# Release 1.13

# Pre Releases

# Changes

# Common

# Sensors

# Hardware

# Estimation

  • Control Allocation Beta (PR#18776 (opens new window))
  • 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 (opens new window))
    • 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