# APX4 2.4.1 ## Compatibility Please ensure to use Auterion Mission Control v1.13 or newer: {% content-ref url="../../auterion-mission-control-release-notes/auterion-mission-control-1.13-release" %} [auterion-mission-control-1.13-release](https://docs.auterion.com/release-notes/auterion-mission-control-release-notes/auterion-mission-control-1.13-release) {% endcontent-ref %} ## 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 #### Other * 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 #### Other * 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.