303d driver for Linux
+ - improvements to the waf build system
+
+
 Release 3.5.1, 21st March 2016
 ------------------------------