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Auterion Enterprise PX4 2.4 Release Notes

Auterion Enterprise PX4 2.4.2

What’s new

Bug fixes

The following bugs have been fixed:
  • Fix corner case that could make vehicle uncontrollable by user until automatic RTL
  • Stop updating UAVCAN ESC status if there are no UAVCAN ESCs
  • Fix CPU load spikes
  • Avoid potential deadlock when using dmesg command over MAVLink shell
  • Fix ncp5623c RGB led not starting up
  • Other small bug-fixes

Notes

Specific Features on this release are only compatible with Auterion Mission Control v1.13 or newer. Those features will not be available if an older Auterion Mission Control version is used.

Auterion Enterprise PX4 2.4.1

AuterionOS

What’s new

  • Workswell Wiris EO/IR camera support
  • Dual camera support (with UI improvements in AMC)
  • Skynode automatic repartition after update (increases root partition from 3 to 6GB)
  • ROS2+RTPS support with developer tools example code
  • New Auterion Onboard CLI to control applications and get information

What improved

  • Photo gallery - add option to delete photo on the vehicle from the AMC photo gallery
  • Payload - new payload priorities when using multiple cameras. This way the payload order in AMC will be consistent after reboots
  • add AUTOPILOT_MANAGER_ENABLED env variable to control if the autopilot-manager service should be enabled or not
  • move Nextvision driver from mavlink 1 to mavlink 2 (no setting change required on the camera side)

Bug fixes

  • Payload
    • Fix issue that introduced about 50 ms in the vehicle video pipeline
    • Fix issue with video recording in AMC with NextVision cameras
    • Fix issue with Trillium camera that lead to several seconds delay in the video stream
    • Fix: orientation indicator in AMC not working
  • Fix: collisions in the mavlink network
  • Fixed several bug fixes in the Skynode webpage and the API used
  • Fix: after installing a custom app with the auterion developer tools the release name would be overridden by the app name
  • LTE module:
    • Fix: LTE module uses previously set APN
    • Fix: LTE was not reset properly after an FMU update
    • Fix: corner case in waiting for LTE module bootup where LTE module was not detected as ready

APX4

What’s new

Powered-by-Auterion:
  • VTOL
    • Simplified UX for quick takeoff and landing using Safe Areas
    • Introduce automatic Eco and Dash mode switching for situational adaptation of energy conservation vs. setpoint tracking
    • Simplified preflight check mechanism
  • Online airspeed scale estimation
Powered-by-upstream-PX4:
  • All the new features made available in upstream PX4 v1.11 release.

What improved

Powered-by-Auterion:
  • VTOL
    • Transition logic improvements to allow earlier alignment of heading with transition direction
    • Overhaul of (setpoint) constraints for safe back transitions across various conditions
    • Improve computation of height rate setpoint in TECS. Introduced parameters for target climb-and sinkrates
    • Tiltrotor: Add quadchute when transition times out similar as in standard VTOL
    • Use temperature data from differential pressure sensor to calculate air density
    • Tiltrotor: add hover tilt offset to pusher assist tilt
    • FW Position Controller: Add ability to climb fast/slow
    • Add transition timeout mechanism as fallback
    • Make sure (erroneous) mavlink VTOL takeoff can only be executed on VTOL vehicle type
    • replace ASPD_STALL by FW_AIRSPD_STAL and introduce sanity checks
    • FW Position control: add roll slewrate also in manual Position flight mode
  • Overhaul of geofence handling
  • microRTPS support to allow parallel mavlink and RTPS communication
  • gimbal: support for v1 gimbals while using v2 protocol between AMC and vehicle
  • mavlink: 14S battery support
  • Allow yawing nudging during yaw and allow nudging from beginning of decent
  • Add wind speed warning when vehicle reaches wind limits
  • Airspeed validator: extend check for constant value to hover flight
  • Better RC loss failsafe configuration options for BVLOS (ability to disable RC loss reaction)
  • Send parachute command on termination
  • Param whitelist (restricted build) option for production builds
  • DShot: timeout if commands are not processed
  • Differential Pressure Sensors: switch to explicitly enable sensors with new params
  • Consumption based RTL: make margin configurable
  • Making "airspeed sensor failure detected" warning more understandable
  • Fallback logic from gps heading in case gps heading fails
  • Mavlink: increase MAX_REMOTE_COMPONENTS to 12
  • Airspeed Selection: make message to user more clear
  • Add vehicle_odometry and vehicle_trajectory_bezier logging for obstacle avoidance and VIO debug and inspection
  • sdp6x driver: remove inversion of differential pressure
Powered by community:
  • Add ability to set GPIO to pull down
  • Proper cleanup of mavlink instance on exit
  • All the improvements made available in upstream PX4 v1.11 release.

