Releases: Ardumower/Sunray
Ardumower Sunray Firmware v.1.0.324 (experimental)
Ardumower Sunray Firmware v.1.0.323 (experimental)
-ublox f9p driver bugfixes
-CAN robot driver
-ROS integration (alpha stage)
Ardumower Sunray Firmware v.1.0.318 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and Banana Pi BPI-M4 and support for brushless motors, ESP32
- improved dock touch recovery (robot will slightly move if charging contacts are bad)
- timetable - see Sunray manual for details
- more robust RTK course estimation. Robot will ignore RTK-point (for 2-point course estimation) if there was an IMU rotation while measuring this RTK point. As a consequence of this improved sensor evaluation, the line tracking controller (Stanley) will work better. If your robot sometimes mows larger curves instead of straight lines, this update should bugfix it
- bugfix robot 'no-gps-motion' (obstacle error) while rotating after undocking
Ardumower Sunray Firmware v.1.0.298 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and support for brushless motors, ESP32
NOTE: If you get compilation errors with Adafruit Grand Central M4, you may have to downgrade 'Adafruit SAMD Boards' to version to 1.7.5.
- new option: DOCK_RETRY_TOUCH - retry docking contact (max. 1cm) if loosing contact in docking station
- continue mowing if detecting dry rain sensor for 1h after docking due to rain (can be deactivated by manually pressing STOP or DOCK)
- bugfixed invalid imu timeout / watchdog trigger
- robot will not autostart-mowing if coming from IDLE status or if pressed 'STOP' button in the App
- robot runs faster if more away (>5m) from dock position
- robot does not ignore GPS anymore if more than >2m away from dock position
- kidnap (gps jump detection) ist no longer limited to 20cm if robot is more than >2m from dock position
- start docking if battery voltage below 25.5v (before: 25v)
- rotation improvements: avoid turning into exclusions
- bugfix obstacle avoidance when going to first docking point
- show detected (temporary) obstacles in App (only TCP)
- minor bugfixes (path finder)
- MQTT add-ons
Ardumower Sunray Firmware v.1.0.286 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and support for brushless motors, ESP32
NOTE: If you get compilation errors with Adafruit Grand Central M4, you may have to downgrade 'Adafruit SAMD Boards' to version to 1.7.5.
*more brushless motor drivers (DRV8308, A4931, BLDC8015A, JYQD)
*mow motor recovery (based on an optional combination of: mow driver fault, mow rpm, mow current)
*docking recovery (drive to docking start point on dock fail)
*changed button behavior (1 beep=stop, 6 beeps=start, 5 beeps=dock, 3 beeps=R/C mode ON/OFF, 9 beeps=shutdown)
*new options ( DOCK_OVERHEAT_TEMP, DOCK_TOO_COLD_TEMP, MOTOR_FAULT_CURRENT, MOW_FAULT_CURRENT, ENABLE_RPM_FAULT_DETECTION, TARGET_REACHED_TOLERANCE, BUZZER_ENABLE)
*added simulator
*bugfixes (ESP32 firmware MQTT, proper handling of gps solution loss, large maps memory overflow, autostart on auto-dock)
*refactored code (FSM, state estimation, line tracker)
*initial support for Alfred
Ardumower Sunray Firmware v.1.0.230 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and support for brushless motors, ESP32
NOTE: If you get compilation errors with Adafruit Grand Central M4, you may have to downgrade 'Adafruit SAMD Boards' to version to 1.7.5.
*bugfix start error if uploading map without docking points during charging
*added relay client in ESP32 firmware
*minor changes
Ardumower Sunray Firmware v.1.0.221 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and support for brushless motors, ESP32 firmware
- NOTE: If you get compilation errors with Adafruit Grand Central M4, you may have to downgrade 'Adafruit SAMD Boards' to version to 1.7.5.
- added motor direction options ( MOTOR_LEFT_SWAP_DIRECTION, MOTOR_RIGHT_SWAP_DIRECTION)
- added stanley controller options (STANLEY_CONTROL_P_NORMAL, STANLEY_CONTROL_K_NORMAL, STANLEY_CONTROL_P_SLOW, STANLEY_CONTROL_K_SLOW )
Ardumower Sunray Firmware v.1.0.219 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and support for brushless motors, ESP32 firmware
- disabled docking autostart if triggered docking by rain sensor (DOCK_AUTO_START)
- new option to not use GPS for undocking (DOCK_IGNORE_GPS)
- new option to allow GPS reboot for false fix recovery (GPS_REBOOT_RECOVERY)
- new option to adjust GPS path jump tolerance (KIDNAP_DETECT_ALLOWED_PATH_TOLERANCE)
- new option to allow rotation stuck/freewheel obstacle detection (OBSTACLE_DETECTION_ROTATION)
- revised stuck/freewheel obstacle detection logic (by comparing IMU and wheels yaw)
- new option to specify front/back location of freewheel (FREEWHEEL_IS_AT_BACKSIDE) for rotation stuck avoidance logic
- GPS reboot recovery on GPS path jumps (aka 'robot kidnapped'), allowed tolerance to continue can be set via KIDNAP_DETECT_ALLOWED_PATH_TOLERANCE
- GPS reboot recovery on routing failure (aka 'no map route'), allowed tolerance to continue can be set via ALLOW_ROUTE_OUTSIDE_PERI_METER
Ardumower Sunray Firmware v.1.0.195 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and support for brushless motors, ESP32 firmware
- added stuck detection for rotations
Ardumower Sunray Firmware v.1.0.192 (experimental)
Stable firmware using new ('astar'-based) path-finder, with obstacle-avoidance, Arduino Due and Adafruit Grand Central M4 and support for brushless motors, ESP32 firmware
- added retry operation (GPS reboot) on 'no map route' conditions