PX4-Autopilot Головна нотатка щодо релізу

Alpha

This contains changes to PX4 main branch since the last major release (PX v1.16).

WARNING

PX4 v1.16 is in candidate-release testing, pending release. Update these notes with features that are going to be in main but not the PX4 v1.16 release.

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TBD …

Please continue reading for upgrade instructions.

Основні зміни

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Інструкції для оновлення

Інші зміни

Підтримка обладнання

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Загальні

• QGroundControl Bootloader Update via the SYS_BL_UPDATE parameter has been re-enabled after being broken for a number of releases. (PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade).

Управління

• Added new flight mode(s): Altitude Cruise (MC), Altitude Cruise (FW). For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise ).

Оцінки

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Датчики

• Add sbgECom INS driver (PX4-Autopilot#24137)

Симуляція

• Overhaul rover simulation:
  • Add synthetic differential rover model: PX4-gazebo-models#107
  • Add synthetic mecanum rover model: PX4-gazebo-models#113
  • Update synthetic ackermann rover model: PX4-gazebo-models#117

Ethernet

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uXRCE-DDS / ROS2

• PX4 ROS 2 Interface Library support for Fixed Wing lateral/longitudinal setpoint (FwLateralLongitudinalSetpointType) and VTOL transitions. (PX4-Autopilot#24056).
• PX4 ROS 2 Interface Library support for ROS-based waypoint missions.

MAVLink

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Мульти-Ротор

• Removed parameters MPC_{XY/Z/YAW}_MAN_EXPO and use default value instead, as they were not deemed necessary anymore. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise).
• Renamed MPC_HOLD_DZ to MAN_DEADZONE to have it globally available in modes that allow for a dead zone. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise).

VTOL

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Літак з фіксованим крилом

• Fixed Wing Takeoff mode will now keep climbing with level wings on position loss. A target takeoff waypoint can be set to control takeoff course and loiter altitude. (PX4-Autopilot#25083).

Ровер

• Removed deprecated rover module (PX4-Autopilot#25054).
• Add support for Apps & API (PX4-Autopilot#25074, PX4-ROS2-Interface-Lib#140).
• Update rover simulation (PX4-Autopilot#25644) (see Simulation release note for details).

ROS 2

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