Bug fixes

The following bugs have been fixed:
Fixed-by-Auterion:
  • VTOL:
    • Fix cases where state machine did not transition to MC mode
    • Fix issue where the wind estimate was off on tail-sitters type aircraft
    • Fix: Orbits aren't joint tangentially
    • Enable different pitch sp offset in hover for landing: Fixes an issue where the vehicle has issues descending when landing in high wind.
    • Fix: RC lost failsafe action broken when happening during GPS lost failsafe
    • Fix: Failsafe interrupting VTOL Takeoff
    • Fix: Flight Time Estimator RTL Interferes With Active Landing : enforce landing at home only if VTOL in hover and not on mission landing
    • Fix TECS airspeed filtering to use raw inertial acceleration & Log more airspeed filter states
    • Fix: Tiltrotor Throttle setpoint wrong during stabilized transition
    • Fix control surface check for non-tilt rotor vehicles
  • Rover:
    • Allow arming a rover with the throttle stick in the middle
    • Rover: Correct throttle scale
  • Estimation:
    • Fix: yaw gyro bias oscillation on ground
    • Fix: autotuning failing on some quadplane setups
    • Fix: autotuning: parameter not applied correctly
    • Fix: land detection when drone is moving after landing in Position mode
    • Fix: wrong flight time estimates when on ground
    • Fix mag-less in air yaw alignment
    • Fix: Mag bias estimator does not work after disarm
    • Fix missing hysteresis for hover thrust estimator
    • Fix: quaternion- Z accel bias coupling (leads to EKF covariance prediction stability improvements)
  • Navigation and Control:
    • Fix: User override not working during GPS lost failsafe landing
    • Fix: Triggering RTL from fast manual descent resulted in commanded descent instead of climb in RTL
    • Fix: Datalink failsafe: drone does not disarm
    • Fix instance where vertical geofence was breachable
    • Fix: Cruise speed is not re-used if mission is paused and resumed
    • Fix: Rejected mission can be executed
    • Fix: invalid setpoints during switch from stab to alt
    • Fix: Nudging: Yaw action stops descend
    • Fix: Com loss leads to pos control and switching to altitude control
    • Fix: possibility erroneous position setpoint when changing altitude during fixed wing position control mode
    • Fix: Mission not advancing if next waypoint within loiter radius of current loiter waypoint
    • Fix: ROI as part of mission not working
    • Consumption based RTL: Ignore RTL estimate if RTL is not configured as failsafe action
  • sdp3x: fix situation when wire/contact gets disconnected SDP3X sensor was not able to reconfigure.
  • Disable iridium driver per default
  • mavlink: fix runaway case during mission upload
  • MAVLink forwarding improvements / fix incorrect rejection of forwarded alien commands
  • Fix: FTP usage during FMU configuration update results on timeouts or "protocol errors" (mavlink receiver improvements)
  • Set UART4//dev/ttyS3 as UART for Pixhawk Payload bus
  • logger: remove unused topics, move some to debug profile
  • Fix: operator spammed by ADSB messages
  • Fix pwm default failsafe values (PWM_AUX_DISx to use common default value)
  • Fix: correctly route custom actions to mission computer
  • Fix: GPS heading and timeout for uBlox ZED-F9P
  • Fix instances of missed mavlink log messages
  • Fix: hardfault on mavlink stop-all shell command
Fixed by community:
  • Fix memory corruption when work queue is being deleted
  • NuttX Fix for DATA timeout (SD logging stops after short period of time)
  • only play safety change tunes if initialized
  • Report vehicle termination correctly over MAVLink
  • Fix instance where PWM param update was interfering with VTOL flight modes
  • Fix: SITL jMAVsim oscillates in pitch
  • All the bug fixes made available in upstream PX4 v1.11 release.