PX4-Autopilot

PX4 Autopilot Software

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PX4-Autopilot - Stable Release v1.11.1

Published by dagar about 4 years ago

This point release fixes a number of small issues discovered after the v1.11.0 release.

PX4-Autopilot - Stable Release v1.11.0

Published by dagar about 4 years ago

Release Notes

Highlights

  • Multicopter hover thrust estimator (https://github.com/PX4/Firmware/pull/13981)
  • Backup yaw estimator for emergency recovery (https://github.com/PX4/ecl/pull/766)
  • new Invensense and Bosch IMU drivers enabled everywhere
    • completely rewritten drivers and framework optimized for flight performance (high rate raw data up to 8 kHz and low end-to-end latency)
    • configurable low latency sensor pipeline with new notch filter
    • Multicopter rate controller runs synchronized with primary gyro (up to 4 kHz configured via IMU_GYRO_RATEMAX)
  • Major sensor calibration improvements (Gyro, Mag, Level)

Migration Guide

  • VTOL support is no longer included in flash limited px4_fmu-v2 hardware (original 3DR Pixhawk with silicon bug)

Hardware Support

Drivers

  • SPI DMA adds centralized DMA map (PR #14207)
  • Move primary IMU to new InvenSense driver (PR #14356)
  • New drivers interface and 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)
  • Support for multiple UAVCAN v0.1 Smart Batteries (PR #14198)

Multicopter

  • New hover thrust estimator (PR #13981)
  • XYZ-synchronized motion in auto modes (diagonal climb) (PR #13596)
  • 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/ecl#766)
  • Pre-flight accel bias estimation stability fixes (PR PX4/ecl#818)

Onboard computer / middleware improvements

  • Adds ROS 2 Dashing and Eloquent support to the microRTPS bridge (PR #13907)
  • Adds ROS 2 Foxy support to the microRTPS bridge (PR #15227}
  • Adds time sync to the microRTPS bridge (PR #14297)
  • UART link data stream fixed in the microRTPS bridge (PR #15354)

PX4/Avoidance

  • Smoother flight planning with improved repeatability (PR 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/sitl_gazebo#409 )
  • Adds Catapult and Hand launch support for fixed-wing. (PR PX4/sitl_gazebo#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 strength 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.

Included as backports are:

  • STM32[F4 F7 H7]
    • spi_exchange (no DMA) with for STM32xx_SPI_DMATHRESHOLD
  • STM32[F7 H7]
    • SDMMC internal pull up usage fixed
    • Add check_format tooling
    • nxstyle - output compiler like error format
  • STM32H7
    • fix stm32h7x3xx_dmamux.h: add missing underscore to defines
  • STM32F7
    • stm32f7:Add Serial Tx DMA
    • stm32f7:ethernet: Add some delays so that ifup() does not
  • NXP IMX-RT, S32K
    • S32K add support for Nxp drone boards
    • imxrt: Adds the ability to run from OCRAM
    • imxrt: Add USB Device support for i.MX RT
    • imxrt: added missing i2c prescale mask
    • imxrt: interrupt serial storm, add DTCM and set up I and
    • imxrt: Allow clock setting for SPI and I2C from board.h.
    • imxrt:lpi2c Fix interrupt storm on failed write.
    • imxrt:lpi2c ensure that on an error status reflects it.
    • imxrt:lpi2c imxrt_lpi2c_reset uses GPIO with SION
    • imxrt:gpio Support readback on OUT GPIO
    • imxrt1020-evk: Enable the GPIO based CD.
    • imxrt:lpspi: Fixed race on register setting.
    • imxrt:lpspi: Remove hack setting LPSPI1 daisy irrespective
    • imxrt:lpi2c.c:Added configurations to fine tune LPI2C Time
    • IMXRT106x USDHC: Support regular GPIO for CD and inversion.
    • IMXRT106x:pinout add ALT 8 GPIO_GPT2_COMPARE3 & fix GPIO_G
    • IMXRT106x:pinout add ALT 8 GPIO_GPT1_CAPTURE[1|2]
    • Kinetis renamed TJA1100 to TJA110X registers

v.1.11.0 Changelog

https://gist.github.com/mrpollo/7173f6c89d2fdacb923eb4481b486e41

PX4-Autopilot - v1.11.0 Beta 2

Published by dagar over 4 years ago

PX4-Autopilot - v1.11.0 Beta 1

Published by dagar over 4 years ago

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/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/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/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/sitl_gazebo#409 )
  • Adds Catapult and Hand launch support for fixed-wing. (PR PX4/sitl_gazebo#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.

