PX4-Autopilot

PX4 Autopilot Software

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PX4-Autopilot - Stable Release v1.14.0 Latest Release

Published by dagar almost 1 year ago

Major Changes

  • Dynamic Control Allocation
  • Improved Preflight Failure Check Reporting
  • Failsafe Simplification and Simulation
  • Default Simulation is now New Gazebo
  • Improved ROS 2 Interface thanks to uXRCE-DDS

Read Before Upgrading

The v1.14 release includes a few breaking changes for users upgrading from previous versions, in particular we are moving away from using mixer files to define the vehicle geometry, motor mappings and actuators.

Additionally, we deprecated the Fast-RTPS interface used by ROS 2 in favor of a much cleaner solution that doesn't require a custom build target, and goes away with the additional message generation step.

Please see our detailed upgrade instructions on our docs.

Dynamic Control Allocation

We are very excited to enable the new dynamic control allocation by default; it allows users to define vehicle configurations at runtime without needing a mixer file, thanks to the new vehicle setup dashboard in QGroundControl.

Improved Preflight Failure Check Reporting (QGC Arming Checks UI)

PX4 v1.14 adds much improved preflight failure reporting through the events interface. If the vehicle won't arm, you can more easily find out why in the QGC Arming Checks UI (opens new window). No more wondering if it's a problem with the safety switch, a poor calibration, or something in the internals of the estimator!

As part of this change, it is now possible to switch to any mode when disarmed (previously you could not switch to a mode that required GPS if you didn't have a good position estimate). PX4 will only allow you to arm when the conditions for the current mode are met, and will report failure checks that are not relevant to the current mode as warnings.

Failsafe Simplification

Safety Failsafe handling has been simplified, in particular with respect to what happens if a failsafe is triggered when another failsafe is already in progress.

There is now a hold delay before the action is performed, giving the user time to override the failsafe if needed.
If multiple failsafes are triggered, the more severe action is taken. For example if both RC and GPS are lost, and manual control loss is set to Return mode and GCS link loss to Land, Land is executed.
The new Failsafe State Machine Simulation allows you to test failsafe behaviour under all possible configurations and conditions.

New Gazebo

Given the recent changes (opens new window) by the Open Robotics simulation team, we are introducing name changes for our gazebo simulations, mirroring Open Robotics naming scheme, starting with v1.14:

Ignition Gazebo (opens new window) to Gazebo
Gazebo (opens new window) to Gazebo Classic.
Most importantly this affects the PX4 build target names as well:

Gazebo targets are prefixed with gz_ (e.g. make px4_sitl gz_x500).
Gazebo Classic make targets are now prefixed with gazebo-classic_ (e.g., make px4_sitl gazebo-classic_cloudship).

Improved ROS 2 Interface via uXRCE-DDS

We updated the ROS 2 interface, replacing Fast-RTPS (opens new window) with uXRCE-DDS, resulting in an improved experience across the board. The change also avoids the need for _rtps build targets, enabling the interface on even more targets by default.

Full changelog available here

PX4-Autopilot - v1.14.0-rc1

Published by dagar about 1 year ago

Release Candidate v1.14.0

What's Changed

  • [New] Dynamic Control Allocation
  • [New] Default simulation is now New Gazebo
  • [New] Improved ROS 2 Interface thanks to uXRCE-DDS

Read Before Upgrading

The v1.14 release includes a few breaking changes for users upgrading from previous versions. In particular, we are moving away from using mixer files to define the vehicle geometry, motor mappings, and actuators.

Additionally, we deprecated the Fast-RTPS interface in favor of a much cleaner solution that doesn't require a custom build target and goes away with the additional message generation step.

Please read the full release notes for recommended steps for upgrading users.

Full Changelog: https://github.com/PX4/PX4-Autopilot/compare/v1.13.3...v1.14.0-rc1

PX4-Autopilot - Stable Release v1.13.3

Published by dagar over 1 year ago

Stable Release v1.13.3

What's Changed

Full Changelog: https://github.com/PX4/PX4-Autopilot/compare/v1.13.2...v1.13.3

PX4-Autopilot - Stable Release v1.13.2

Published by julianoes almost 2 years ago

What's Changed

Full Changelog: https://github.com/PX4/PX4-Autopilot/compare/v1.13.1...v1.13.2

PX4-Autopilot - Stable Release v1.13.1

Published by dagar about 2 years ago

What's Changed

Full Changelog: https://github.com/PX4/PX4-Autopilot/compare/v1.13.0...v1.13.1

PX4-Autopilot - Stable Release v1.13.0

Published by dagar over 2 years ago

This is the v1.13 stable release, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.13.html

Common

Sensors

Hardware

MAVLink

  • MAVLink triggered parachute system support (PR#18589)

