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v1.4.1

PX4/PX4-Autopilotv1.4.1Aug 6, 2016by LorenzMeier

AI Summary

This release introduces multiple estimator options, switches defaults to modern variants (LPE, EKF2), adds RTK support, and introduces the new .ulog logging system.

Key Highlights

  • Switch to modern estimators (LPE for multi/VTOL, EKF2 for fixed wing)
  • New .ulog logger system
  • u-Blox RTK / RTCM relay support
  • MAVLink shell support

Breaking Changes

  • Default estimator changed for multicopters, VTOL, and fixed wing

New Features

  • Estimator selection (LPE, EKF2)
  • Yaw control performance fix
  • u-Blox RTK support
  • .ulog logger support
  • MAVLink shell support
  • Flash parameter storage support
  • Vision position estimate fixes
  • General bugfixes and improvements

Full Release Notes

This release enables the use of three different estimators and switches the default estimators for multicopters, fixed wing and VTOL to more modern variants.
- Default estimator for multicopters is attitude_estimator_q and LPE (new). Better position and alt hold.
- Default estimator for VTOL is attitude_estimator_q and LPE (new). Better position and alt hold.
- Default estimator for fixed wing is ekf2 (new). Better attitude estimation and general performance.

This release also includes a long list of improvements:
- Yaw control performance fix / increase for VTOL
- Better default gains for Delta Quad
- u-Blox RTK / RTCM relay support
- Yaw limit mixer fix for multicopter
- Preliminary support for Parrot Bebop
- Full support for RPI2 + Navio 2 (was present for a while, now integrated / flight tested)
- LightWare Lidar fixes for I2C
- Sony QX1 triggering through SeaGull MAP2 cable
- Geotagging script for QX1 and PX4 logs
- 30x faster log download (now more than 300 KB/s, which is sufficient for realistic use)
- MAVLink shell support: A python script in Tools now allows to use NSH via MAVLink
- Sensors app cleanup for failover handling and integrals
- New logger support for .ulog files (will replace sdlog2). This logger logs directly uORB topics, which makes analysing logs a lot more convenient and efficient as they directly relate to the C code now
- Replay of complete system via .ulog files which contain all topics. This is the equivalent of replaying a ROS bag.
- New derivation for EKF2 estimator, resilience for large yaw changes
- Rewrite and hardening of the land detector
- VTOL: Dedicated transition switch for manual operation. Transition command supported via MAVLink as well.
- OS: Support for parameter storage in flash (no external flash / FRAM required)
- Snapdragon flight: General improvements in stability and functionality
- Software fix for broken Pixracer electronics (which suffered from sensor brownouts)
- Vision position estimate fixes
- More complete CI testing of more airframe types
- General bugfixes and improvements