v1.12.0 Beta 5

This is the fifth beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

• Multi-EKF enabled by default
• Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
• Safety switch is latching: Once it is disabled, it will stay disabled
• Multicopter
  • Intuitive stick feel in Position mode
  • Hover thrust independent velocity control gains
• UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
• UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
• UAVCANv1: Initial alpha of a complete end-to-end implementation
• Fixedwing/VTOL significant TECS improvements
• Magnetometer calibration faster and more robust
  • new soft iron calibration coefficients
  • automatically determine the rotation of external sensors
• Gyro dynamic notch filtering with onboard FFT
• Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
• Added support for IRC Ghost including telemetry
• new board support
  • PX4 FMUv6u
  • PX4 FMUv6x
  • CUAV X7/X7Pro
  • CUAV Nora
  • CUAV CAN GPS
  • SP Racing H7 Extreme
  • Bitcraze Crazyflie v2.1
  • ARK CAN Flow
  • mRo Ctrl Zero H7 (experimental)

Differences to Beta 3:

• Fixed a rate mismatch on PWM outputs on FMU

v1.12.0 Beta 4

This is the fourth beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

• Multi-EKF enabled by default
• Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
• Safety switch is latching: Once it is disabled, it will stay disabled
• Multicopter
  • Intuitive stick feel in Position mode
  • Hover thrust independent velocity control gains
• UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
• UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
• UAVCANv1: Initial alpha of a complete end-to-end implementation
• Fixedwing/VTOL significant TECS improvements
• Magnetometer calibration faster and more robust
  • new soft iron calibration coefficients
  • automatically determine the rotation of external sensors
• Gyro dynamic notch filtering with onboard FFT
• Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
• Added support for IRC Ghost including telemetry
• new board support
  • PX4 FMUv6u
  • PX4 FMUv6x
  • CUAV X7/X7Pro
  • CUAV Nora
  • CUAV CAN GPS
  • SP Racing H7 Extreme
  • Bitcraze Crazyflie v2.1
  • ARK CAN Flow
  • mRo Ctrl Zero H7 (experimental)

Differences to Beta 3:

• Fixed a rate mismatch on PWM outputs on FMU

v1.12.0 Beta 3

This is the third beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

• Multi-EKF enabled by default
• Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
• Safety switch is latching: Once it is disabled, it will stay disabled
• Multicopter
  • Intuitive stick feel in Position mode
  • Hover thrust independent velocity control gains
• UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
• UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
• UAVCANv1: Initial alpha of a complete end-to-end implementation
• Fixedwing/VTOL significant TECS improvements
• Magnetometer calibration faster and more robust
  • new soft iron calibration coefficients
  • automatically determine the rotation of external sensors
• Gyro dynamic notch filtering with onboard FFT
• Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
• Added support for IRC Ghost including telemetry
• new board support
  • PX4 FMUv6u
  • PX4 FMUv6x
  • CUAV X7/X7Pro
  • CUAV Nora
  • CUAV CAN GPS
  • SP Racing H7 Extreme
  • Bitcraze Crazyflie v2.1
  • ARK CAN Flow
  • mRo Ctrl Zero H7 (experimental)

v1.12.0 Beta 2

This is the second beta of v1.12, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

• Multi-EKF enabled by default
• Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
• Safety switch is latching: Once it is disabled, it will stay disabled
• Multicopter
  • Intuitive stick feel in Position mode
  • Hover thrust independent velocity control gains
• UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
• UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
• UAVCANv1: Initial alpha of a complete end-to-end implementation
• Fixedwing/VTOL significant TECS improvements
• Magnetometer calibration faster and more robust
  • new soft iron calibration coefficients
  • automatically determine the rotation of external sensors
• Gyro dynamic notch filtering with onboard FFT
• Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
• Added support for IRC Ghost including telemetry
• new board support
  • PX4 FMUv6u
  • PX4 FMUv6x
  • CUAV X7/X7Pro
  • CUAV Nora
  • CUAV CAN GPS
  • SP Racing H7 Extreme
  • Bitcraze Crazyflie v2.1
  • ARK CAN Flow
  • mRo Ctrl Zero H7 (experimental)

v1.12.0 Beta 1

This is the first beta of v1.12, which brings a number of significant improvements to PX4:

