PX4-Autopilot

Final release candidate. This release changes the estimator to EKF2 for all vehicles as it is the most tested in typical outdoor scenarios. Indoor scenarios and general development continue to benefit greatly from the LPE estimator.

To switch back to the previous default, set SYS_MC_EST_GROUP to 1. To use EKF2, set SYS_MC_EST_GROUP to 2.

Most notable changes / improvements:

• EKF2 default estimator
• STM32F7 support added
• Crazyflie support added
• Parrot Bebop 2 support added
• Log streaming via Wifi to the ground and straight to the cloud
• New log analysis tool with real-time zoomable plots (logs.px4.io)
• Reduction of memory footprint
• Performance improvements in VTOL flight control
• Pre-flight check improvements on EKF2
• Side-slip support in EKF2

Hardware support

• Intel Aero Flight Control
• Qualcomm Snapdragon Flight
• Parrot Bebop 2
• Raspberry Pi / Emlid Navio 2+
• CrazyFlie
• Pixhawk 1 (FMUv2 architecture)
• Pixhawk 2 Mini (FMUv3 architecture)
• Pixhawk 2 (FMUv3 architecture)
• Pixracer (FMUv4 architecture)
• Pixhawk 3 Pro (FMUv4-PRO architecture)
• Upcoming Pixracer 4 & Pixhawk 4 (FMUv5 architecture, STM32F7)

Minor improvements over RC1 and RC2:

• Better differential pressure / airspeed preflight check
• Better default gains for Intel Aero RTF drone

Minor fixes and improvements since RC1

First release candidate for 1.5.1. This release changes the estimator to EKF2 for all vehicles as it is the most tested in typical outdoor scenarios. Indoor scenarios and general development continue to benefit greatly from the LPE estimator.

To switch back to the previous default, set SYS_MC_EST_GROUP to 1. To use EKF2, set SYS_MC_EST_GROUP to 2.

Most notable changes / improvements:

• EKF2 default estimator
• STM32F7 support added
• Crazyflie support added
• Parrot Bebop 2 support added
• Log streaming via Wifi to the ground and straight to the cloud
• New log analysis tool with real-time zoomable plots (logs.px4.io)
• Reduction of memory footprint
• Performance improvements in VTOL flight control
• Pre-flight check improvements on EKF2
• Side-slip support in EKF2

Hardware support

• Intel Aero Flight Control
• Qualcomm Snapdragon Flight
• Parrot Bebop 2
• Raspberry Pi / Emlid Navio 2+
• CrazyFlie
• Pixhawk 1 (FMUv2 architecture)
• Pixhawk 2 Mini (FMUv3 architecture)
• Pixhawk 2 (FMUv3 architecture)
• Pixracer (FMUv4 architecture)
• Pixhawk 3 Pro (FMUv4-PRO architecture)
• Upcoming Pixracer 4 & Pixhawk 4 (FMUv5 architecture, STM32F7)

This release improves the overall stability of the system, in particular on Pixracer and USB.

This is a preview for the 1.5.0 release with general improvements.

This release improves the ICM20608 filter performance and fixes a USB connectivity issue on the NuttX OS which is visible on all operating systems but most severe on Mac OS X.

This release reduces the memory footprint of EKF2 for VTOL use cases.

This release enables the use of three different estimators and switches the default estimators for multicopters, fixed wing and VTOL to more modern variants.

• Default estimator for multicopters is attitude_estimator_q and LPE (new). Better position and alt hold.
• Default estimator for VTOL is attitude_estimator_q and LPE (new). Better position and alt hold.
• Default estimator for fixed wing is ekf2 (new). Better attitude estimation and general performance.

This release also includes a long list of improvements:

• Yaw control performance fix / increase for VTOL
• Better default gains for Delta Quad
• u-Blox RTK / RTCM relay support
• Yaw limit mixer fix for multicopter
• Preliminary support for Parrot Bebop
• Full support for RPI2 + Navio 2 (was present for a while, now integrated / flight tested)
• LightWare Lidar fixes for I2C
• Sony QX1 triggering through SeaGull MAP2 cable
• Geotagging script for QX1 and PX4 logs
• 30x faster log download (now more than 300 KB/s, which is sufficient for realistic use)
• MAVLink shell support: A python script in Tools now allows to use NSH via MAVLink
• Sensors app cleanup for failover handling and integrals
• New logger support for .ulog files (will replace sdlog2). This logger logs directly uORB topics, which makes analysing logs a lot more convenient and efficient as they directly relate to the C code now
• Replay of complete system via .ulog files which contain all topics. This is the equivalent of replaying a ROS bag.
• New derivation for EKF2 estimator, resilience for large yaw changes
• Rewrite and hardening of the land detector
• VTOL: Dedicated transition switch for manual operation. Transition command supported via MAVLink as well.
• OS: Support for parameter storage in flash (no external flash / FRAM required)
• Snapdragon flight: General improvements in stability and functionality
• Software fix for broken Pixracer electronics (which suffered from sensor brownouts)
• Vision position estimate fixes
• More complete CI testing of more airframe types
• General bugfixes and improvements

This release candidate increases the baro sampling rate and improves altitude hold.

This is the third release candidate for the 1.4.1 release with various bugfixes and stability improvements. There are still a number of changes / fixes to come into 1.4.1:
https://github.com/PX4/Firmware/milestone/12

This introduces a fix for the MAVLink stream rate handling which increases the telemetry bandwidth significantly for all links.

This is a maintenance release with stability improvements.

This release introduces proper version control in lockstep with QGroundControl to ensure that users get critical bugfixes.

This release candidate fixes the version reporting and defaults battery params to unconfigured.

This RC introduces improvements to the LPE estimator and switches fixed wing setups to EKF2. It will need significant testing.

This fixes an issue with the EKF1 estimator leading to excessive param updates.

This is a first early release candidate for v1.4.0

This is a maintenance release including a number of bugfixes that were back ported from master to stable.

v1.4 beta release