PX4-Autopilot - v1.10.1 Stable Release

Published by LorenzMeier over 4 years ago

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.

PX4-Autopilot - Stable Release v1.10.0

Published by dagar almost 5 years ago

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)

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

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

PX4-Autopilot - v1.10.0 First Release Candidate

Published by mrpollo almost 5 years ago

PX4-Autopilot - v1.10.0 Beta 4

Published by mrpollo almost 5 years ago

Changelog

Follow the link for full changelog

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

PX4-Autopilot - Stable Release v1.9.2

Published by dagar over 5 years ago

This is a minor bug fix release.

PX4-Autopilot - v1.9.1 Stable Release

Published by dagar over 5 years ago

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

PX4-Autopilot - v1.9.0 Stable Release

Published by LorenzMeier over 5 years ago

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

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

Logging improvements

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

Onboard computer / middleware improvements

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
PX4-Autopilot - v1.9.0 Third Release Candidate

Published by LorenzMeier over 5 years ago

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

PX4-Autopilot - v1.9.0 Second Release Candidate

Published by dagar over 5 years ago

PX4-Autopilot - v1.9.0 First Release Candidate

Published by dagar over 5 years ago

PX4-Autopilot - v1.9.0 Beta 3 Release

Published by LorenzMeier over 5 years ago

v1.9.0-beta3 (2019-04-22)

Full Changelog

PX4-Autopilot - v1.8.2 Stable Release

Published by dagar almost 6 years ago

This is a minor bug fix release on top of PX4 Stable v1.8.1

PX4-Autopilot - v1.8.1 Stable Release

Published by dagar almost 6 years ago

This is a minor bug fix release on top of PX4 Stable v1.8.0

  • mavlink properly wrap heading fields #9905
  • Navigator: Fix fixed-wing first order altitude hold #9850
  • fmu fix MAIN/AUX parameters #9925
  • cmake fix BUILD_URI #9941
  • tap_esc increase stack 1100 -> 1180 bytes #10041
  • mavlink: fixed nullptr dereferencing #10063
PX4-Autopilot - v1.8.0 Stable Release

Published by LorenzMeier over 6 years ago

Migration Guide

  • The EKF2 estimator has been the standard for some time and supports flying with vision positioning systems indoors. Users of the LP estimator are advised to upgrade, as LPE is no longer supported/maintained.
  • Upgrading is advised to latest stable trough QGC.

Main features and improvements

  • Fusion of Visual Inertial Odometry in EKF2 (video)
  • Interface for external Obstacle Avoidance systems (video)
  • Significantly improved performance on racing drones (users need to reconfigure, link)
    • Improved filtering and reduced control latency
    • Added Airmode
  • Improved flight performance on VTOL (Tiltrotors, Tailsitters)
  • Support for building natively on Windows (link)
  • Significant EKF2 improvements
    • Hardening of the estimator for situations where GPS accuracy is limited
      improved sensor selection logic enabling simultaneous use of optical flow and GPS
    • Added the EKF2_MAG_TYPE parameter for environments with high magnetic interferences
  • Wind Estimator
  • Support for structure scanning
  • High Latency telemetry support (Iridium)
  • Precision landing framework (including IRLock driver)

New Supported Hardware

  • FMUv5: Pixhawk 4 and Pixhawk 4 mini from Holybro and Pixhack v5 from CUAV
  • Crazyflie 2.0 with optical flow deck
  • Omnibus F4 SD
  • Snapdragon 8074 with VIO enabled (video, 820 support coming)
  • IRLock sensor for precision landing
  • ST LPS22HB barometer driver
  • Analog devices IMUs (ADIS16477, ADIS16448)
  • TeraRanger Evo 600Hz support

Dependencies

  • QGroundControl v3.3.2
  • MAVLink (d8ea87b9c6173ad72a032219588e302eb8cb212a) https://github.com/mavlink/c_library_v2
  • UAVCAN
  • Important fixes
  • Manual flight mode for VTOL
  • Battery estimation fixes and improvements

Change Log

v1.8.0 (2018-06-19)

Implemented enhancements:

  • PX4 Ping Message Protocol #9233
  • IridiumSBD Debug Message + Acknowlege fix #9326 (acfloria)

Fixed bugs:

