Main

PX4-Autopilot Main Release Notes

This contains changes to PX4 main branch since the last major release (PX v1.15).

::: warning The PX4 v1.15 release is in beta testing, pending release. Update these notes with features that are going to be in main but not the PX4 v1.15 release. :::

Read Before Upgrading

TBD …

Please continue reading for upgrade instructions.

Major Changes

• TBD

Upgrade Guide

Other changes

Hardware Support

• TBD

Common

• Battery level estimation improvements (PX4-Autopilot#23205).
• Voltage-based estimation with load compensation now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
• Thrust-based load compensation has been removed (along with the BATn_V_LOAD_DROP parameters, where n is the battery number).

Control

• TBD

Estimation

• TBD

Sensors

• TBD

Simulation

• [SIH]: The SIH on SITL custom takeoff location in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7. (PX4-Autopilot#23363).
• [Gazebo]:
• New vehicle model x500_lidar — x500 Quadrotor with 2D Lidar. (PX4-Autopilot#22418, PX4-gazebo-models#41).
• New vehicle model r1_rover — Aion Robotics R1 Rover (PX4-Autopilot#22402 and PX4-gazebo-models#21).
• New vehicle model rover_ackermann — Ackermann Rover (PX4-Autopilot#23383 and PX4-gazebo-models#46).

Ethernet

• TBD

uXRCE-DDS / ROS2

• TBD

MAVLink

• TBD

Multi-Rotor

• Allow system-default multicopter orbit mode yaw behaviour to be configured, using the parameter MC_ORBIT_YAW_MOD (PX4-Autopilot#23358)

VTOL

• TBD

Fixed-wing

• Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. PX4-Autopilot#23460

Rover

This release contains a major rework for the rover support in PX4:

• Complete restructure of the rover related documentation.
• New firmware build specifically for rovers (PX4-Autopilot#22675).
• New module dedicated to differential-steering rovers (PX4-Autopilot#22402 and PX4-Autopilot#23430)
• The module currently supports manual mode, acro mode, mission mode, return mode and implements a guidance state machine to fully leverage the power of differential-steering.
• New module dedicated to Ackermann rovers (PX4-Autopilot#23024, PX4-Autopilot#23310 and PX4-Autopilot#23423).
• The module currently supports manual mode, mission mode, return mode and adds a number of Ackermann specific features.
• Restructure of the rover airframe numbering convention (PX4-Autopilot#23506).
  This also introduces several new rover airframes:
• Generic Differential Rover 50000.
• Generic Ackermann Rover 51000.
• Axial SCX10 2 Trail Honcho 51001.
• Library for the pure pursuit guidance algorithm that is shared among the rover modules (PX4-Autopilot#23387 and PX4-Autopilot#23438).
• Simulation for differential-steering and Ackermann rovers in gazebo (for release notes see r1_rover and rover_ackermann in simulation).
• Deprecation of the rover position control module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.

ROS 2

• TBD