Auterion Enterprise Px4 2.4.2 Release Notes 1

APX4 2.4.1

Compatibility

Please ensure to use Auterion Mission Control v1.13 or newer:

{% content-ref url="../../auterion-mission-control-release-notes/auterion-mission-control-1.13-release.md" %} auterion-mission-control-1.13-release.md {% endcontent-ref %}

What’s new

Powered-by-Auterion:

• VTOL
• Simplified UX for quick takeoff and landing using Safe Areas
• Introduce automatic Eco and Dash mode switching for situational adaptation of energy conservation vs. setpoint tracking
• Simplified preflight check mechanism
• Online airspeed scale estimation

Powered-by-upstream-PX4:

• All the new features made available in upstream PX4 v1.11 release.

What improved

Powered-by-Auterion:

VTOL

• Transition logic improvements to allow earlier alignment of heading with transition direction
• Overhaul of (setpoint) constraints for safe back transitions across various conditions
• Improve computation of height rate setpoint in TECS. Introduced parameters for target climb-and sinkrates
• Tiltrotor: Add quadchute when transition times out similar as in standard VTOL
• Use temperature data from differential pressure sensor to calculate air density
• Tiltrotor: add hover tilt offset to pusher assist tilt
• FW Position Controller: Add ability to climb fast/slow
• Add transition timeout mechanism as fallback
• Make sure (erroneous) mavlink VTOL takeoff can only be executed on VTOL vehicle type
• replace ASPD_STALL by FW_AIRSPD_STAL and introduce sanity checks
• FW Position control: add roll slewrate also in manual Position flight mode

Other

• Overhaul of geofence handling
• microRTPS support to allow parallel mavlink and RTPS communication
• gimbal: support for v1 gimbals while using v2 protocol between AMC and vehicle
• mavlink: 14S battery support
• Allow yawing nudging during yaw and allow nudging from beginning of decent
• Add wind speed warning when vehicle reaches wind limits
• Airspeed validator: extend check for constant value to hover flight
• Better RC loss failsafe configuration options for BVLOS (ability to disable RC loss reaction)
• Send parachute command on termination
• Param whitelist (restricted build) option for production builds
• DShot: timeout if commands are not processed
• Differential Pressure Sensors: switch to explicitly enable sensors with new params
• Consumption based RTL: make margin configurable
• Making "airspeed sensor failure detected" warning more understandable
• Fallback logic from gps heading in case gps heading fails
• Mavlink: increase MAX_REMOTE_COMPONENTS to 12
• Airspeed Selection: make message to user more clear
• Add vehicle_odometry and vehicle_trajectory_bezier logging for obstacle avoidance and VIO debug and inspection
• sdp6x driver: remove inversion of differential pressure

Powered by community:

• Add ability to set GPIO to pull down
• Proper cleanup of mavlink instance on exit
• All the improvements made available in upstream PX4 v1.11 release.

Bug fixes

The following bugs have been fixed:

Fixed-by-Auterion:

VTOL

• Fix cases where state machine did not transition to MC mode
• Fix issue where the wind estimate was off on tail-sitters type aircraft
• Fix: Orbits aren't joint tangentially
• Enable different pitch sp offset in hover for landing: Fixes an issue where the vehicle has issues descending when landing in high wind.
• Fix: RC lost failsafe action broken when happening during GPS lost failsafe
• Fix: Failsafe interrupting VTOL Takeoff
• Fix: Flight Time Estimator RTL Interferes With Active Landing : enforce landing at home only if VTOL in hover and not on mission landing
• Fix TECS airspeed filtering to use raw inertial acceleration & Log more airspeed filter states
• Fix: Tiltrotor Throttle setpoint wrong during stabilized transition
• Fix control surface check for non-tilt rotor vehicles

Rover

• Allow arming a rover with the throttle stick in the middle
• Rover: Correct throttle scale

Estimation

• Fix: yaw gyro bias oscillation on ground
• Fix: autotuning failing on some quadplane setups
• Fix: autotuning: parameter not applied correctly
• Fix: land detection when drone is moving after landing in Position mode
• Fix: wrong flight time estimates when on ground
• Fix mag-less in air yaw alignment
• Fix: Mag bias estimator does not work after disarm
• Fix missing hysteresis for hover thrust estimator
• Fix: quaternion- Z accel bias coupling (leads to EKF covariance prediction stability improvements)

Navigation and Control

• Fix: User override not working during GPS lost failsafe landing
• Fix: Triggering RTL from fast manual descent resulted in commanded descent instead of climb in RTL
• Fix: Datalink failsafe: drone does not disarm
• Fix instance where vertical geofence was breachable
• Fix: Cruise speed is not re-used if mission is paused and resumed
• Fix: Rejected mission can be executed
• Fix: invalid setpoints during switch from stab to alt
• Fix: Nudging: Yaw action stops descend
• Fix: Com loss leads to pos control and switching to altitude control
• Fix: possibility erroneous position setpoint when changing altitude during fixed wing position control mode
• Fix: Mission not advancing if next waypoint within loiter radius of current loiter waypoint
• Fix: ROI as part of mission not working
• Consumption based RTL: Ignore RTL estimate if RTL is not configured as failsafe action

Other

• sdp3x: fix situation when wire/contact gets disconnected SDP3X sensor was not able to reconfigure.
• Disable iridium driver per default
• mavlink: fix runaway case during mission upload
• MAVLink forwarding improvements / fix incorrect rejection of forwarded alien commands
• Fix: FTP usage during FMU configuration update results on timeouts or "protocol errors" (mavlink receiver improvements)
• Set UART4//dev/ttyS3 as UART for Pixhawk Payload bus
• logger: remove unused topics, move some to debug profile
• Fix: operator spammed by ADSB messages
• Fix pwm default failsafe values (PWM_AUX_DISx to use common default value)
• Fix: correctly route custom actions to mission computer
• Fix: GPS heading and timeout for uBlox ZED-F9P
• Fix instances of missed mavlink log messages
• Fix: hardfault on mavlink stop-all shell command

Fixed by community:

• Fix memory corruption when work queue is being deleted
• NuttX Fix for DATA timeout (SD logging stops after short period of time)
• only play safety change tunes if initialized
• Report vehicle termination correctly over MAVLink
• Fix instance where PWM param update was interfering with VTOL flight modes
• Fix: SITL jMAVsim oscillates in pitch
• All the bug fixes made available in upstream PX4 v1.11 release.