v1.11.0 Beta 2

v1.11.0-beta2

PX4 v1.11.0 Beta 2

v1.11.0 Beta 1

v1.11 Release Notes

Highlights

• New significantly improved Invensense IMU drivers that provide all raw data up to 8 kHz using SPI DMA.
  • rate controller can run up to 2 kHz (>= 4 kHz coming soon) by settingIMU_GYRO_RATEMAX
• New multicopter hover thrust estimator (PR #13981)
• Emergency Yaw recovery using EKF-GSF estimator (PR PX4/PX4-ECL#766)
• Major sensor calibration improvements (Gyro, Mag, Level)

Main Features and Improvements

Migration Guide

• DEPRECATED: VTOL is no longer supported in FMUv2 hardware

PX4/Drivers

• Enable SPI DMA adds centralized DMA map (PR #14207)
• Move primary IMU to new InvenSense driver (PR #14356)
  • FMUv5, FMUv5x
  • ModalAI_fv-v1
• Drivers CLI interface consolidation (PR #14386 )

System Architecture

• Board config simplifications for SPI & I2C (PR #14221) and PWM timers (#13871)
• Adds UAVCAN node cannode (PR #14148)
• Adds CAN interface runtime (PR #14367)

Multicopter

• New hover thrust estimator (PR #13981)
• XYZ-synchronized motion in auto modes (diagonal climb)
• New Notch filter (PR #13549)
• Acceleration feedforward (PR #14212)
• Mag power compensation (PR #14457, Docs)
• Takeoff failure detection (PR #14428, Docs)
• Horizontal velocity limit close to ground (PR #13561, Parameter)

VTOL

• Tiltrotor: Use tilt to accelerate the vehicle forward while in hover (PR #13779)
• Weather vane improvements (PR #13782)
• Active path and deceleration tracking during transitions (PR #14405)

Fixed Wing

• Improved airspeed failure detection (PR #12353)
• Enables fallback estimation without airspeed sensor. (PR #12887)

Rover

• Major improvements to offboard control
• Enable offboard attitude setpoints (PR #13323)
• Enable offboard velocity setpoints (PR #13225)
• Enable ActuatorControl setpoints in offboard mode (PR #13314)

Underwater Vehicles

• New mixers for underwater vehicles Generic & HippoCampus (PR #14079)
• New UUV default specific parameters and autostarting (PR #14079)
• New Mixer for UUVs with X-shaped thruster configuration (PR #14079)
• New uvv_att_control controller for UUV attitude control (PR #14079)

PX4/ECL - Estimators improvement

• Emergency Yaw recovery using EKF-GSF estimator (PR PX4/PX4-ECL#766)

Onboard computer / middleware improvements

• Adds ROS 2 Dashing and Eloquent support to the microRTPS bridge (PR #13907)
• Adds time sync to the microRTPS bridge (PR #14297)

PX4/Avoidance

• Smoother flight planning with improved repeatability (PR PX4/PX4-Avoidance#555)
• Bezier trajectory avoidance interface (PR #14279)
• Bugfixes and improvements

Simulation

• Multi-Vehicle simulation with Gazebo
• Adds support for multiple distance sensor instances. (PR #14143)
• Adds support for UUV vehicles. (PR #14079)
• Adds support for boats. (PR PX4/PX4-SITL_gazebo-classic#409 )
• Adds Catapult and Hand launch support for fixed-wing. (PR PX4/PX4-SITL_gazebo-classic#393 )

Failsafe / Commander / Navigation improvements

• New Hover Thrust estimator (PR #13981)
• Commander, Navigator state clean-up (PR #14307)
• Navigator fixes heading drift after takeoff (PR #13965)
• Enable RC-Override in Take-off (PR #14022)
• Takeoff failure detection (PR #14428)
• Pre-flight check: Disable mag field strengh check via parameter (COM_ARM_MAG_STR) (PR #13766)

OS/NuttX

The release includes a change from NuttX-7.29 to NuttX-8.2
See NuttX release notes for the details of changes in NuttX-8.2 details.

v1.10.1 Stable Release

This point release reduces the CPU load on FMUv2/v3 targets by setting the default rate control loop executing speed to 400 Hz. The v1.10 release increases the default rate control speed from 250 Hz (v1.9 and before) to 1000 Hz (v1.10), which not all boards can sustain in terms of CPU speed.