• Multi-EKF enabled by default
• Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
• Safety switch is latching: Once it is disabled, it will stay disabled
• Multicopter
  • Intuitive stick feel in Position mode
  • Hover thrust independent velocity control gains
• UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
• UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
• UAVCANv1: Initial alpha of a complete end-to-end implementation
• Fixedwing/VTOL significant TECS improvements
• Magnetometer calibration faster and more robust
  • new soft iron calibration coefficients
  • automatically determine the rotation of external sensors
• Gyro dynamic notch filtering with onboard FFT
• Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
• Added support for IRC Ghost including telemetry
• new board support
  • PX4 FMUv6u
  • PX4 FMUv6x
  • CUAV X7/X7Pro
  • CUAV Nora
  • CUAV CAN GPS
  • SP Racing H7 Extreme
  • Bitcraze Crazyflie v2.1
  • ARK CAN Flow
  • mRo Ctrl Zero H7 (experimental)

Stable Release v1.11.3

This is a minor, not safety related fix release which ensures that all DSM RC receivers are detected again.

Stable Release v1.11.2

This is a relatively minor bug fix release.

• ekf2: update to latest ecl #16174
  • EKF: Improve robustness of yaw reset to bad inertial data (PX4/PX4-ECL#914)
  • EKF: Use strength in Gauss (bug fix) (PX4/PX4-ECL#933)
• disable secondary power source by default, fix battery param migration #16002
• sensors: force parameter update if mag device id still isn't set #16020
• commander: fix switch to loiter #15855
• dps310 barometer: fix c11 coeffecient #15932
• navigator: Check that home position is valid in RTL (#15964)
• board_crashdump: Fix non-determinstic boot hang with crashdumps #16130
• fixedwing landing_slope: added wrap_pi to getLandingSlope and getFlareCurve #16158

Stable Release v1.11.1

This point release fixes a number of small issues discovered after the v1.11.0 release.

• fix thermal calibration if a sensor does not have temperature sensor #15671
• CubeOrange and CubeYellow IMU heating fix #15736
• boards: cubeorange and cubeyellow disable serial console (used for ADSB on new carrier boards) #15777
• fix BOARD_DSHOT_MOTOR_ASSIGNMENT on new CubePilot and CUAV boards #15802
• mc_pos_control: fix z velocity derivative sign #15836
• Increase uavcan main stack size #15864
• kakutef7: fix output ordering #15867
• commander: PreFlightCheck param_find all parameters immediately #15875
• boards: mRo Control Zero F7 fix RC and improve sensors power on timing #15215
• battery: fix duplicate uORB publish #15880

Stable Release v1.11.0

Release Notes

Highlights

• Multicopter hover thrust estimator (#13981)
• Backup yaw estimator for emergency recovery (PX4/PX4-ECL#766)
• new Invensense and Bosch IMU drivers enabled everywhere
  • completely rewritten drivers and framework optimized for flight performance (high rate raw data up to 8 kHz and low end-to-end latency)
  • configurable low latency sensor pipeline with new notch filter
  • Multicopter rate controller runs synchronized with primary gyro (up to 4 kHz configured via IMU_GYRO_RATEMAX)
• Major sensor calibration improvements (Gyro, Mag, Level)

Migration Guide

• VTOL support is no longer included in flash limited px4_fmu-v2 hardware (original 3DR Pixhawk with silicon bug)

Hardware Support

• Holybro Durandal, (Manufacturer Supported)
• NXP IMX-RT, S32K, (Manufacturer Supported)
• Holybro PIX32V5, (Manufacturer Supported)
• CubePilot Cube Yellow, (Manufacturer Supported)
• CubePilot Cube Orange, (Manufacturer Supported)
• CUAV X7, (Manufacturer Supported)
• CUAV X7 Pro, (Manufacturer Supported)
• CUAV Nora, (PR #15536) (Manufacturer Supported)

Drivers

• SPI DMA adds centralized DMA map (PR #14207)
• Move primary IMU to new InvenSense driver (PR #14356)
• New drivers interface and consolidation (PR #14386 )

System Architecture

• Board config simplifications for SPI & I2C (PR #14221) and PWM timers (#13871)
• Adds UAVCAN node cannode (PR #14148)
• Adds CAN interface runtime (PR #14367)
• Support for multiple UAVCAN v0.1 Smart Batteries (PR #14198)

Multicopter

• New hover thrust estimator (PR #13981)
• XYZ-synchronized motion in auto modes (diagonal climb) (PR #13596)
• New Notch filter (PR #13549)
• Acceleration feedforward (PR #14212)
• Mag power compensation (PR #14457, Docs)
• Takeoff failure detection (PR #14428, Docs)
• Horizontal velocity limit close to ground (PR #13561, Parameter)

VTOL

• Tiltrotor: Use tilt to accelerate the vehicle forward while in hover (PR #13779)
• Weather vane improvements (PR #13782)
• Active path and deceleration tracking during transitions (PR #14405)

