APX4 3.1.1
Changes compared to APX4 3.1.0
General improvements
Clear an invalid mission on upload if it cannot be reverted to old mission. Fixes the case where an invalid mission is uploaded and we could not revert to an old valid mission, the mission was kept although it can't be executed.
Added option to enable lightware distance sensor only during landing phase (parameter:
SF1XX_MODE).Fix RC input when connecting the RC receiver directly to the FMU (not to the IO).
Commander framework: only warn and do not re-start RTL if already in RTL mode when failsafe is triggered.
EKF2: publish wind after external wind initialization, such that user immediately has it displayed in AMC.
UXRCE DDS client: Added retries if client fails during setup to fix issues around it not connecting all the time.
EKF2: reduce vulnerability to GNSS glitches while the drone has large barometer innovations.
reduce bad acceleration probation time 10s->3s
stricter GNSS velocity rejected innovation override
configurable velocity state constraint (new parameter:
EKF2_VEL_LIM)
Increase the watchdog triggering time from 3s to 5s. This fixes that during MAVLINK logging startup, the logger requires a lot of communication (including ACKs) with the companion. This burst can sometimes cause the logger's main cycle to take more than 3 seconds, which used to trigger the watchdog.
Make sure to send MAVLink mission response to the right connection partner if multiple connections are made requesting the mission.
RC protocols: Added differentiation between GHST and CRSF to fix that CRSF remote protocol getting wrongly picked up as GHST.
Improve detection of bad distance sensor measurements (e.g. in foggy conditions).
Fixed-wing
Fixed-wing fast decent: make throttle action on entering fast descent smoother to prevent the vehicle from stalling when the mode is engaged while still climbing.
Airspeed validator: enable sensor checks right after catapult launch to catch airspeed sensor failures as early as possible (needs activation of load factor check, see parameter
ASPD_DO_CHECKS).
VTOL
Added support for VTOL straight line mission landings, where the vehicle doesn't loiter down but comes in straight from a pre-defined approach point. The altitude acceptance criteria for the transition altitude is relaxed, meaning that the vehicle will transition to hover on reaching the horizontal position, independently of its altitude.
After terrain avoidance is triggered during the loiter-down of an RTL, make sure to not try to descend again before proceeding to the landing destination.
MC
Skip the "delay" state if there is no landing delay configured (
RTL_LAND_DELAY = 0)to avoid unexpected vertical deceleration and acceleration during the final phase of a multicopter RTL.Multicopter Position Controller: Invalidate distance to bottom/ground on terrain reset. Fixes that a reset of the terrain altitude estimation isn't handed in the terrain based altitude hold, causing the vehicle to climb or descend after reset.
RTL: remove jumps in the RTL time estimation while in the landing phase.
Simulation
GZ Advanced Plane: improved body rate/TECS tuning for more realistic flight behavior.
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