APX4 2.4.1
Compatibility
Please ensure to use Auterion Mission Control v1.13 or newer:
AMC 1.13What’s new
Powered-by-Auterion:
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
Powered-by-upstream-PX4:
All the new features made available in upstream PX4 v1.11 release.
What improved
Powered-by-Auterion:
VTOL
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
Other
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
Powered by community:
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.
Bug fixes
The following bugs have been fixed:
Fixed-by-Auterion:
VTOL
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
Rover
Allow arming a rover with the throttle stick in the middle
Rover: Correct throttle scale
Estimation
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)
Navigation and Control
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
Other
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
Fixed by community:
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 updated