Fixed Wing

• Improved airspeed failure detection (PR #12353)
• Enables fallback estimation without airspeed sensor. (PR #12887)

Rover

• Major improvements to offboard control
• Enable offboard attitude setpoints (PR #13323)
• Enable offboard velocity setpoints (PR #13225)
• Enable ActuatorControl setpoints in offboard mode (PR #13314)

Underwater Vehicles

• New mixers for underwater vehicles Generic & HippoCampus (PR #14079)
• New UUV default specific parameters and autostarting (PR #14079)
• New Mixer for UUVs with X-shaped thruster configuration (PR #14079)
• New uvv_att_control controller for UUV attitude control (PR #14079)

PX4/ECL - Estimators improvement

• Emergency Yaw recovery using EKF-GSF estimator (PR PX4/PX4-ECL#766)
• Pre-flight accel bias estimation stability fixes (PR PX4/PX4-ECL#818)

Onboard computer / middleware improvements

• Adds ROS 2 Dashing and Eloquent support to the microRTPS bridge (PR #13907)
• Adds ROS 2 Foxy support to the microRTPS bridge (PR #15227}
• Adds time sync to the microRTPS bridge (PR #14297)
• UART link data stream fixed in the microRTPS bridge (PR #15354)

PX4/Avoidance

• Smoother flight planning with improved repeatability (PR PX4/PX4-Avoidance#555)
• Bezier trajectory avoidance interface (PR #14279)
• Bugfixes and improvements

Simulation

• Multi-Vehicle simulation with Gazebo
• Adds support for multiple distance sensor instances. (PR #14143)
• Adds support for UUV vehicles. (PR #14079)
• Adds support for boats. (PR PX4/PX4-SITL_gazebo-classic#409 )
• Adds Catapult and Hand launch support for fixed-wing. (PR PX4/PX4-SITL_gazebo-classic#393 )

Failsafe / Commander / Navigation improvements

• New Hover Thrust estimator (PR #13981)
• Commander, Navigator state clean-up (PR #14307)
• Navigator fixes heading drift after takeoff (PR #13965)
• Enable RC-Override in Take-off (PR #14022)
• Takeoff failure detection (PR #14428)
• Pre-flight check: Disable mag field strength check via parameter (COM_ARM_MAG_STR) (PR #13766)

OS/NuttX

The release includes a change from NuttX-7.29 to NuttX-8.2
See NuttX release notes for the details of changes in NuttX-8.2 details.

Included as backports are:

• STM32[F4 F7 H7]
  • spi_exchange (no DMA) with for STM32xx_SPI_DMATHRESHOLD
• STM32[F7 H7]
  • SDMMC internal pull up usage fixed
  • Add check_format tooling
  • nxstyle - output compiler like error format
• STM32H7
  • fix stm32h7x3xx_dmamux.h: add missing underscore to defines
• STM32F7
  • stm32f7:Add Serial Tx DMA
  • stm32f7:ethernet: Add some delays so that ifup() does not
• NXP IMX-RT, S32K
  • S32K add support for Nxp drone boards
  • imxrt: Adds the ability to run from OCRAM
  • imxrt: Add USB Device support for i.MX RT
  • imxrt: added missing i2c prescale mask
  • imxrt: interrupt serial storm, add DTCM and set up I and
  • imxrt: Allow clock setting for SPI and I2C from board.h.
  • imxrt:lpi2c Fix interrupt storm on failed write.
  • imxrt:lpi2c ensure that on an error status reflects it.
  • imxrt:lpi2c imxrt_lpi2c_reset uses GPIO with SION
  • imxrt:gpio Support readback on OUT GPIO
  • imxrt1020-evk: Enable the GPIO based CD.
  • imxrt:lpspi: Fixed race on register setting.
  • imxrt:lpspi: Remove hack setting LPSPI1 daisy irrespective
  • imxrt:lpi2c.c:Added configurations to fine tune LPI2C Time
  • IMXRT106x USDHC: Support regular GPIO for CD and inversion.
  • IMXRT106x:pinout add ALT 8 GPIO_GPT2_COMPARE3 & fix GPIO_G
  • IMXRT106x:pinout add ALT 8 GPIO_GPT1_CAPTURE[1|2]
  • Kinetis renamed TJA1100 to TJA110X registers

v.1.11.0 Changelog

https://gist.github.com/mrpollo/7173f6c89d2fdacb923eb4481b486e41

v1.11.0 Beta 2

v1.11.0-beta2

PX4 v1.11.0 Beta 2