PX4-Autopilot Головна нотатка щодо релізу

Alpha

This contains changes to the PX4 main branch that are not included in the next release (PX4 v1.18).

WARNING

PX4 v1.18 is in beta testing. Update these notes with features that are going to be in main (PX4 v1.19 or later) but not the PX4 v1.18 release.

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Please continue reading for upgrade instructions.

Основні зміни

• Motor failure recovery for hexarotors. On a detected single motor failure the control allocator removes the failed motor and, on a hexarotor, additionally stops (CA_FAILURE_MODE = 1) or reverses (2) the motor opposite it, recovering the yaw authority that is otherwise lost. Reversing keeps the opposite motor in the allocation and needs a reverse-capable ESC; the reverse thrust the allocator expects from a forward propeller is set with CA_REV_THR_FRAC (default 0.4). Disabled by default. (PX4-Autopilot#28078)

Інструкції для оновлення

• COM_ARM_TRAFF has been replaced by COM_TRAFF_AVOID. The old value 3 ("enforce for mission modes only") is migrated to COM_TRAFF_AVOID=2, which blocks arming in all modes, not just mission modes. If you relied on being able to arm manually with traffic detected, set COM_TRAFF_AVOID=1 (warning only) instead.
• Re-check motor failure handling on hexarotors. CA_FAILURE_MODE = 1 now also stops the motor opposite the failed one on a hexarotor (previously only the failed motor was removed from the allocation). Other airframes are unaffected, and CA_FAILURE_MODE=0 (the default) is unchanged. See Motor Failure Recovery. (PX4-Autopilot#28078)

Інші зміни

• Fast mission Return modes (RTL_TYPE = 2 and 4) now skip DO_JUMP commands (loops) while following the mission path. (PX4-Autopilot#26993: fix(navigator): goToNextPositionItem skip loops when required)

Підтримка обладнання

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Загальні

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Управління

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Безпека

• Geofence Aware Return mode. (PX4-Autopilot#27145: feat(navigator): Geofence Aware RTL, PX4-Autopilot#28001: docs(navigator): [geofence] added some more warnings about limitations).
• Flight termination can now be used instead of a Descent mode as a fallback failsafe mode, allowing safer landing for unpiloted vehicles that carry a parachute. See Battery level failsafe (COM_LOW_BAT_ACT) and Position Loss Failsafe Action (new COM_POS_FS_ACT). (PX4-Autopilot#28064: feat(commander): add terminate options for critical battery and lost position failsafes).
• Motor failure recovery for hexarotors: on a single motor failure the control allocator removes the failed motor and additionally stops (CA_FAILURE_MODE = 1) or reverses (2) the motor opposite it to recover the lost yaw authority. Mode 2 requires a reverse-capable ESC and models the reverse thrust of a forward propeller with the new CA_REV_THR_FRAC (default 0.4). Reversible motor outputs on DroneCAN are now sent as signed RawCommand values (negative is reverse). (PX4-Autopilot#28078)
• Added RTL_TYPE=6 for battery-aware home priority return (PX4-Autopilot#26968). Returns to home if the estimated flight time to home is within the remaining battery time; otherwise returns to the closest rally point. Falls back to the closest safe point (home or rally) if battery time remaining is unavailable.

Оцінки

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Датчики

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Симуляція

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Debug & Logging

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Ethernet

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uXRCE-DDS / Zenoh / ROS2

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MAVLink

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RC

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Мульти-Ротор

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VTOL

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Fixed-wing

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Rover

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ROS 2

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