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@LorenzMeier LorenzMeier released this 06 Aug 17:33
v1.4.1
c76c8fd

This release enables the use of three different estimators and switches the default estimators for multicopters, fixed wing and VTOL to more modern variants.

  • Default estimator for multicopters is attitude_estimator_q and LPE (new). Better position and alt hold.
  • Default estimator for VTOL is attitude_estimator_q and LPE (new). Better position and alt hold.
  • Default estimator for fixed wing is ekf2 (new). Better attitude estimation and general performance.

This release also includes a long list of improvements:

  • Yaw control performance fix / increase for VTOL
  • Better default gains for Delta Quad
  • u-Blox RTK / RTCM relay support
  • Yaw limit mixer fix for multicopter
  • Preliminary support for Parrot Bebop
  • Full support for RPI2 + Navio 2 (was present for a while, now integrated / flight tested)
  • LightWare Lidar fixes for I2C
  • Sony QX1 triggering through SeaGull MAP2 cable
  • Geotagging script for QX1 and PX4 logs
  • 30x faster log download (now more than 300 KB/s, which is sufficient for realistic use)
  • MAVLink shell support: A python script in Tools now allows to use NSH via MAVLink
  • Sensors app cleanup for failover handling and integrals
  • New logger support for .ulog files (will replace sdlog2). This logger logs directly uORB topics, which makes analysing logs a lot more convenient and efficient as they directly relate to the C code now
  • Replay of complete system via .ulog files which contain all topics. This is the equivalent of replaying a ROS bag.
  • New derivation for EKF2 estimator, resilience for large yaw changes
  • Rewrite and hardening of the land detector
  • VTOL: Dedicated transition switch for manual operation. Transition command supported via MAVLink as well.
  • OS: Support for parameter storage in flash (no external flash / FRAM required)
  • Snapdragon flight: General improvements in stability and functionality
  • Software fix for broken Pixracer electronics (which suffered from sensor brownouts)
  • Vision position estimate fixes
  • More complete CI testing of more airframe types
  • General bugfixes and improvements
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