APX4 2.7.20

Compatibility

Please use the following Auterion Mission Control or newer with this version of APX4:

What's new

  • RTL behavior updated for VTOLs (with RTL_TYPE set to default, 1)

    • If a valid mission landing and valid safe area both exist

      • Before this update: the mission landing was executed.

      • After this update: the safe area is executed.

    • Why? – Safe areas have an easier in-air manipulation workflow, giving more flexibility to the operator during RTL.

  • Added a new option to SYS_FAC_CAL_MODE param to enable factory calibration for all sensors excluding magnetometer.

  • Exposed tilting time for the back transition of tilt-rotor VTOLs as parameter VT_BT_TILT_DUR and reduce the overall default back transition duration.

What improved

  • Smoothed yaw setpoint during forward transition for VTOLs.

  • Robustified VTOL transition to hover by extending unexpected altitude loss checks 5 seconds beyond transition completion.

  • Robustified VTOL RTL landing phase to strong wind driven approach offsets

  • Improved ADSB traffic warning management.

  • Fixed incorrect magnetometer rotation on v6x board config.

  • Fixed bug to ensure landing descent starts promptly on entering the home acceptance radius after VTOL transition to hover (during landing modes).

  • Fixed bug that put descent orbit center as position setpoint when an RTL is triggered for VTOL during a mission landing, when already in hover. Now correctly keeps landing position setpoint.

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