Estimation

  • EKF2 barometer bias estimator
  • EKF2 range finder kinematic consistency check
  • EKF2 propeller momentum drag coefficient used for multi-rotor wind estimation.
  • incremental accel and gyro auto-calibration
  • dedicated magnetometer bias estimator for easy preflight calibration

Control

  • Dynamic Control Allocation (PR#18776)
    • Disabled by default, see usage instructions to get started
    • Easy and flexible actuator configuration
    • Support for more hardware setups without manual mixer file adjustments
    • Possibility to dynamically adjust allocation in flight e.g. rotor loss

CAN

  • UAVCANv1 aka OpenCyphal
  • DroneCAN
    • Battery Support
    • Hygrometer Support
    • Internal Combustion Engine (ICE)
    • Log message handling from CAN nodes

Full Changelog:

Full Changelog: https://github.com/PX4/PX4-Autopilot/compare/v1.12.0...v1.13.0

PX4-Autopilot - v1.13.0-rc1

Published by dagar over 2 years ago

PX4 stable v1.13.0 first release candidate

PX4-Autopilot - v1.13.0 Beta 1

Published by dagar over 2 years ago

PX4-Autopilot - Stable Release v1.12.3

Published by LorenzMeier about 3 years ago

PX4-Autopilot - Stable Release v1.12.2

Published by LorenzMeier about 3 years ago

PX4-Autopilot - Stable Release v1.12.1

Published by dagar about 3 years ago

This point release fixes a number of small issues discovered after the v1.12.0 release.

PX4-Autopilot - Stable Release v1.12.0

Published by dagar over 3 years ago

This is the v1.12 stable release, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

  • Multi-EKF enabled by default
  • Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
  • Safety switch is latching: Once it is disabled, it will stay disabled
  • Multicopter
  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation
  • Fixedwing/VTOL significant TECS improvements
  • Magnetometer calibration faster and more robust
    • new soft iron calibration coefficients
    • automatically determine the rotation of external sensors
  • Gyro dynamic notch filtering with onboard FFT
  • Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
  • Added support for IRC Ghost including telemetry
  • new board support
    • PX4 FMUv6u
    • PX4 FMUv6x
    • CUAV X7/X7Pro
    • CUAV Nora
    • CUAV CAN GPS
    • SP Racing H7 Extreme
    • Bitcraze Crazyflie v2.1
    • ARK CAN Flow
    • ARK CAN GPS
    • Freefly CAN RTK GPS
    • mRo Ctrl Zero H7 (experimental)
PX4-Autopilot - v1.12 Beta 6

Published by LorenzMeier over 3 years ago

This is the sixt beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

  • Multi-EKF enabled by default
  • Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
  • Safety switch is latching: Once it is disabled, it will stay disabled
  • Multicopter
  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation
  • Fixedwing/VTOL significant TECS improvements
  • Magnetometer calibration faster and more robust
    • new soft iron calibration coefficients
    • automatically determine the rotation of external sensors
  • Gyro dynamic notch filtering with onboard FFT
  • Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
  • Added support for IRC Ghost including telemetry
  • new board support
    • PX4 FMUv6u
    • PX4 FMUv6x
    • CUAV X7/X7Pro
    • CUAV Nora
    • CUAV CAN GPS
    • SP Racing H7 Extreme
    • Bitcraze Crazyflie v2.1
    • ARK CAN Flow
    • mRo Ctrl Zero H7 (experimental)

Differences to Beta 3:

  • Fixed a rate mismatch on PWM outputs on FMU
PX4-Autopilot - v1.12.0 Beta 5

Published by mrpollo over 3 years ago

This is the fifth beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

  • Multi-EKF enabled by default
  • Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
  • Safety switch is latching: Once it is disabled, it will stay disabled
  • Multicopter
  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation
  • Fixedwing/VTOL significant TECS improvements
  • Magnetometer calibration faster and more robust
    • new soft iron calibration coefficients
    • automatically determine the rotation of external sensors
  • Gyro dynamic notch filtering with onboard FFT
  • Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
  • Added support for IRC Ghost including telemetry
  • new board support
    • PX4 FMUv6u
    • PX4 FMUv6x
    • CUAV X7/X7Pro
    • CUAV Nora
    • CUAV CAN GPS
    • SP Racing H7 Extreme
    • Bitcraze Crazyflie v2.1
    • ARK CAN Flow
    • mRo Ctrl Zero H7 (experimental)

Differences to Beta 3:

