PX4/Firmware: Stable Release v1.11.0
Lorenz Meier, Daniel Agar, Beat Küng, Julian Oes, Thomas Gubler, Anton Babushkin, px dev, Roman Bapst, Mark Charlebois, Matthias Grob, Andreas Daniel Antener, James Goppert, Andrew Tridgell, Paul Riseborough, Nuno Marques, Dennis Mannhart, Mathieu Bresciani, Mark Whitehorn, Kabir Mohammed, Simon Wilks · Zenodo (CERN European Organization for Nuclear Research) · 2020
Release Notes Highlights Multicopter hover thrust estimator (https://github.com/PX4/Firmware/pull/13981) Backup yaw estimator for emergency recovery (https://github.com/PX4/ecl/pull/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) ### 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/ecl#766) Pre-flight accel bias estimation stability fixes (PR 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/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/sitl_gazebo#409 ) Adds Catapult and Hand launch support for fixed-wing. (PR PX4/sitl_gazebo#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