Release 1.13

• Release 1.13
  • Pre Releases
  • Changes
    • Common
    • Sensors
    • Hardware
    • MAVLink
    • Multicopter
    • VTOL
    • Control
    • GPS
    • NuttX
    • CAN

Pre Releases

• Release Candidate 1
• Beta 1

Changes

Common

• Explicit Joystick source selection (PR#17404)

  • Possibility to:
    • Explicitly allow just one source
    • Fall back to other source in air
    • Disable stick input completely
  • Configuration parameter: COM_RC_IN_MODE

• Remaining flight time based on low battery (PR#17828)

• Remaining flight time based low battery RTL (PR#18646)

• Improved default battery estimation parameters (PR#19429, PR#19700)

• Autonomous gentle touch down using distance sensor (PR#19126)

• Orbit Flight Mode Improvements (approach smoothness, radius limiting, and stick input with heading not to the center)

传感器

• Barometers
  • Goertek SPL06 (PR#19229)
  • TDK ICP10100 & ICP10111 (PR#18451)
  • Maiertek MPC2520 (PR#17910)
  • TE MS5837 (PR#19183)
• Hygometer
  • Sensirion SHT3X (PR#18910)
• IMU
  • TDK ICM42670p (PR#18141)
  • BMI088 I2C (Support Improved) (PR#17467)
• 光流
  • Pixart PAA3905 (PR#19461)
• Power Monitor
  • TI INA228 (PR#19461)
  • TI INA238 (PR#18260)
• Misc
  • GPS PPS Input Capture (PR#18849)
  • NXP Ultra Wide Band (UWB) SR150 (PR#14474)

硬件

• ARK CAN RTK GPS (PR#18412)
• ATL Mantis EDU (PR#17910)
• Diatone Mamba f405 mk2 (PR#18402)
• Holybro Kakute H7 (PR#19019)
• Matek GNSS-M9N-F4 (PR#19061)
• Matek H743-slim (PR#18544)
• mRo Control Zero Classic (PR#19593)
• Pixhawk FMUv6C (PR#19544)
• Raspberry Pi Pico (PR#18083)
• Sky Drones SmartAP Airlink (PR#19529)

MAVLink

• MAVLink triggered parachute system support (PR#18589)

Estimation

• Control Allocation Beta (PR#18776)
• 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)
  • 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

多旋翼

• auto tune

垂直起降

• auto tune

GPS

NuttX

CAN

• UAVCANv1 aka OpenCyphal
• DroneCAN
  • Battery Support
  • Hygrometer Support
  • Internal Combustion Engine (ICE)
  • Log message handling from CAN nodes