SPOT 4.0.0-RC.3

This marks the third release candidate of SPOT 4.0.0. THIS UPDATE COMMITS THE CARDINAL SIN OF BREAKING THE COMPATIBILITY OF OLDER RELEASE CANDIDATES, UPDGRADING IS MANDATORY.

The software can be downloaded here: SPOT v4.0.0-RC3

Here are the patch notes for this release:

• Installed the Adafruit PCA9685 hardware PWM board on all platforms for use with the thrusters. At this time, the minimum PWM frequency is 24 Hz, and control needs to be further tuned - but it is usable. This tuning will occur in the next update which is around the corner (1-2 weeks).
• Modified the data inspector load data function so that the GUI returns to the focus of the desktop when the user either cancels or loads data.
• [Courtesy of Kirk Hovell] Found a longstanding bug that likely resulted in about 2% more air being used on average. The issues were: For RED only, the centre of mass offset due to the robot arm is no longer considered when no robot arm is present, and on all platforms the thruster decay due to pressure drop is considered when recalculating the actual achieved thrust (Fx_Sat, Fy_Sat, Tz_Sat). This was done by replacing one of the MakeH blocks with MakeHWithDecay.
• Found an error in the GUI in the FireBLUEThrusters callback. The "app.CleanShutdown" function was calling the BLACK platform instead of the BLUE one.
• Updated the CycleAllThrusters function to use I2C and the new hardware PWM.
• Updated the Cycle GPIOs On/Off button to turn off all PWM channels.
• Changed the data rate to match the base rate. Confirmed with Yazan that buffering appears to truly be resolved.
• Found an error in the GUI where if the gpio428 is turned on and improperly turned off, the user can't reset gpio428 (pucks).
• Updated the gains for the new PWM hardware.
• [Courtesy of Yazan Chihabi] Fixed a bug where setting the sub-phase #4 time to zero would cause the simulation to fail.