APX4 2.7.37
What's new
GNSS denied operational enhancements
Added support for operator defined estimator position reset while dead-reckoning. See details at: https://auterion.com/auterion-introduces-new-capabilities-for-efficient-isr-missions-in-gps-denied-conditions/
Fixed-wing performance modeling
New service ceiling parameter:
FW_S_CEILING– defines the altitude MSL in standard atmosphere at which the vehicle can still achieve a climb rate of 0.5 m/s at trim airspeed and maximum throttle
New features:
Compensate TECS minimum sink speed for weight ratio and air density
Compensate TECS maximum climb speed for weight ratio and air density
Compensate calibrated trim airspeed for increased load factor due to weight
Compensate calibrated minimum airspeed for increased load factor due to weight
The weight ratio is calculated from parameters WEIGHT_BASE and WEIGHT_GROSS.
What improved
General:
Bugfix: prevent overflow in UTM global position
Handle EKF height reset in terrain estimator
Robustify RTK position fix
Fix bug in INA238 driver which reset the shunt calibration on an incorrect readback
Prevent MAVLink deadlock when calling ‘mavlink status’ via MAVLink shell.
Fix erroneously aborting a mission landing when an RTL is triggered with home land approaches being available
Prevent a deadlock in MAVLink transmission when using TX DMA on TELEM1
Bugfix: only allow GNSS switching while the primary GNSS receiver is unavailable
Bugfix: resolve corner case preventing Autotune start
Enable use of ADS1115 with analog power modules on FMUv6x
Multicopter:
Bugfix: ensure multicopter altitude changes are linear between two waypoints
Improve land behavior when triggered while moving in Manual Position Mode
VTOL:
Fix VTOL takeoff when home position does not coincide with takeoff position
Battery estimation improvement: reset current filter when transitioning to fixed-wing flight
Bugfix: disallow manual RTL trigger (immediate back-transition for VTOL) while already in mission RTL
Limit VTOL tilt-rotor thrust compensation due to non-vertical motors in transition phases
Avoid hard banking when overshooting land point during transition
Bugfix: handle EKF height resets in quadchute logic
Bugfix: refer only to
VT_ARSP_TRANS, notFW_AIRSPD_MIN, for transition airspeed thresholdBugfix: disallow Takeoff Mode activation when VTOL takeoff is commanded while in-air
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