Stable Release v1.10.0

Release Notes

Highlights

• Multicopter 1 kHz rate loop (param IMU_GYRO_RATEMAX)
• DShot ESC Support with Telemetry (PR #12854, Docs)
• Cone-based RTL (Docs)
• Significantly improved real time system performance
  • new work queue scheduling framework with a thread per physical bus
  • new C++ uORB API (faster, safer, and more memory efficient)
• new RTF airframes
  • Holybro Kopis 2 (and KakuteF7 board)
  • Holybro S500
  • UVify Draco
  • UVify Draco-R
  • UVify IFO
• NuttX RTOS upgrade with a number of important bug fixes and performance improvements

Additional Features and Improvements

Migration Guide

• DEPRECATED: Throttle PID Attenuation (TPA) (PR #13208)
  • Deprecated in favor of Thrust Curve compensation.

Multicopter

• the rate controller now runs synchronized with the primary gyro
• Rate integrator improvements (PR #12296)

VTOL

• VTOL front transition heading handling improvements (PR #12630)
• RTL: By default enable return via landing pattern for deterministic back-transition (PR #12746)
• VTOL GPS fix bank loiter (PR #12778)

Fixed Wing

• initial support for new airspeed selector module capable of detecting airspeed sensor faults

Rover

• Enable Offboard support for Rover position control

PX4/ECL - Estimators improvement

• many bug fixes and robustness improvements
• Mag inconsistency check (PR #12334)

PX4/Drivers

• UAVCAN sensor drivers for battery and optical flow

Computer Vision & Autonomy

PX4/Avoidance

• Safe Landing Planner support
• Collision Prevention Improvements

Simulation

• Simulation-In-Hardware (PR #11835, Docs)
• jMAVSim headless/no-GUI option (jMAVSim PR #105)

Logging improvements

• AUX1-RC-channel-based logging via SDLOG_MODE (PR #12100)
• Logging of system bootup messages, and dmesg tool (on boards with enough RAM) (PR #11792)

Onboard computer / middleware improvements

Failsafe / commander improvements

• Bugfixes for failsafe corner cases (PRs #13143, #13294)

OS/NuttX

The release includes a change from NuttX-7.28 to NuttX-7.29
See NuttX release notes for the details of changes in NuttX-7.29 details.

Included as backports are:

• STM32F7 I2C state and interrupt storm fixes.
• Serial Single wire mode has moved to NuttX
• Fix for "z" in printf
• kinetis:i2c transfer ensure correct result returned.
• kinetis_i2c_transfer released the mutex then fetched the state, this resulted in returning the correct results.
• STM32F4 and STM32F7 SD card hang on card eject fixed
• STM32F7 ethernet add timeout on MAC reset

Updated Supported Hardware

• Holybro Kakute F7 board support (PR #12440, Docs)
• Kopis 2 Airframe configuration (PR #12549)

v.1.10.0 Changelog

https://gist.github.com/mrpollo/3af778f7f6cdbad1f0433ba18b4b7204

v1.10.0 First Release Candidate

v1.10.0-rc1

PX4 stable v1.10.0 first release candidate

v1.10.0 Beta 4

Changelog

Follow the link for full changelog

https://gist.github.com/mrpollo/3af778f7f6cdbad1f0433ba18b4b7204

Stable Release v1.9.2

This is a minor bug fix release.

• Multicopter position controller: fix conversion to radians in AutoMapper and AutoMapper2 (#12324)
• MAVLink: Add all IMUs as default outputs over USB (#12333)
• Multicopter position controller: explicitly convert tilt to radians (#12328)
• ekf2: fixed calculation of static pressure error (#12332)
• rc.board_sensors: added lis3mdl to v5 sensors init (#12384)
• logger: handle 'char' type in messages (#12397)
• rcS fix crash caused by floating point arithmetic to enable slower than real-time simulation (#12401)

v1.9.1 Stable Release

This is a minor bug fix release following PX4 stable v1.9.0.