  • Fixed a rate mismatch on PWM outputs on FMU
PX4-Autopilot - v1.12.0 Beta 4

Published by LorenzMeier over 3 years ago

This is the fourth beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

  • Multi-EKF enabled by default
  • Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
  • Safety switch is latching: Once it is disabled, it will stay disabled
  • Multicopter
  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation
  • Fixedwing/VTOL significant TECS improvements
  • Magnetometer calibration faster and more robust
    • new soft iron calibration coefficients
    • automatically determine the rotation of external sensors
  • Gyro dynamic notch filtering with onboard FFT
  • Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
  • Added support for IRC Ghost including telemetry
  • new board support
    • PX4 FMUv6u
    • PX4 FMUv6x
    • CUAV X7/X7Pro
    • CUAV Nora
    • CUAV CAN GPS
    • SP Racing H7 Extreme
    • Bitcraze Crazyflie v2.1
    • ARK CAN Flow
    • mRo Ctrl Zero H7 (experimental)

Differences to Beta 3:

  • Fixed a rate mismatch on PWM outputs on FMU
PX4-Autopilot - v1.12.0 Beta 3

Published by mrpollo over 3 years ago

This is the third beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

  • Multi-EKF enabled by default
  • Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
  • Safety switch is latching: Once it is disabled, it will stay disabled
  • Multicopter
  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation
  • Fixedwing/VTOL significant TECS improvements
  • Magnetometer calibration faster and more robust
    • new soft iron calibration coefficients
    • automatically determine the rotation of external sensors
  • Gyro dynamic notch filtering with onboard FFT
  • Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
  • Added support for IRC Ghost including telemetry
  • new board support
    • PX4 FMUv6u
    • PX4 FMUv6x
    • CUAV X7/X7Pro
    • CUAV Nora
    • CUAV CAN GPS
    • SP Racing H7 Extreme
    • Bitcraze Crazyflie v2.1
    • ARK CAN Flow
    • mRo Ctrl Zero H7 (experimental)
PX4-Autopilot - v1.12.0 Beta 2

Published by LorenzMeier over 3 years ago

This is the second beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

  • Multi-EKF enabled by default
  • Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
  • Safety switch is latching: Once it is disabled, it will stay disabled
  • Multicopter
  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation
  • Fixedwing/VTOL significant TECS improvements
  • Magnetometer calibration faster and more robust
    • new soft iron calibration coefficients
    • automatically determine the rotation of external sensors
  • Gyro dynamic notch filtering with onboard FFT
  • Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
  • Added support for IRC Ghost including telemetry
  • new board support
    • PX4 FMUv6u
    • PX4 FMUv6x
    • CUAV X7/X7Pro
    • CUAV Nora
    • CUAV CAN GPS
    • SP Racing H7 Extreme
    • Bitcraze Crazyflie v2.1
    • ARK CAN Flow
    • mRo Ctrl Zero H7 (experimental)
PX4-Autopilot - v1.12.0 Beta 1

Published by LorenzMeier over 3 years ago

This is the first beta of v1.12, which brings a number of significant improvements to PX4:

  • Multi-EKF enabled by default
  • Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
  • Safety switch is latching: Once it is disabled, it will stay disabled
  • Multicopter
  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation
  • Fixedwing/VTOL significant TECS improvements
  • Magnetometer calibration faster and more robust
    • new soft iron calibration coefficients
    • automatically determine the rotation of external sensors
  • Gyro dynamic notch filtering with onboard FFT
  • Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
  • Added support for IRC Ghost including telemetry
  • new board support
    • PX4 FMUv6u
    • PX4 FMUv6x
    • CUAV X7/X7Pro
    • CUAV Nora
    • CUAV CAN GPS
    • SP Racing H7 Extreme
    • Bitcraze Crazyflie v2.1
    • ARK CAN Flow
    • mRo Ctrl Zero H7 (experimental)
PX4-Autopilot - Stable Release v1.11.3

Published by LorenzMeier almost 4 years ago

This is a minor, not safety related fix release which ensures that all DSM RC receivers are detected again.

PX4-Autopilot - Stable Release v1.11.2

Published by dagar almost 4 years ago

This is a relatively minor bug fix release.

  • ekf2: update to latest ecl #16174
    • EKF: Improve robustness of yaw reset to bad inertial data (PX4/PX4-ECL#914)
    • EKF: Use strength in Gauss (bug fix) (PX4/PX4-ECL#933)
  • disable secondary power source by default, fix battery param migration #16002
  • sensors: force parameter update if mag device id still isn't set #16020
  • commander: fix switch to loiter #15855
  • dps310 barometer: fix c11 coeffecient #15932
  • navigator: Check that home position is valid in RTL (#15964)
  • board_crashdump: Fix non-determinstic boot hang with crashdumps #16130
  • fixedwing landing_slope: added wrap_pi to getLandingSlope and getFlareCurve #16158
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