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@dagar dagar released this 07 Sep 21:31
v1.11.0
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dagar Daniel Agar
GPG key ID: FD3CBA98017A69DE
Learn about vigilant mode.
71db090
This commit was signed with the committer’s verified signature.
dagar Daniel Agar
GPG key ID: FD3CBA98017A69DE
Learn about vigilant mode.

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

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

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

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

Assets 48