  • Error in make posix_sitl_default gazebo #9575
  • fmu_v5 NSH some commands force an instant reboot #9532
  • 1.8.0beta does not "work" with QGC latest #9505
  • Console output on Mac OS #9495
  • EKF errors with Fixed Wing #9474
  • PX4 1.7.3: Total crash in loiter. #9108
  • set MODULE_NAME for parameters module and update ecl #9536 (dagar)
  • Jenkins mission tests delete old build first #9535 (dagar)

Closed issues:

  • v1.8 Changelog scratchpad #9593
  • Increase IMU rate in ROS on Intel Aero RTF with PX4 #9579
  • arming and takeoff with mavros ! #9578
  • not able to launch posix_sitl.launch #9568
  • Commander low on stack #9548
  • Wrong Voltage Divider for FMUv5 #9526
  • Start logging on RTK GPS condition or postprocessing option #9432
  • 1.7 Crashes, log stops in-air #9271
  • Crash: Pixhawk 2.1 (Cube) with v1.7.4 Beta firmware #9260
  • Suspectible servo broken and PX4 dead #9139

Merged pull requests:

  • Remove extra newline in omnibus-f4sd/usb.c to quiet git warning. #9592 (mcsauder)
  • various getopt & argc index check fixes #9589 (bkueng)
  • mavlink_messages: fill in all 16 servo channels #9586 (bkueng)
  • Remove whitespace from the top-level CMakeLists.txt. #9581 (mcsauder)
  • logger: fix SD card space computation #9580 (bkueng)
  • Update submodule sitl_gazebo to latest Thu May 31 01:26:50 UTC 2018 #9571 (dagar)
  • Jenkins archive nuttx bin file #9570 (dagar)
  • Commander: complete thread cycle before emergency shutdown #9563 (potaito)
  • Jenkins temporarily disable address sanitizer mission tests #9559 (dagar)
  • ecl-ekf log analysis tool: fix missing filter_fault_status and one-off index bug #9552 (JohannesBrand)
  • ROMFS: fix SYS_USE_IO==0 #9551 (bkueng)
  • px4fmu-v5/board_config.h: update BOARD_BATTERY1_V_DIV #9550 (bkueng)
  • mavlink mission: send an ack on duplicated last uploaded mission item #9547 (bkueng)
  • IridiumSBD: Fix for multiple MT messages #9546 (acfloria)
  • ADC support for Omnibus F4 SD #9545 (bkueng)
  • Add param to adjust motor ordering #9544 (bkueng)
  • Delete old issue template #9543 (hamishwillee)
  • Fix link to slack (Broken) #9542 (hamishwillee)
  • Fix link to flight reporting page #9541 (hamishwillee)
  • Jenkins tests code coverage build + SIGSEGV handler #9419 (dagar)

v1.8.0-beta2 (2018-05-27)

Full Changelog

Implemented enhancements:

Fixed bugs:

  • PX4 SITL catkin build failing #9447
  • posix_eagle broken on recent master (Snapdragon flight) #9444
  • EKF2 with optical flow drifts without flow data #9414
  • Internal HMC5883 not (always) starting on FMUv2 (Original 3DR Pixhawk) #9151
  • Fix astyle Display Language Dependency & Makefile Colored Output #9441 (MaEtUgR)
  • Jenkins run tests under address sanitizer and fix issues #9421 (dagar)
  • Avionics power check type error (int to float) #9412 (dakejahl)

Closed issues:

  • Bug Report: Multi-Vehicle Interference in the storage and execution of the mission #9500
  • Battery Parameters Visualisation not working in simulation #9486
  • Detected 0 radio channels. To operate PX4, you need at least 5 channels #9480
  • Bug Report: Aberrant Yaw and Loss of Altitude causing Crash #9475
  • "make posix_sitl_default gazebo" error #9466
  • GPS here+ plus rover is not getting detected #9463
  • Tone to start rotation for magnetometer calibration not functioning #9451
  • GPS driver debugging best method #9446
  • Latest px4 build issue on ubuntu18 #9443
  • SITL multi-vehicle data link issue #9439
  • MC output not started after back-transition #9437
  • when plane disarmed , motor is disarmed ,but rudders are not disarmed #9426
  • mavlink_command_sender doesn't transmit messages #9415
  • ERROR: ld.so: object 'libgtk3-nocsd.so.0' from LD_PRELOAD cannot be preloaded (cannot open shared object file): ignored. #9409
  • Frequent large Log Dropouts - Cause? #9403
  • Logged local position z setpoint not as expected #9401
  • Flow not working anymore with default parameters #9398
  • make px3fmu-v2_default failed #9390
  • PX4 / QGC Sync on Tuning Sliders #9379
  • What will happen if GPS + RC fails? #9336
  • MAC: can not SITL SUCCESSFUL #9311
  • Error "Mag 0 fail: STALE!" in Pixhawk2.1 + Here GNSS with PX4 v1.7.3 #9184