• MC takeoff position fix #12032
• VTOL takeoff bug fix #12250
• CUAV v5+ and v5 nano support (minor board manifest change) #12275
• MC rate controller I term reduction factor #12296
• Holybro S500 airframe configuration #12322

v1.9.0 Stable Release

High-Level PX4 v1.9 Release Notes

Release link: https://github.com/PX4/Firmware/releases/tag/v1.9.0
Devguide documentation: https://dev.px4.io/v1.9.0/en/
Full Changelog: https://gist.github.com/mrpollo/999253f9bdddf8a9d5f08141a1a9f364

Highlights

• ARM M7 silicon errata fix
• Ethernet networking support
• Orbit mode (multicopter)
• Multicopter airmode
• Obstacle avoidance in missions (with full 3D navigation, not just basic points)
• Collision prevention in position mode (with full 3D navigation)
• New flight tasks system enabled by default
• Smoother takeoff for multicopters
• Smooth trajectory generator for multicopter auto mode
• GPS heading support for use in magnetically challenging environments
• Forgiving default filter settings for larger multicopters with high vibration levels
• Proven failsafe between different IMUs (Pixhawk 2.1 hardware errata of HEX products successfully detected and handled)
• Operating system: NuttX upgrade from 7.22 to 7.28+
• Option to build single-vehicle-type binaries for flash-constrained microcontrollers
  Simulation improvements
• Better VTOL models
• Simplified multi-UAV simulation with JMAVSim
• Run simulation faster/slower than realtime (lockstep simulation)

Main Features and Improvements

With over 3000 commits a lot of the changes are not listed here. These changes represent the main improvements in the system.

Multicopter

• Limited-jerk trajectory generator for auto mode
• Smoothing of takeoff
• Mixer rewrite and Airmode for all axes
• Improved Acro performance (keep integrators always enabled in-air)
• Spool-up time for motors after arming
• Orbit flight mode
• Airspeed robustness (fault detection + failover) [BETA]

VTOL

• Improved support for tiltrotors
• Rate controller architecture change (run fixed wing & multicopter rate controller together to have dedicated rate controller for one set of actuators)
• Active weathervane based on direction of desired thrust vector
• Migration guide (vtol roll direction parameter - V19_VT_ROLLDIR)

PX4/ECL - Estimators improvement

• Reduced latency from receipt of IMU data to output of vehicle Pose data
• Multi GPS support (GPS blending and failover)
• Support for Fusion of GPS heading
• Miscellaneous optical flow data use improvements
• Miscellaneous VIO data use improvements
• Improve stability of attitude alignment and yaw reset at large tilt angles (eg tailsitters)

PX4/GPSDrivers

• Support for u-blox F9 generation (RTK)
• Initial support for Septentrio

Computer Vision & Autonomy

• Full bidirectional VIO uORB messaging, with linear/angular velocity and covariance propagation, besides pose data;
• Fast-RTPS bridge client and IDL definitions code generation improvements for a better integration with px4_ros_com (PX4 bridge with ROS2).

PX4/Avoidance

• Collision Prevention in Position Control
• Obstacle Avoidance in Mission Mode
• Pre-flight checks and failsafe mechanisms for Obstacle Avoidance in Mission mode

Simulation

• SITL lockstep (jMAVSim + Gazebo support)
• Faster or slower than real-time simulation, support to pause or step through code, enables SITL on older or slower hardware
• Simulation in Hardware module
• Avoidance in Gazebo
• Serial port configuration improvements

Logging improvements

• Mission log: Minimal summary log file for flight meta data

Onboard computer / middleware improvements

• Improved support for ROS2
• Initial support for monitoring of an onboard computer
• Bootloader update on v2 boards

NuttX update

• NuttX upgrade from 7.22 to 7.28+
• Compressed defconfig files.
• Compressed ROMFS
• Many bug fixes and performance improvements

Updated Supported Hardware

• Analog Devices ADIS16477, ADIS16497
• AK09916 compass (Here 2 GPS)
• Cm8jl65 distance sensor
• PMW3901 optical flow sensor
• InvenSense ICM20948 compass (Here GPS)
• Pixhawk 4 Mini (full support)
• NXPhlite
• NCP5623C RGB LED
• SMBUS batteries (improved support)
• Better ESC calibration for PWM ESCs

v1.9.0 Third Release Candidate

This release candidate has no known issues or open to-do's and is ready for wide testing.