v1.10.0

PX4/PX4-Autopilotv1.10.0Dec 17, 2019by dagar

AI Summary

A major release introducing a 1 kHz rate loop, DShot ESC telemetry support, cone-based RTL, and significant real-time system performance improvements.

Key Highlights

Multicopter 1 kHz rate loop (param IMU_GYRO_RATEMAX)
DShot ESC Support with Telemetry
Cone-based RTL
New work queue scheduling framework
New C++ uORB API

Breaking Changes

Throttle PID Attenuation (TPA) is deprecated in favor of Thrust Curve compensation

New Features

DShot telemetry support
Cone-based return to landing pattern
New UAVCAN sensor drivers
Safe Landing Planner support
ROS 2 support improvements
New airframes (Kopis 2, S500, UVify Draco)
Offboard support for Rover
NuttX upgrade to version 7.29

Full Release Notes

## Release Notes
### Highlights
* Multicopter 1 kHz rate loop (param IMU_GYRO_RATEMAX)
* DShot ESC Support with Telemetry (PR [#12854](https://github.com/PX4/Firmware/pull/12854), [Docs](https://docs.px4.io/master/en/peripherals/dshot.html))
* Cone-based RTL ([Docs](https://docs.px4.io/master/en/flight_modes/return.html#return_altitude))
* Significantly improved real time system performance
   * new work queue scheduling framework with a thread per physical bus
   * new C++ uORB API (faster, safer, and more memory efficient)
 * new RTF airframes
   * Holybro Kopis 2 (and KakuteF7 board)
   * Holybro S500
   * UVify Draco
   * UVify Draco-R
   * UVify IFO
 * NuttX RTOS upgrade with a number of important bug fixes and performance improvements
### Additional Features and Improvements
#### Migration Guide
* DEPRECATED: Throttle PID Attenuation (TPA) (PR [#13208](https://github.com/PX4/Firmware/pull/13208))
   * Deprecated in favor of [Thrust Curve](https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#thrust_curve) compensation.
#### Multicopter
* the rate controller now runs synchronized with the primary gyro
* Rate integrator improvements (PR [#12296](https://github.com/PX4/Firmware/pull/12296))
#### VTOL
* VTOL front transition heading handling improvements (PR [#12630](https://github.com/PX4/Firmware/pull/12630))
* RTL: By default enable return via landing pattern for deterministic back-transition (PR [#12746](https://github.com/PX4/Firmware/pull/12746))
* VTOL GPS fix bank loiter (PR [#12778](https://github.com/PX4/Firmware/pull/12778))
#### Fixed Wing
* initial support for new airspeed selector module capable of detecting airspeed sensor faults
#### Rover
* Enable Offboard support for Rover position control
#### PX4/ECL - Estimators improvement
* many bug fixes and robustness improvements
* Mag inconsistency check (PR [#12334](https://github.com/PX4/Firmware/pull/12334))
#### PX4/Drivers
* UAVCAN sensor drivers for battery and optical flow
#### Computer Vision & Autonomy
##### PX4/Avoidance
* Safe Landing Planner support
* Collision Prevention Improvements
#### Simulation
* Simulation-In-Hardware (PR [#11835](https://github.com/PX4/Firmware/pull/11835), [Docs](https://dev.px4.io/master/en/simulation/simulation-in-hardware.html))
* jMAVSim headless/no-GUI option (jMAVSim [PR #105](https://github.com/PX4/jMAVSim/pull/105))
#### Logging improvements
* AUX1-RC-channel-based logging via SDLOG_MODE (PR [#12100](https://github.com/PX4/Firmware/pull/12100))
* Logging of system bootup messages, and dmesg tool (on boards with enough RAM) (PR [#11792](https://github.com/PX4/Firmware/pull/11792))
#### Onboard computer / middleware improvements
#### Failsafe / commander improvements
* Bugfixes for failsafe corner cases (PRs [#13143](https://github.com/PX4/Firmware/pull/13143), [#13294](https://github.com/PX4/Firmware/pull/13294))
#### OS/NuttX
The release includes a change from [NuttX-7.28 ](https://bitbucket.org/nuttx/nuttx/src/48d1d9d84f18461aba2eeaf39cae3aafce2fce4d/ReleaseNotes#lines-20687) to [NuttX-7.29](https://bitbucket.org/nuttx/nuttx/src/101f3bddecb70cfb8dc78c5b4fad98f3480ae399/ReleaseNotes#lines-21789)
See [NuttX release notes](https://bitbucket.org/nuttx/nuttx/src/101f3bddecb70cfb8dc78c5b4fad98f3480ae399/ReleaseNotes#lines-21789) for the details of changes in NuttX-7.29 details.

Included as backports are:
* STM32F7 I2C state and interrupt storm fixes.
* Serial Single wire mode has moved to NuttX
* Fix for "z" in printf
* kinetis:i2c transfer ensure correct result returned.
* kinetis_i2c_transfer released the mutex then fetched the state, this resulted in returning the correct results.
* STM32F4 and STM32F7 SD card hang on card eject fixed
* STM32F7 ethernet add timeout on MAC reset

#### Updated Supported Hardware
* Holybro Kakute F7 board support (PR [#12440](https://github.com/PX4/Firmware/pull/12440), [Docs](https://docs.px4.io/master/en/flight_controller/kakutef7.html))
* Kopis 2 Airframe configuration (PR [#12549](https://github.com/PX4/Firmware/pull/12549))

## v.1.10.0 Changelog
https://gist.github.com/mrpollo/3af778f7f6cdbad1f0433ba18b4b7204