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APX4 2.4.1
Please ensure to use Auterion Mission Control v1.13 or newer:
- VTOL
- Simplified UX for quick takeoff and landing using Safe Areas
- Introduce automatic Eco and Dash mode switching for situational adaptation of energy conservation vs. setpoint tracking
- Simplified preflight check mechanism
- Online airspeed scale estimation
- All the new features made available in upstream PX4 v1.11 release.
- Transition logic improvements to allow earlier alignment of heading with transition direction
- Overhaul of (setpoint) constraints for safe back transitions across various conditions
- Improve computation of height rate setpoint in TECS. Introduced parameters for target climb-and sinkrates
- Tiltrotor: Add quadchute when transition times out similar as in standard VTOL
- Use temperature data from differential pressure sensor to calculate air density
- Tiltrotor: add hover tilt offset to pusher assist tilt
- FW Position Controller: Add ability to climb fast/slow
- Add transition timeout mechanism as fallback
- Make sure (erroneous) mavlink VTOL takeoff can only be executed on VTOL vehicle type
- replace ASPD_STALL by FW_AIRSPD_STAL and introduce sanity checks
- FW Position control: add roll slewrate also in manual Position flight mode
- Overhaul of geofence handling
- microRTPS support to allow parallel mavlink and RTPS communication
- gimbal: support for v1 gimbals while using v2 protocol between AMC and vehicle
- mavlink: 14S battery support
- Allow yawing nudging during yaw and allow nudging from beginning of decent
- Add wind speed warning when vehicle reaches wind limits
- Airspeed validator: extend check for constant value to hover flight
- Better RC loss failsafe configuration options for BVLOS (ability to disable RC loss reaction)
- Send parachute command on termination
- Param whitelist (restricted build) option for production builds
- DShot: timeout if commands are not processed
- Differential Pressure Sensors: switch to explicitly enable sensors with new params
- Consumption based RTL: make margin configurable
- Making "airspeed sensor failure detected" warning more understandable
- Fallback logic from gps heading in case gps heading fails
- Mavlink: increase MAX_REMOTE_COMPONENTS to 12
- Airspeed Selection: make message to user more clear
- Add vehicle_odometry and vehicle_trajectory_bezier logging for obstacle avoidance and VIO debug and inspection
- sdp6x driver: remove inversion of differential pressure
- Add ability to set GPIO to pull down
- Proper cleanup of mavlink instance on exit
- All the improvements made available in upstream PX4 v1.11 release.
The following bugs have been fixed:
- Fix cases where state machine did not transition to MC mode
- Fix issue where the wind estimate was off on tail-sitters type aircraft
- Fix: Orbits aren't joint tangentially
- Enable different pitch sp offset in hover for landing: Fixes an issue where the vehicle has issues descending when landing in high wind.
- Fix: RC lost failsafe action broken when happening during GPS lost failsafe
- Fix: Failsafe interrupting VTOL Takeoff
- Fix: Flight Time Estimator RTL Interferes With Active Landing : enforce landing at home only if VTOL in hover and not on mission landing
- Fix TECS airspeed filtering to use raw inertial acceleration & Log more airspeed filter states
- Fix: Tiltrotor Throttle setpoint wrong during stabilized transition
- Fix control surface check for non-tilt rotor vehicles
- Allow arming a rover with the throttle stick in the middle
- Rover: Correct throttle scale
- Fix: yaw gyro bias oscillation on ground
- Fix: autotuning failing on some quadplane setups
- Fix: autotuning: parameter not applied correctly
- Fix: land detection when drone is moving after landing in Position mode
- Fix: wrong flight time estimates when on ground
- Fix mag-less in air yaw alignment
- Fix: Mag bias estimator does not work after disarm
- Fix missing hysteresis for hover thrust estimator
- Fix: quaternion- Z accel bias coupling (leads to EKF covariance prediction stability improvements)
- Fix: User override not working during GPS lost failsafe landing
- Fix: Triggering RTL from fast manual descent resulted in commanded descent instead of climb in RTL
- Fix: Datalink failsafe: drone does not disarm
- Fix instance where vertical geofence was breachable
- Fix: Cruise speed is not re-used if mission is paused and resumed
- Fix: Rejected mission can be executed
- Fix: invalid setpoints during switch from stab to alt
- Fix: Nudging: Yaw action stops descend
- Fix: Com loss leads to pos control and switching to altitude control
- Fix: possibility erroneous position setpoint when changing altitude during fixed wing position control mode
- Fix: Mission not advancing if next waypoint within loiter radius of current loiter waypoint
- Fix: ROI as part of mission not working
- Consumption based RTL: Ignore RTL estimate if RTL is not configured as failsafe action
- sdp3x: fix situation when wire/contact gets disconnected SDP3X sensor was not able to reconfigure.
- Disable iridium driver per default
- mavlink: fix runaway case during mission upload
- MAVLink forwarding improvements / fix incorrect rejection of forwarded alien commands
- Fix: FTP usage during FMU configuration update results on timeouts or "protocol errors" (mavlink receiver improvements)
- Set UART4//dev/ttyS3 as UART for Pixhawk Payload bus
- logger: remove unused topics, move some to debug profile
- Fix: operator spammed by ADSB messages
- Fix pwm default failsafe values (PWM_AUX_DISx to use common default value)
- Fix: correctly route custom actions to mission computer
- Fix: GPS heading and timeout for uBlox ZED-F9P
- Fix instances of missed mavlink log messages
- Fix: hardfault on mavlink stop-all shell command
- Fix memory corruption when work queue is being deleted
- NuttX Fix for DATA timeout (SD logging stops after short period of time)
- only play safety change tunes if initialized
- Report vehicle termination correctly over MAVLink
- Fix instance where PWM param update was interfering with VTOL flight modes
- Fix: SITL jMAVsim oscillates in pitch
- All the bug fixes made available in upstream PX4 v1.11 release.
Last modified 8mo ago