APX4 2.5.0
Compatibility
Please use Auterion Mission Control 1.14.0 or newer with this version of APX4:
pageAMC 1.14.0New Features
Powered-by-Auterion:
Support for Parachutes from Drone Rescue Systems
General Flight UX:
Three-stage smooth landing in automatic modes -
Survey: allow resuming a survey and have gimbal pointing back down
Data link fail safe available in all modes
Margin for horizontal multi-copter control when prioritizing vertical authority: improves horizontal flight behavior in primarily vertical operations
Automatically switch to remote control loss behavior on yaw emergency detection
Directional speed constraints for Multicopter
Beta/Preview: Basic rover support (please reach out if you are interested to use AEPX4 on ground vehicles)
VTOL:
Rally Points: Support Multiple Land Approaches for VTOL / FW as on normal landing points
Support VTOL missions without takeoff waypoint
Smooth orbit approach trajectory , also fixes instances where Orbit altitude was not followed
Yaw-less multicopter mixer for use with tiltrotor type vehicles
Multicopter hover trust estimator takes into account additional lift on VTOL vehicles
Workflows
Add support to capture for syncing GPS and image capture to enable high precision survey workflows
Peripherals:
Battery over voltage protection/handling
Allow setting idle throttle on UAVCAN ESCs
Support for ADS1115 ADC
Enable HITL over UDP
Support for INA237 12S power module
Actuator endurance test feature
Support for radio_status_extension messages
Powered-by-upstream-PX4:
All the new features made available in upstream PX4 v1.12 release
What improved
General Flight UX:
Delay before triggering RTL on critical battery
Improved accuracy of yaw emergency trigger
Commander: update yaw emergency messaging towards the user
Improved accuracy of imbalanced propeller check metric
Add support for toggle buttons via RC channels
GNSS yaw: handle sensor reset (observed on F9P)
Parameterized range setting for hover thrust estimator range
rotations: introduce support for ROTATION_PITCH_90_YAW_45
Do not re-check feasibility of commenced mission when already in-air
Only allow arming in modes that are suitable for take off
Required mag used by EKF as mandatory for arming
Better user notifications on battery pre-warnings
VTOL:
TECS: stay in flight phase level if only small altitude changes are demanded
Orbit flight behavior improvements
Fixed-wing loiter: set yaw setpoint tangentially to loiter
VTOL: Tiltrotor: enable hovering in non-zero tilts with forward tilt assist
Autotuning improvements for vehicles with slower response like VTOL
Don't fly mission land pattern when triggered RTL in hover on VTOL
Better airspeed selector messaging and warnings to user
front transition: fade out yaw control
Don't start Orbit, if radius not in allowed range + increase allowed range
Also use VTOL Safe Area feature after after geofence event
Prevent interrupting VTOL takeoff when failsafe happens at the same time
support alternative pitch setpoint offset in hover for landing
Trigger quadchute RTL on airspeed failure also in VTOL takeoff and loiter modes
Reset hover thrust when disarmed to prevent wrong estimate from landing affecting flight
System:
Overhaul of control allocation architecture to support dynamic control allocation (available as preview)
Prevent vehicle arm during calibration
Increase number of mavlink remote components
Check target field in mavlink shell
Too early reporting of pre-flight checks
Peripherals:
UAVCAN battery upgraded to use battery lib to enable taking into account internal resistance parameters
power monitor module is started now automatically
Point gimbal to neutral on RTL and failsafe
Do not trigger/warn user about a navigation failure during sensor calibration
Move capture and PPS pins to be Skynode compatible
preflight checks: to not require to have a transition switch
Stop capturing images on mission exit
Gimbal frames wrong when using vmount v1 on v2 input
Resolved Issues
The following bugs have been fixed:
General Flight UX
ROI location handled incorrectly
GPS loss messaging unclear
Immediate rearming after landing cant bypass all checks
Unexpected yaw on go-to with altitude change
Slow descent on stuck distance sensor
Yaw nudging conflicting with weather vane → only allow yaw nudging when weather vane is disabled
COMMAND_CANCEL not being handled properly by custom action waypoints
position main-state achievable over RC before GPS lock
Not switching to hold mode when mission finished
False in-ground-effect landing signal on long range distance sensor
Thrust step at takeoff
Pitch & Roll Oscillations During Go-To Descent
Vehicle does not stop properly when paused during a mission but instead it turns around and goes back to where it was paused.
Wrong gimbal user input scale
Rejected mission can be executed
Vehicle not switching to goto immediately when commanded to do so
Direction change in Orbit not accepted
Vehicle does yaw step on takeoff
ROI as part of mission not working
Consider vehicle still landed in all cases before motor spool-up is complete
Take pictures on takeoff on mission resume
Incorrect handling of zero remaining flight time state
VTOL
Tight curve during back-transition on landing
automatic approach selection: wrong direction selected
wind estimate incorrect after VTOL landing
takeoff: loiter sector choice changes after transition to fixed-wing mode
tiltrotor vehicles: wrong throttle setpoint during stabilized transition
incorrect descend tracking in back-transition
wrong manual cimb rate
altitude setpoint issues on descend
Flight Time Estimator RTL action interferes with active landing
safe areas from previous flight used
mag bias estimator not operational after landing and re-takeoff
Commanded orbit altitude not followed
undefined flight path flight path when changing altitude during position flight mode in fixed wing mode
System
Error message when reading old storage formats
Corner case that could make vehicle uncontrollable by user until automatic RTL starts
Battery failsafe can interfere with time based RTL
SD-card file storage failures
When using two Power Modules on skynode, only one battery was displayed in AMC
Fix sensors not starting up in some cases
IMU coning warnings
Camera capture message do not arrive in low bandwidth link
Glitch in startup sound
Peripherals
Iridium modem can't be connected after boot
Map Camera Viewpoint Cone / Sensor Point of Interest Incorrect
Dshot Voltage reading jumps to 0 / UAVCAN ESC reported even if there are no UAVCAN ESCs
INA226 Power monitor reports wrong current
sdp3x: fix situation when wire/contact gets disconnected SDP3X sensor was not able to reconfigure.
+ several other bug-fixes
Fixed by community
Incorrect rejection of messages during MAVLink forwarding
All bug-fixes made available in the upstream PX4 v1.12 release
Last updated