v1.12.1

PX4/PX4-Autopilotv1.12.1Aug 1, 2021by dagar

AI Summary

A patch release fixing serial communication, MAVLink inputs, and ECL/EKF stability.

Key Highlights

Fixed Kinetis K66 serial DMA issues
Fixed MAVLink offboard velocity input
Improved ECL/EKF stability (yaw spin, covariance, momentum drag)

New Features

Kinetis K66 serial DMA fix
MAVLink offboard velocity input fix
ECL/EKF yaw spin fix
ECL/EKF covariance prediction improvement
ECL/EKF momentum drag model

Full Release Notes

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

 - fix Kinetis K66 serial DMA (https://github.com/PX4/PX4-Autopilot/pull/17907)
 - mavlink: fix offboard velocity input (https://github.com/PX4/PX4-Autopilot/pull/17958)
 - sensors: populate sensors_status_imu healthy flags even in multi-EKF mode (https://github.com/PX4/PX4-Autopilot/pull/17946)
 - ECL/EKF: update to include latest bugfixes (https://github.com/PX4/PX4-Autopilot/pull/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