APX4 3.0.5

Please use Auterion Mission Control 1.29 or newer with this version of APX4.

Attention: Default disarmed PWM was changed from 900us to 1000us! See PX4 v1.14 release notes.

Major changes

APX4 is based on the open-source PX4 release v1.14. See here for detailed release notes for 1.14.

Below are the changes made on top of v1.14.

Mission feasibility checks: check if mission items fit to the current vehicle type
Add magnetometer thermal calibration/compensation
Factory calibration: do not store _PRIO parameters
Arming checks: disallow arming via parameter
Commander: add warning for imminent navigation failure
Enable arbitrary Euler angle for magnetometer rotation
Battery preflight check: add new battery threshold for arming (COM_ARM_BAT_MIN)
Add option to configure action when wind limit is exceeded (COM_WIND_MAX_ACT)
Disarm if battery failure is detected during spool-up
Add option to enable stick gesture to "kill" vehicle

EKF2: new vision attitude error filter
Add magnetometer inclination check
Add auxiliary global position fusion option
Added support to reset vehicle position based on external position. This can be useful in GPS denied conditions where the operator can recognize the current position by looking for landmarks in the video stream.
Add SF30/D Lightware laser distance sensor

Helicopter: add tail servo support
Coaxial Helicopter Support
Add "Slow Position Mode" feature. This mode is similar to position mode but allows you to change the speed of the drone. This can be very useful during inspections where the operator wants to make very small maneuvers while inspecting an object.
Add option for throw launch

Tiltrotor VTOL back-transition: expose tilting time as parameter
Added Performance model for fixed-wing to improve controller stability when flying with varying payload weights or in different altitudes
Optionally disable SF1xx sensor in VTOL fixed-wing flight phase

Micro-XRCE-DDS-Client improvements
Fix geofence when changing altitude through reposition
Improvement: Default motor PWM limits minimum 1100 maximum 1900
- Documentation can be found here
- Attention: Default disarmed PWM was changed from 900us to 1000us!
Geofence: Disable pre-emptive geofence predictor by default
GNSS-denied workflow: Allow auto modes with local position estimate if global origin is set manually
Don't allow external reposition commands without a mode switch, and ensure old reposition commands are not erroneously set
Geofence: if armed, do not allow to upload a fence that would trigger a geofence breach immediately
Geofence: do not allow to upload a fence that doesn't include Home (to ensure that RTL to Home is always possible)
Navigator: prevent race condition when receiving multiple commands at once

Optical flow: general improvements
Yaw estimator improvements
Improve yaw emergency estimator convergence
Yaw estimator: use gyro bias from EKF2 if at rest
Magnetometer preflight check: report strength and inclination values in case of failure
EKF2: improve resilience against incorrect magnetometer data
Robustify range finder kinematic consistency check
Terrain estimator: handle EKF2 height reset
Improve EKF2 stability by switching to an error-state Kalman filter
Sensors: add parameter to silence IMU clipping (SENS_IMU_CLPNOTI)
Multi GNSS fallback improvements

Respect spool-up time in Stabilized mode and have zero throttle while still landed
Fix helicopter actuator saturation logic
Fix multicopter altitude change sometimes not linear between two waypoints
Fix FlightTaskAuto: harden line following logic (only do line following if previous and current setpoints are not equal).
Yaw handling improvements/simplifications, e.g. remove waypoint yaw acceptance requirement if weather vane is enabled
Beginner/tuning friendly Acro mode defaults

Replace old implementation of "uncommanded descend quad-chute" (VT_QC_ALT_LOSS and VT_QC_T_ALT_LOSS)
Fixed-wing: Always establish loiter around current position when switching into Hold mode
VTOL: scale transition airspeed threshold with configured vehicle weight and air density
Fixed-wing/VTOL: High wind controller hardening
Rework figure eight joining logic
Add guidance fallback for corner cases without valid wind estimates
Make airspeed sensor configuration easier and consistent with other sensors
VTOL Tailsitter: add automatic pitch ramps in transition also in Stabilized mode
TECS throttle gains renames and defaults reduction
VTOL: treat Descend mode like Land mode for pusher/tilt assist
Fixed wing autotune improvements