Changelog¶

ARC Device¶

New Webtool available for device administration
Parameters configurable over MAVLink
Secondaries able to report position of the primary.
Moving landing available for PX4 with custom PX4 firmware.
HUD available for Mission Planner.
Ardupilot ability to align with the yaw of the landing pad.
Operation with or without gravimeter, enables more options for landing pad orientation.
No LED mode - device indication lights only operate on boot and then go dark.
Support for new improved IMU on new boards.
Updated bootloader for MAVLink firmware update.

Multiple landings and take-off no longer causing divergent behaviour on take-off
Improved MAVLink message transmission and update rate.

Robust de-mirroring (continous apprasil and correction), no more de-mirroring errors
No more "MOVE" pilot interaction required
"last metres" positioning - all the way to the ground for moving landing robustness.
- ARC now positions all the way to the secondary configured at [0,0,0]
General stability improvements

Occasional gyro corruption, sudden ~20deg offset seen on remote gravi roll/pitch

Increased Horizontal / Vertical detection ranges by 2x
Cross-aligned detection range vastly improved to have parity with algined performance to give an 'isotropic' detection envelope
PX4 (branch available on request)
- Precision Tether flight mode
- Moving Landing support
GCS message console improved 'operator' status-text messages
- Diagnostics messages 'hidden' for retrospective analysis in flight logs

Added Landing Support for PX4(v1.16) Flight Controller (limited by GPS error)
Supporting PX4 development branch for improved precision landings.
Improved range accuracy by 4x giving improved tether/landing positional stability
Added support for offset Tethering/Landing
Added support for tilted secondary operation
Improved MAVLink diagnostic messages
- configurable severity level
- message stream disabling
- reduced number of state changes causing message spam
Added support for backspace character in the CLI
Added sandboxing for application bindings, MAVLink and SRA apps have their own bindings
Fixed issue where range/azimuth/elevation can't be mapped to cartesian space would stop trilateration position.

At new x4 accuracy multi GHz bandwidth, overall RF link budget may be marginally reduced (-1dB) from 1.0.0
Occasional de-mirror issue (5%). Causes divergence instead of convergence from landing pad upon activating tether/landing.
Initial lock range is significantly reduced if landing pad and airside radar units are cross-polarised.

Added Automatic Frame Alignment - during acquisition of the secondary constellation, relative yaw is achieved through radar polarisation and angle of arrival perception, allowing automatic frame alignment into device reference frame. A minimum relative velocity is required to align. If the secondary constellation is acquired and the device is position too centrally or boresight in the device reference frame, the device will need to be positioned further away from the centre to align.
Added Out Of Bounds (OOB) feature where operational limits with respect to the secondary consellation can be set.
Added MAVLink Remote Reference Frame (RRF) status text stream, the stream rate is configurable and can be disabled.
Fixed angular mis-readings
Removed requiredment for velocity based frame alignment.

Occasional de-mirror issue (5%). Causes divergence instead of convergence from landing pad upon activating tether/landing.
Initial lock range is significantly reduced if landing pad and airside radar units are cross-polarised.
Positional signal is dropped if range/azimuth/elevation can't be mapped into cartesian space.