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, not FW_AIRSPD_MIN, for transition airspeed threshold

• Bugfix: disallow Takeoff Mode activation when VTOL takeoff is commanded while in-air