Merged pull requests:

  • Alphabetize the mavlink stream lists in mavlink_main.cpp. #9531 (mcsauder)
  • Update issue templates #9529 (dagar)
  • Jenkins remove address sanitizer mission test #9524 (dagar)
  • simple mixer: make output scalers O: optional and use default values instead #9522 (bkueng)
  • Only apply acceptance radius calculation for FW part of back transition #9519 (sanderux)
  • Alphabetize #include list in mavlink_receiver.h #9517 (mcsauder)
  • Pr crazyflie optflow fix #9514 (DanielePettenuzzo)
  • Update submodule sitl_gazebo to latest Wed May 23 01:26:42 UTC 2018 #9512 (dagar)
  • Update submodule DriverFramework to latest Wed May 23 01:26:47 UTC 2018 #9511 (dagar)
  • Update submodule ecl to latest Wed May 23 01:26:53 UTC 2018 #9510 (dagar)
  • initial probot stale configuration #9508 (dagar)
  • NuttX build use 'all' target within each lib #9506 (dagar)
  • Pr snapdragon follow up #9503 (RomanBapst)
  • Updated mavlink submodule #9497 (julianoes)
  • add library dependencies for modules #9492 (dagar)
  • Nathantsoi omnibusf4sd #9491 (LorenzMeier)
  • ecl-ekf-tools: fix a bug related to time index calculation #9489 (JohannesBrand)
  • clang-tidy modernize-use-equals-default #9485 (dagar)
  • Update submodule ecl to latest Fri May 18 01:26:47 UTC 2018 #9484 (dagar)
  • Jenkins run VTOL standard mission test under ASAN #9483 (dagar)
  • cmake add bloaty helpers for nuttx and use in Jenkins #9481 (dagar)
  • auav-x21 sync with px4fmu-v3 module list #9476 (dagar)
  • fix commander: initialize tune_durations #9468 (bkueng)
  • Update submodule ecl to latest Mon May 14 20:26:35 CDT 2018 #9465 (dagar)
  • Allow astyle version 3.1 #9464 (jlecoeur)
  • Crazyflie drivers #9462 (DanielePettenuzzo)
  • px_romfs_pruner: reduce multiple consecutive spaces into a single space for mixers #9457 (bkueng)
  • fw_att_control set default yaw rate max and update parameter descriptions #9454 (dagar)
  • Update submodule sitl_gazebo to latest Fri May 11 2018 #9450 (TSC21)
  • lis3mdl driver refactor #9448 (dakejahl)
  • Locked down the RTPS UART configuration #9438 (drisebor)
  • ekf2 replay: handle multi multiple GPS instances #9433 (bkueng)
  • Compilation fixes for GCC 8.0.1 #9430 (bkueng)
  • Failsafe params update to reflect current mode names #9429 (hamishwillee)
  • Jenkins simple mission code coverage build #9420 (dagar)
  • Update submodule genmsg to latest Fri May 4 20:26:30 CDT 2018 #9416 (dagar)
  • cmake update option to enable doxygen generation (off by default) #9407 (dagar)
  • update to support standalone ECL build inclusion #9406 (dagar)
  • Structure Scan - Gimbal Orientation #9405 (mrivi)
  • update PX4/ecl submodule to latest master #9400 (dagar)
  • mpu9250 allow a 2nd internal spi instance and remove px4fmu-v4 external #9386 (dagar)
  • Q attitude estimator improvements #9361 (bkueng)
  • adding airframe config for s500 #9342 (barzanisar)
  • RTPS test branch #9224 (dagar)
  • delete mathlib Vector/Matrix #9181 (dagar)
  • airspeed calibration log critical when ports are swapped #9168 (dagar)

v1.8.0-beta1 (2018-05-03)

Full Changelog

Implemented enhancements:

  • improve end to end control latency measurement #9388 (dagar)
  • lps22hb barometer driver #9383 (dagar)
  • Advanced Time Synchronisation #9365 (mhkabir)
  • Jenkins add VTOL tiltrotor mission test #9333 (dagar)
  • mag_calibration: only allocate as much memory as needed #9312 (potaito)
  • cmake remove circular linking and reorganize #9292 (dagar)
  • enable -fno-math-errno as we never check errno #9281 (dagar)
  • fw_pos_control_l1 don't store TECS and L1 parameters #9202 (dagar)
  • Jenkins update flight review title and description #9201 (dagar)
  • Jenkins add OSX build #9198 (dagar)
  • minor constexpr cleanup #9191 (dagar)
  • uORB messages generated pretty print #9149 (dagar)
  • mc_pos_control move to matrix lib #9141 (dagar)
  • Refactor MC attitude controller: use module base and Param classes #9113 (bkueng)
  • Lists ROMFS files explicity instead of using GLOB_RECURSE #9107 (ksschwabe)
  • move geo and geo_lookup to PX4/ecl #9105 (dagar)
  • Multicopter mixer saturation handling strategy -- continue #9062 (bresch)
  • Use filtered throttle for battery voltage compensation #9055 (nanthony21)
  • Merge vtol mc motor handling methods #9028 (dagar)
  • FlightTasks incremental introduction #8933 (MaEtUgR)

Fixed bugs:

  • 2 hard faults (on ground + in air) with PX4FW v1.7.4 #9348
  • Tailsitter mission problem #9300
  • System is arming (or thinks it is arming) even with Critical warnings (specifically "MAG SENSORS INCONSISTENT") #9155
  • MultiRotor: Unstable manual flight #9150
  • Update submodule nuttx to latest Sat Apr 28 20:26:31 CDT 2018 #9382 (dagar)
  • mavlink: include differential pressure in fields updated bit shift #9296 (tstastny)
  • FW landing check if prev valid before using #9284 (dagar)
  • Fix possibility of deep discharge when battery inserted and USB connected #9278 (MaEtUgR)
  • commander state machine fix preflight and prearm error #9193 (dagar)
  • mc_att_control: reenable TPA for I term #9166 (MaEtUgR)
  • sensors only publish airspeed if finite #9163 (dagar)
  • mc_att_control: revert to tested cutoff frequency #9162 (MaEtUgR)
  • coverity fixes #9154 (dagar)
  • FW Phantom FPV Flying Wing fix FW_R_RMAX 0 #9135 (dagar)

Closed issues:

  • IRlock driver in v1.7.4 Beta #9373
  • Pixhawk bricked after trying some custom code #9366
  • Unable to start mission ('vehicle not ready') #9353
  • Changing EKF2 parameters for handheld testings #9351
  • .. #9350
  • submodule lib/ecl unable to checkout #9338
  • orb_advertise_multi: failed to set queue size #9334
  • QGC logging issues with Intel Aero RTF #9332
  • gamepad wishlist #9329
  • Mistype of the description for the parameter VT_FW_ALT_ERR #9314
  • Toilet Bowl #9295
  • crazyflie 2.0 cannot get local position from mavros #9291
  • Small potential issue with disarming #9277
  • When quadrotor moves horizontally, the quadrotor drops continuously until touching the ground. #9265
  • arm-none-eabi/bin/ld: region `flash' overflowed by 27353 bytes #9251
  • Bug Report:Compiled code error #9250
  • Frsky telemetry Bug? #9240
  • make is failing for Firmware cloned from version v1.6.5 #9237
  • logs not working with qgroundcontrol geotagging #9203
  • Indoor Flight Crash(in Stablized mode) based on EKF2 #9194
  • Feature Request: Display VTOL status (MC, Transition, FW) on QGC #9188
  • Potential bug for EKF2 #9182
  • NO position lock in SITL-EKF2 #9178
  • Bottle_drop not working in v1.5.4 #9170
  • unused args [respawn_gazebo] for include of [/opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch] #9153
  • ERROR when make posix_sitl_default gazebo #9145
  • Cannot find gps_helper.cpp source file #9124
  • QGroundControl daily: No airspeed sensor calibration available #9120
  • ROMFS not rebuilt correctly when ROMFS files are 'touch'ed #9093
  • Unable to build v1.6.5 for Pixhawk #9091
  • EKF baro hgt timeout - reset to baro #9060
  • Barometer compilation error- {solved by renaming variables external in bmp280_SPI constructor} #9059
  • Makefile:147: recipe for target 'posix_sitl_default' failed #9042
  • Unexpected position setpoint during loiter mode after pause #9003
  • Quadplane tailsitter #8961
  • How to connect mpu9250 to stm32f767zi #8928
  • Crazyfly 2.0 on the current master does not connect with QGC #8924
  • SYS_COMPANION - update speed #8918

