v1.11.0 Beta 1

v1.11 Release Notes

Highlights

• New significantly improved Invensense IMU drivers that provide all raw data up to 8 kHz using SPI DMA.
  • rate controller can run up to 2 kHz (>= 4 kHz coming soon) by settingIMU_GYRO_RATEMAX
• New multicopter hover thrust estimator (PR #13981)
• Emergency Yaw recovery using EKF-GSF estimator (PR PX4/PX4-ECL#766)
• Major sensor calibration improvements (Gyro, Mag, Level)

Main Features and Improvements

Migration Guide

• DEPRECATED: VTOL is no longer supported in FMUv2 hardware

PX4/Drivers

• Enable SPI DMA adds centralized DMA map (PR #14207)
• Move primary IMU to new InvenSense driver (PR #14356)
  • FMUv5, FMUv5x
  • ModalAI_fv-v1
• Drivers CLI interface 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)
• 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)

Onboard computer / middleware improvements

• Adds ROS 2 Dashing and Eloquent support to the microRTPS bridge (PR #13907)
• Adds time sync to the microRTPS bridge (PR #14297)

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 strengh 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.