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DUNE v2.6.1

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@rasmartins rasmartins released this 06 Jan 21:13
· 4253 commits to master since this release
dune-2.6.1
0c854de

Features

  • The state machine of the Edgetech 2205 driver was improved and made more
    robust.
  • Added support for OceanEco hardware (LAUVs and Mantas).
  • Updated ROV Adamastor-related tasks and configurations.
  • Added a new facility called StreamEstimator to estimate the non-variant
    stream of the liquid fluid surrounding a stationary underwater or surface
    vehicle.
  • LAUV Noptilus 2 now has one Honeywell HG1700 IMU and the configuration file
    was updated accordingly.
  • Roll's proportional gain may now change according to the AUV's surge speed.
    Speeds bounds and minimum gain must be specified. Gain will only change when
    the speed varies between the given bounds. The new mechanism 'Roll
    Compensation' now encompasses offset and speed compensation.
  • LAUV Noptilus 3 now has one Honeywell HG1700 IMU and the configuration file
    was updated accordingly. Several other configuration files were changed to
    reflect the fact that now the default IMU power is called 'Private (IMU)'.
  • Removed Autoassociative Kernel Regression (AAKR) core class and Alignment
    task. Both were not used nor maintained.
  • IMU data is now extracted from the APM Ardupilot at 50 Hz. These data
    include Acceleration, AngularVelocity, and MagneticField.
  • Removed obsolete programs yoyocalc, power_compute, dsctest, and ctd_csv.
  • Replaced legacy Navigation/AUV/Navigation with Navigation/AUV/SGNavigation.
    The task used by all AUVs is now called Navigation/AUV/Navigation.
  • The factor used to compute the time of arrival to a waypoint is now taken
    from the configuration parameter 'Time Of Arrival Factor' of the section
    'General'. This parameter has a default value of 5.0 seconds for AUVs.
  • The time to wait for a new DesiredPath reference is now configurable via
    the parameter 'New Reference Timeout'. This new parameter is present in all
    tasks that inherit from PathController and has a default value of 5.0
    seconds.

Bug Fixes

  • The task methods requestActivation/requestDeactivation were not called when
    applying saved activation/deactivation requests, resulting in incomplete or
    incorrect activations/deactivations. This issue has been fixed.
  • If a configuration option was given without arguments (e.g. 'Option =') the
    configuration file parser assumed the argument was the next line. This issue
    has been fixed.
  • The task 'Power/PSIMAR' now dispatches the current state of the power
    channel after successful power channel control commands and query power
    channel state requests.
  • Lost comms plan is now only issued if it is defined in the PlanDB. This
    prevents multiple new idle plans/logs from being generated due to failed
    attempts to start non-existing lost comms plans.
  • Added support for Linux systems that by default have an incomplete set of
    I2C headers (notably openSUSE).
  • Reduced the value of the parameter 'GPS Maximum Dynamic HACC' of the task
    'Navigation.AUV.SGNavigation' to improve handling of GPS fixes while diving.
    This change affects all AUVs.
  • DUNE/IMC fixed memory leak in Packet class.
  • Navigation/AUV/CLRanger task is dying due to UamTxFrame invalid size.
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