Merged pull requests:

  • delete srf02_i2c which is nearly identical to srf02 #9396 (dagar)
  • uORB delete unused Flavor #9395 (dagar)
  • px4io driver remove unnecessary class fields #9391 (dagar)
  • Update MAVLink submodule #9380 (LorenzMeier)
  • ecl ekf tools: code refactoring to separate visualization from analysis #9377 (JohannesBrand)
  • MC acro: update param descriptions #9374 (bkueng)
  • Add support for another MPU9250 or MPU6500 on px4fmu-v4 internal SPI Bus #9372 (AlexKlimaj)
  • Fixes for IMU filter settings #9367 (bkueng)
  • mc_att_control_main: do not apply the yaw weight for the feedforward term #9360 (bkueng)
  • MC: set default MPC_THR_MAX & MPC_MANTHR_MAX to 1 #9359 (bkueng)
  • MC acro: add separate params to configure yaw expo #9358 (bkueng)
  • tap_esc cleanup - addendum #9356 (potaito)
  • Update submodule nuttx to latest Mon Apr 23 01:26:50 UTC 2018 #9354 (dagar)
  • mpu9250 wrapper: support updating gyro & accel cutoff via parameter #9344 (RomanBapst)
  • libecl: checked out recent commit of master #9339 (potaito)
  • Pr tailsitter ci #9330 (RomanBapst)
  • FixedWingPositionControl: rotate attitude consistenly for tailsitters #9328 (RomanBapst)
  • module template: move documentation to a new category 'template' #9324 (bkueng)
  • rc_check: typos in mavlink error #9323 (potaito)
  • stop manually defining physical constants #9319 (dagar)
  • rcS: do not reset COM_FLTMODE* on airframe change #9317 (bkueng)
  • Fix description of VT_FW_ALT_ERR #9315 (hamishwillee)
  • tap_esc cleanup #9313 (potaito)
  • Jenkins set CCACHE_BASEDIR on Mac #9308 (dagar)
  • Update submodule sitl_gazebo to latest Fri Apr 13 20:26:27 CDT 2018 #9306 (dagar)
  • Update submodule mavlink v2.0 to latest Fri Apr 13 20:26:31 CDT 2018 #9305 (dagar)
  • Update submodule DriverFramework to latest Fri Apr 13 20:26:36 CDT 2018 #9304 (dagar)
  • Update submodule ecl to latest Fri Apr 13 20:26:41 CDT 2018 #9303 (dagar)
  • move check stack to cmake and run in Jenkins #9302 (dagar)
  • [RFC] improve readability of time literals #9299 (bkueng)
  • logger: remove some unneeded SITL topics #9294 (bkueng)
  • mavlink : fix pointer for main_mode and sub_mode #9290 (mhkabir)
  • Flight task auto params #9287 (Stifael)
  • trivial: improve a quaternion control comment #9285 (MaEtUgR)
  • px4iofirmware use std NAN instead of undefined 0.0f/0.0f #9280 (dagar)
  • NuttX cleanup debug helpers and add profile target #9272 (dagar)
  • tests temporarily disable mavlink tests on nuttx #9269 (dagar)
  • Update submodule mavlink v2.0 to latest Sun Apr 8 20:31:34 CDT 2018 #9268 (dagar)
  • update px4fmu_test and add px4fmu-v2_test to Jenkins #9264 (dagar)
  • Add new mode AUTO_PRECLAND #9261 (okalachev)
  • Flight tasks: param refactoring #2 #9255 (bkueng)
  • commander: immediately publish kill switch state change #9254 (bkueng)
  • ll40ls: Increase the number of samples used for every measurement #9247 (CarlOlsson)
  • Improve the Crazyflie MAVLink tunnel to increase efficiency #9245 (LorenzMeier)
  • clarify the codes of LPE #9244 (stmoon)
  • logger: add board subtype #9239 (bkueng)
  • Jenkins bloaty sort output by size properly #9238 (dagar)
  • tailsitter: do not condition transition on airspeed if airspeed disabled #9236 (RomanBapst)
  • FixedWingAttitudeControl: use trim airspeed if airspeed is disabled #9235 (RomanBapst)
  • gitmodules make name consistent with path #9231 (dagar)
  • update submodules to tracking branch in gitmodules #9230 (dagar)
  • Update submodule sitl_gazebo to latest Mon Apr 2 17:13:58 UTC 2018 #9229 (dagar)
