Stable Release v1.13.3

Stable Release v1.13.3

What's Changed

• [New] CUAV Pixhawk V6X #21221
• [New] Holybro Pixhawk 6C Mini #21227
• [New] ARK PAB Carrier #21104
• [Fix] Cube Orange: enable mavlink_shell #20868
• [Fix] mRo Pixracer Pro: Configure FRAM for mRo PixracerPro. #21161
• [Fix] mRo Pixracer Pro: fix voltage/current monitoring #19757
• [Fix] Add support for ROS2 Humble for the microRTPS bridge #20968

Full Changelog: v1.13.2...v1.13.3

Stable Release v1.13.2

What's Changed

• Navigator: fix init of _mission_item by @sfuhrer in #20496
• Holybro PX4Vision: Don't use IO by @julianoes in #20534
• px4_fmu-v6: Add Revision 1 to manifest to note I2C4 is only internal by @julianoes in #20526
• VTOL takeoff problem hotfix by @MaEtUgR in #20568
• EKF2: ZVU improvements by @bresch in #20613
• fmu-v2: make optional sensor startup quiet by @julianoes in #20384

Full Changelog: v1.13.1...v1.13.2

Stable Release v1.13.1

What's Changed

• [BACKPORT v1.13] drivers/imu/invensense/icm42670p: cleanup and small fixes by @julianoes in #20165
• [BACKPORT v1.13] px4_fmu-v6x:HB Mini add Ver 3, Ver 4 init by @julianoes in #20166
• standard: fixed pusher assist in hover by @sfuhrer in #20220
• V1.13.0 ARKV6X Backport by @AlexKlimaj in #20253
• [BACKPORT v1.13] Pixhawk 6C external bus hack by @julianoes in #20250
• [BACKPORT v1.13] Add PX4 vision v1.5 Airframe by @julianoes in #20244
• Backport Add BMP390 to BMP388 driver by @AlexKlimaj in #20261
• [v1.13] boards/platform: remove confusing override by @julianoes in #20264
• [BACKPORT v1.13] Add Holybro Pixhawk Pi CM4 Baseboard Support by @julianoes in #20182
• [BACKPORT v1.13] libuavcan: update submodule by @julianoes in #20314
• [v1.13] Fix RTK by @julianoes in #20310
• 1.13 Backport Fix ARKV6X control allocator with base boards by @AlexKlimaj in #20315
• [BACKPORT v1.13] ms5611: ignore reading 0 by @julianoes in #20351

Full Changelog: v1.13.0...v1.13.1

Stable Release v1.13.0

This is the v1.13 stable release, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.13.html

Common

• Control Allocation Beta (PR#18776)
• Autotune for fixedwing and multicopter
• 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

• 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

CAN

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

Full Changelog:

Full Changelog: v1.12.0...v1.13.0

v1.13.0-rc1

PX4 stable v1.13.0 first release candidate

v1.13.0 Beta 1

v1.13.0-beta1

v1.13.0 Beta 1

Stable Release v1.12.3

• Enable Cube Orange built in ADS-B receiver by default: #18188
• fixed flash overflow on px4_fmu-v2_default and px4_fmu-v5_optimized

Stable Release v1.12.2

• Holybro V5X Rev 2 full support (#18069)
• flight_mode_manager: ManualAcceleration support weathervane yaw handler (#18038)
• mavlink: receiver fix HIL_STATE_QUATERNION map projection init (#18010)
• mavlink: fix offboard velocity input (#17958)
• ECL: update to include latest bugfixes (#17988)
• sensors: populate sensors_status_imu healthy flags even in multi-EKF mode (#17946)
• px4io_serial: ensure TX DMA is stopped if exiting early on stream error (#18172)
• boards fix memory protection unit (MPU) on STM32H7 boards with APM bootloader (#18175)
• boards: cubeorange/cubeyellow use amber LED for armed state (#18163)
• Fix memory corruption when work queue is being deleted (#18134)
• px4iofirmware: never directly touch mixer from isr (#18147)
• sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set (#18113)

Stable Release v1.12.1

This point release fixes a number of small issues discovered after the v1.12.0 release.

• fix Kinetis K66 serial DMA (#17907)
• mavlink: fix offboard velocity input (#17958)
• sensors: populate sensors_status_imu healthy flags even in multi-EKF mode (#17946)
• ECL/EKF: update to include latest bugfixes (#17988)
  • fix yaw spin on ground after large mag field change
  • change covariance prediction for better stability
  • fix yaw alignment in air for mag-less mode
  • improve tilt alignment for non-static applications
  • add momentum drag model

Stable Release v1.12.0

This is the v1.12 stable release, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html

• Multi-EKF enabled by default
• Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
• Safety switch is latching: Once it is disabled, it will stay disabled
• Multicopter
  • Intuitive stick feel in Position mode
  • Hover thrust independent velocity control gains
• UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
• UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
• UAVCANv1: Initial alpha of a complete end-to-end implementation
• Fixedwing/VTOL significant TECS improvements
• Magnetometer calibration faster and more robust
  • new soft iron calibration coefficients
  • automatically determine the rotation of external sensors
• Gyro dynamic notch filtering with onboard FFT
• Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
• Added support for IRC Ghost including telemetry
• new board support
  • PX4 FMUv6u
  • PX4 FMUv6x
  • CUAV X7/X7Pro
  • CUAV Nora
  • CUAV CAN GPS
  • SP Racing H7 Extreme
  • Bitcraze Crazyflie v2.1
  • ARK CAN Flow
  • ARK CAN GPS
  • Freefly CAN RTK GPS
  • mRo Ctrl Zero H7 (experimental)