APX4 2.7.20
Last updated
Last updated
Please use the following Auterion Mission Control or newer with this version of APX4:
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.
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.