APX4 2.5.0

Compatibility

Please use Auterion Mission Control 1.14.0 or newer with this version of APX4:

{% content-ref url="../../auterion-mission-control-release-notes/amc-1.14/amc-1.14.0.md" %} amc-1.14.0.md {% endcontent-ref %}

New Features

Powered-by-Auterion:

• Support for Parachutes from Drone Rescue Systems
• General Flight UX:
• Three-stage smooth landing in automatic modes -
• Survey: allow resuming a survey and have gimbal pointing back down
• Data link fail safe available in all modes
• Margin for horizontal multi-copter control when prioritizing vertical authority: improves horizontal flight behavior in primarily vertical operations
• Automatically switch to remote control loss behavior on yaw emergency detection
• Directional speed constraints for Multicopter
• Beta/Preview: Basic rover support (please reach out if you are interested to use AEPX4 on ground vehicles)
• VTOL:
• Rally Points: Support Multiple Land Approaches for VTOL / FW as on normal landing points
• Support VTOL missions without takeoff waypoint
• Smooth orbit approach trajectory , also fixes instances where Orbit altitude was not followed
• Yaw-less multicopter mixer for use with tiltrotor type vehicles
• Multicopter hover trust estimator takes into account additional lift on VTOL vehicles
• Workflows
• Add support to capture for syncing GPS and image capture to enable high precision survey workflows
• Peripherals:
• Battery over voltage protection/handling
• Allow setting idle throttle on UAVCAN ESCs
• Support for ADS1115 ADC
• Enable HITL over UDP
• Support for INA237 12S power module
• Actuator endurance test feature
• Support for radio_status_extension messages

Powered-by-upstream-PX4:

• All the new features made available in upstream PX4 v1.12 release

What improved

• General Flight UX:
• Delay before triggering RTL on critical battery
• Improved accuracy of yaw emergency trigger
  • Commander: update yaw emergency messaging towards the user
• Improved accuracy of imbalanced propeller check metric
• Add support for toggle buttons via RC channels
• GNSS yaw: handle sensor reset (observed on F9P)
• Parameterized range setting for hover thrust estimator range
• rotations: introduce support for ROTATION_PITCH_90_YAW_45
• Do not re-check feasibility of commenced mission when already in-air
• Only allow arming in modes that are suitable for take off
• Required mag used by EKF as mandatory for arming
• Better user notifications on battery pre-warnings
• VTOL:
• TECS: stay in flight phase level if only small altitude changes are demanded
• Orbit flight behavior improvements
• Fixed-wing loiter: set yaw setpoint tangentially to loiter
• VTOL: Tiltrotor: enable hovering in non-zero tilts with forward tilt assist
• Autotuning improvements for vehicles with slower response like VTOL
• Don't fly mission land pattern when triggered RTL in hover on VTOL
• Better airspeed selector messaging and warnings to user
• front transition: fade out yaw control
• Don't start Orbit, if radius not in allowed range + increase allowed range
• Also use VTOL Safe Area feature after after geofence event
• Prevent interrupting VTOL takeoff when failsafe happens at the same time
• support alternative pitch setpoint offset in hover for landing
• Trigger quadchute RTL on airspeed failure also in VTOL takeoff and loiter modes
• Reset hover thrust when disarmed to prevent wrong estimate from landing affecting flight
• System:
• Overhaul of control allocation architecture to support dynamic control allocation (available as preview)
• Prevent vehicle arm during calibration
• Increase number of mavlink remote components
• Check target field in mavlink shell
• Too early reporting of pre-flight checks
• Peripherals:
• UAVCAN battery upgraded to use battery lib to enable taking into account internal resistance parameters
• power monitor module is started now automatically
• Point gimbal to neutral on RTL and failsafe
• Do not trigger/warn user about a navigation failure during sensor calibration
• Move capture and PPS pins to be Skynode compatible
• preflight checks: to not require to have a transition switch
• Stop capturing images on mission exit
• Gimbal frames wrong when using vmount v1 on v2 input

Resolved Issues

The following bugs have been fixed:

General Flight UX

• ROI location handled incorrectly
• GPS loss messaging unclear
• Immediate rearming after landing cant bypass all checks
• Unexpected yaw on go-to with altitude change
• Slow descent on stuck distance sensor
• Yaw nudging conflicting with weather vane → only allow yaw nudging when weather vane is disabled
• COMMAND_CANCEL not being handled properly by custom action waypoints
• position main-state achievable over RC before GPS lock
• Not switching to hold mode when mission finished
• False in-ground-effect landing signal on long range distance sensor
• Thrust step at takeoff
• Pitch & Roll Oscillations During Go-To Descent
• Vehicle does not stop properly when paused during a mission but instead it turns around and goes back to where it was paused.
• Wrong gimbal user input scale
• Rejected mission can be executed
• Vehicle not switching to goto immediately when commanded to do so
• Direction change in Orbit not accepted
• Vehicle does yaw step on takeoff
• ROI as part of mission not working
• Consider vehicle still landed in all cases before motor spool-up is complete
• Take pictures on takeoff on mission resume
• Incorrect handling of zero remaining flight time state

VTOL

• Tight curve during back-transition on landing
• automatic approach selection: wrong direction selected
• wind estimate incorrect after VTOL landing
• takeoff: loiter sector choice changes after transition to fixed-wing mode
• tiltrotor vehicles: wrong throttle setpoint during stabilized transition
• incorrect descend tracking in back-transition
• wrong manual cimb rate
• altitude setpoint issues on descend
• Flight Time Estimator RTL action interferes with active landing
• safe areas from previous flight used
• mag bias estimator not operational after landing and re-takeoff
• Commanded orbit altitude not followed
• undefined flight path flight path when changing altitude during position flight mode in fixed wing mode

System

• Error message when reading old storage formats
• Corner case that could make vehicle uncontrollable by user until automatic RTL starts
• Battery failsafe can interfere with time based RTL
• SD-card file storage failures
• When using two Power Modules on skynode, only one battery was displayed in AMC
• Fix sensors not starting up in some cases
• IMU coning warnings
• Camera capture message do not arrive in low bandwidth link
• Glitch in startup sound

Peripherals

• Iridium modem can't be connected after boot
• Map Camera Viewpoint Cone / Sensor Point of Interest Incorrect
• Dshot Voltage reading jumps to 0 / UAVCAN ESC reported even if there are no UAVCAN ESCs
• INA226 Power monitor reports wrong current
• sdp3x: fix situation when wire/contact gets disconnected SDP3X sensor was not able to reconfigure.

+ several other bug-fixes

Fixed by community

• Incorrect rejection of messages during MAVLink forwarding
• All bug-fixes made available in the upstream PX4 v1.12 release