TianhuaGao/ArduGeo: ArduGeo PID v1.2.0

Résumé fourni par la source

ArduGeo PID v1.2.0 This release improves the placement and ownership of ArduGeo PID parameter definitions. Parameter metadata, defaults, and storage now live beside the modules that consume them, while preserving the existing public interface. Parameter-definition organization Moved 43 formerly flat parameters into their owning modules: Position PID: 13 Attitude PID: 17 Output Mapper: 4 Setpoint Shaper: 6 Yaw Shaper: 3 All 57 public GEO_ parameter names and compiled default values remain unchanged. GEO_OUT_EN and the existing GEO_LREF_ subgroup retain their storage identities. Existing values for all 43 moved parameters are migrated forward automatically when the new storage is unconfigured. Values already saved by v1.2.0 are not overwritten. Corrected the disabled-output regression test to interpret GEOX.Allow as final mode authorization; production control logic is unchanged. Upgrade and rollback Migration from v1.1.0 is forward-compatible and idempotent, but it is not a bidirectional mirror. A downgrade to v1.1.0 or another pre-module build may read stale values from the former flat storage. Before downgrading, export the current parameter set. After installing the older firmware, wipe and reapply the exported parameters. The repository includes Tools/autotest/ardugeo_parameter_module_upgrade.py for reproducible old/new firmware migration validation. Artifact identity Release branch: ardugeo-pid Release commit: 697c4da33c0cf0d7b888e9eb6ec2645b6749e91c Previous release commit: 7a907217175ace2842e2e0390a8f976ec6482d04 Upstream ArduPilot base: 48644320dc6c4a19cc20c44051e56908eee97f4e Release-candidate Copter SITL executable SHA-256: 7cd309d365da7e2d1bb6b76c0341804bd4d63f027fd4fcb983fc38f85a5e0099 Validation boundary Copter SITL build: PASS Geometric unit tests: 91/91 PASS Public parameter names and compiled defaults: 57/57 PASS Old-to-new EEPROM migration: 45/45 PASS Post-migration idempotent restart: 45/45 PASS Geometric controller SITL regressions: 16/16 PASS Parameter/logger metadata and autotest syntax checks: PASS This release contains no SANM or other learning controller. HIL, physical-flight validation, and performance-superiority claims remain outside scope. Development disclosure AI assistance was used during implementation, test development, and documentation. Release acceptance is based on the reproducible migration, unit-test, metadata, build, and SITL validation reported above. ArduGeo retains GPL v3 or later.