  • Jenkins split eagle_default build and print bloaty top 100 comparison #9228 (dagar)
  • Jenkins Style Check skip submodules clean #9227 (dagar)
  • Clean-up :remove the ＥＫＦ pre-flight check variable that is not used in commander. #9226 (xdwgood)
  • Fix typo in spelling of Sonar #9225 (hamishwillee)
  • Update submodule matrix to latest Sun Apr 1 21:55:42 UTC 2018 #9223 (dagar)
  • Update submodule DriverFramework to latest Sun Apr 1 18:11:03 UTC 2018 #9221 (dagar)
  • gitmodules add tracking branch to genmsg, gencpp, libuavcan #9220 (dagar)
  • Update submodule uavcan_board_ident to latest Sun Apr 1 17:34:37 UTC… #9217 (dagar)
  • Update submodule mavlink v2.0 to latest Sun Apr 1 13:31:08 EDT 2018 #9216 (dagar)
  • Update submodule matrix to latest Sun Apr 1 17:27:33 UTC 2018 #9215 (dagar)
  • Update submodule ecl to latest Sun Apr 1 17:26:07 UTC 2018 #9214 (dagar)
  • Update sitl_gazebo submodule Sun Apr 1 00:19:14 UTC 2018 #9209 (dagar)
  • CI: mavros restart #9207 (lamping7)
  • FW SITL enable FW EKF2 default parameters #9205 (dagar)
  • docker images update to 2018-03-30 tag #9204 (dagar)
  • Jenkins discard old builds, but keep artifacts #9199 (dagar)
  • Jenkins check style first #9197 (dagar)
  • Move some constant arrays from data to text section #9187 (bkueng)
  • vtol_att_control: set flag in_transition_to_fw properly #9186 (RomanBapst)
  • sitl_gazebo: update submodule #9177 (julianoes)
  • Add internal SPI LIS3MDL support for the R15 Pixracer #9175 (pkocmoud)
  • tap_esc: add support for MC_AIRMODE #9173 (bkueng)
  • Drivers: Add TeraRanger Evo 600Hz support #9169 (msadowski)
  • add settling time on sensor start-up #9164 (ASM3)
  • mc_att_control: refactor: switch to matrix library #9161 (MaEtUgR)
  • mavlink altitude fix and general cleanup #9158 (dagar)
  • add timestamp for sensor_preflight #9152 (stmoon)
  • airspeed driver: un-advertise differential pressure topic #9147 (RomanBapst)
  • Jenkins add px4fmu bloaty comparison with last successful master build #9142 (dagar)
  • jMAVSim: update submodule #9140 (bkueng)
  • Jenkins run bloaty on px4fmu nuttx builds #9133 (dagar)
  • Support of HITL simulation for Intel Aero FC #9132 (trgiman)
  • mavlink move to matrix lib #9131 (dagar)
  • navigator follow_target move to matrix lib #9130 (dagar)
  • sensors move to matrix lib #9129 (dagar)
  • uuv_example_app move to matrix lib #9128 (dagar)
  • camera_trigger replace math::Vector with matrix::Vector #9126 (dagar)
  • MPU6000: unadvertises the accel and gyro uORB topics in destructor #9125 (ksschwabe)
  • update vtol mission tests to increase length #9123 (dagar)
  • wind_estimator fix LPWORK/HPWORK confusion and cleanup #9122 (dagar)
  • drivers replace math::Vector<3> with matrix::Vector3f #9121 (dagar)
  • libtunes: Various bugfixes and improvements #9117 (potaito)
  • Refactor: replace BlockParam's with the new Param class #9115 (bkueng)
  • convergence config: increase multirotor idle speed #9112 (RomanBapst)
  • fw_att_control move to matrix lib #9104 (dagar)
  • delete tailsitter_recovery #9103 (dagar)
  • mathlib Limits move radians/degrees to template header #9102 (dagar)
  • TECS and L1 switch to matrix math library #9101 (dagar)
  • Fix scale application on FW throttle baro compensation #9099 (sanderux)
  • Pr wind est work queue #9079 (RomanBapst)
  • precland: support receiving LANDING_TARGET message #9050 (okalachev)
  • aerofc: Look for px4flow sensor on telemetry port #8994 (sugnanprabhu)
  • FMUv5: Swap debug and PX4 IO serial ports to avoid DMA channel issues #8978 (LorenzMeier)
  • Jenkins cleanup #8887 (dagar)

