PX4-Autopilot Main Release Notes

Alpha

This contains changes to PX4 main branch since the last major release (PX v1.15).

WARNING

The PX4 v1.15 release is in beta testing, pending release. Update these notes with features that are going to be in main but not the PX4 v1.15 release.

Read Before Upgrading

TBD ...

Please continue reading for upgrade instructions.

Major Changes

• TBD

Upgrade Guide

Other changes

Hardware Support

• TBD

Common

• Battery level estimation improvements (PX4-Autopilot#23205).
  • Voltage-based estimation with load compensation now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
  • Thrust-based load compensation has been removed (along with the BATn_V_LOAD_DROP parameters, where n is the battery number).

Control

• TBD

Estimation

• TBD

Sensors

• TBD

Simulation

• The SIH on SITL custom takeoff location in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7. (PX4-Autopilot#23363).

Ethernet

• TBD

uXRCE-DDS / ROS2

• TBD

MAVLink

• TBD

Multi-Rotor

• TBD

VTOL

• TBD

Fixed-wing

• TBD

Rover

• New module for ackermann rovers (PX4-Autopilot#23024, PX4-Autopilot#23310 and PX4-Autopilot#23310).
  • This introduces a new module dedicated to ackermann rovers which is part of the USV overhaul (including differential rovers, boats, ... ).
  • The module currently supports manual mode, mission mode, return mode and adds a number of ackermann specific features.
  • Adds two new airframes:
    • Hardware: Generic Ackermann Rover (50010).
    • SITL: Ackermann Rover (4012).
  • Note that the legacy Ackermann support is still present but has been superseded by this module.

ROS 2

• TBD