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Ardumower Sunray Firmware v.1.0.219 (experimental)

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@greymfm greymfm released this 17 Sep 12:32
· 1829 commits to master since this release
1.0.219
bfe9626

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
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