v1.7.4beta (2018-03-19)

Full Changelog

Implemented enhancements:

  • EKF2 only publish wind_estimate if wind velocity is being estimated #9081 (dagar)
  • ecl: attitude_fw update #9023 (tstastny)
  • Updated batt_smbus. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature. #8991 (AlexKlimaj)
  • FW landing project virtual waypoint to handle landing overshoot #8985 (dagar)
  • fw_att_control: schedule trims for airspeed and flap deployment #8937 (tstastny)
  • MC rate controller: add low-pass filter for D-term #8920 (bkueng)

Fixed bugs:

  • pwm test has no effect after version 1.5.x #9052
  • Not able to give full throttle in fw acro #9043
  • Intel Aero RTF: no baro0, no mag0 #9038
  • Auto takeoff settles at wrong altitude #9033
  • logger causing mavlink manual control dropouts #9009
  • tailsitter fly forward and fall suddenly #8997
  • Dropix loosing LSM303D after Reboot #8992
  • VTOL goes into deadlock when in manual transition #8988
  • Support for reading second GPS instance is broken #8945
  • Battery Estimation Initialization on some Platforms like Intel Aero Fails #8930
  • When SDLOG_MODE = 2 or 1 (from boot) Not all parameters are recorded #8903
  • Log files are corrupted while running landing_target_estimator #8877
  • px4fmu v2 sensor init (again) and cleanup #9074 (dagar)
  • px4fmu-v2 sensor reset #9031 (dagar)
  • land detector vtol require non-zero vehicle_status timestamp #9026 (dagar)
  • FixedwingPositionControl: fix air_gnd_angle judgement condition. #8996 (ToppingXu)
  • vtol_att update poll fd before poll call #8990 (dagar)
  • ecl: Fixes bug preventing use of GPS reported speed accuracy #8981 (priseborough)
  • Pr aero battery initialization hotfix #8940 (MaEtUgR)
  • Use ekf2 version with external vision nav axis transformation bug fixes #8935 (priseborough)
  • Battery: Switch thrust based load compensation back to linear #8929 (MaEtUgR)
  • commander delete GPS receiver checks and minor cleanup #8914 (dagar)
  • fw_pos_control_l1 move to ModuleBase #8905 (dagar)
  • fw_att_control move to ModuleBase #8899 (dagar)

Closed issues:

  • Feature Request: Flight Mode Selection #9106
  • make px4fmu-v2_default does not work on Windows #9087
  • Implement ROI_WPNEXT_OFFSET #9082
  • 【mc_att_control】 Remove unnecessary defaults. #9077
  • Coax pitch and roll servo travel very limited #9063
  • Pixhawk/PX4FMUv2 startup without external mag fails #9061
  • Cannot see landing_target_estimator in QGroundControl #9040
  • Mag0 devid error on Pixracer RC14 #9035
  • EKF2_AID_MASK: rotate external vision in 1.7.3 #9000
  • VTOL: VT_DWN_PITCH_MAX and VT_FWD_THRUST_SC does not apply. #8970
  • VTOL: Could not transition with Ground Speed. #8969
  • When hovering for some time, the drone start to rock then crash. #8968
  • vtol_att_control parameter consolidation #8965
  • The filter for the D-term should be enabled by default #8962
  • Failsafe enabled: no global position #8956
  • Operator error #8949
  • VTOL: Position and Mission Reproducible Stall. #8941
  • 'make posix_sitl_default gazebo' exiting with Error 1 #8938
  • Flight Issues for Q_estimator + LPE #8934
  • OcPoc: unable to arm with global position #8932
  • accelerometer_timestamp_relative is always '0' #8926
  • [SITL crash] px4 node crashes on startup #8925
  • VTOL: Descending back transition problem. #8919
  • RC transmitter must be on when PX4 starts #8872

Merged pull requests:

* This Change Log was automatically generated by github_changelog_generator

PX4-Autopilot - v1.7.4 Beta Release

Published by LorenzMeier over 6 years ago

This includes a number of stability and performance improvements for all vehicle types.

PX4-Autopilot - v1.7.3 Stable Release

Published by LorenzMeier almost 7 years ago

This is a maintenance release for v1.7

  • Fixed board support for boards electrically departing from FMUv2 schematic from several manufacturers
  • Cascaded EKF2 error messages so they do not trigger when calibration is missing on the sensors
  • Disabled some text / speech outputs when disarmed
  • Ensured manual override is always enabled in fixed wing
  • Help developers to use the correct config for their board if there are multiple compatibles ones
  • Reduce CPU load of VTOL controller
  • Make param updates lightweight
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