1.13

Release 1.13

• Release 1.13
• Pre Releases
• Changes
  • Common
  • Sensors
  • Hardware
  • MAVLink
  • Multicopter
  • VTOL
  • Control
  • GPS
  • NuttX
  • CAN

Pre Releases

• Release Candidate 1
• Beta 1

Changes

Common

• Explicit Joystick source selection (PR#17404)

• Possibility to:

  • Explicitly allow just one source
  • Fall back to other source in air
  • Disable stick input completely

• Configuration parameter: COM_RC_IN_MODE

• Remaining flight time based on low battery (PR#17828)

• Remaining flight time based low battery RTL (PR#18646)
• Improved default battery estimation parameters (PR#19429, PR#19700)
• Autonomous gentle touch down using distance sensor (PR#19126)
• Orbit Flight Mode Improvements (approach smoothness, radius limiting, and stick input with heading not to the center)

Sensors

• Barometers
• Goertek SPL06 (PR#19229)
• TDK ICP10100 & ICP10111 (PR#18451)
• Maiertek MPC2520 (PR#17910)
• TE MS5837 (PR#19183)
• Hygometer
• Sensirion SHT3X (PR#18910)
• IMU
• TDK ICM42670p (PR#18141)
• BMI088 I2C (Support Improved) (PR#17467)
• Optical Flow
• Pixart PAA3905 (PR#19461)
• Power Monitor
• TI INA228 (PR#19461)
• TI INA238 (PR#18260)
• Misc
• GPS PPS Input Capture (PR#18849)
• NXP Ultra Wide Band (UWB) SR150 (PR#14474)

Hardware

• ARK CAN RTK GPS (PR#18412)
• ATL Mantis EDU (PR#17910)
• Diatone Mamba f405 mk2 (PR#18402)
• Holybro Kakute H7 (PR#19019)
• Matek GNSS-M9N-F4 (PR#19061)
• Matek H743-slim (PR#18544)
• mRo Control Zero Classic (PR#19593)
• Pixhawk FMUv6C (PR#19544)
• Raspberry Pi Pico (PR#18083)
• Sky Drones SmartAP Airlink (PR#19529)

MAVLink

• MAVLink triggered parachute system support (PR#18589)

Estimation

• Control Allocation Beta (PR#18776)
• Estimation
• EKF2 barometer bias estimator
• EKF2 range finder kinematic consistency check
• EKF2 propeller momentum drag coefficient used for multi-rotor wind estimation.
• incremental accel and gyro auto-calibration
• dedicated magnetometer bias estimator for easy preflight calibration

Control

• Dynamic Control Allocation (PR#18776)
• Disabled by default, see usage instructions to get started
• Easy and flexible actuator configuration
• Support for more hardware setups without manual mixer file adjustments
• Possibility to dynamically adjust allocation in flight e.g. rotor loss

Multicopter

• auto tune

VTOL

• auto tune

GPS

NuttX

CAN

• UAVCANv1 aka OpenCyphal
• DroneCAN
• Battery Support
• Hygrometer Support
• Internal Combustion Engine (ICE)
• Log message handling from CAN nodes