# 출시 1.12

# 사전 출시

# 변경 사항

# 공통

  • 잔여 비행 범위 기반 RTL 트리거 (PR#16399 (opens new window))
    • 기체 속도, 풍속 및 목적지 거리와 방향을 고려하여 RTL에서 집까지의 시간을 계산합니다.
  • 사전 지오펜스 위반 (PR#16400 (opens new window))
    • 예측된 현재 궤적이 위반으로 이어질 경우 위반을 트리거하여 차량이 안전한 유지 위치로 경로를 다시 지정할 수 있습니다.
  • 기체 스크립트
    • 기본값 설정 구문이 변경되었으며 사용자 지정 스크립트를 업데이트하여야 합니다.
    • 예제는 PR#16796 (opens new window)을 참조하십시오.
  • 안전 스위치는 기본적으로 꺼짐으로 설정(모터는 시동 해제되지만 서보/플랩은 움직일 수 있음)
  • 안전 스위치가 잠깁니다. 일단 비활성화되면 비활성화 상태로 유지됩니다.
  • 착륙 감지기 : 거리 센서가있는 경우지면 거리를 사용하도록 착륙 감지를 확장합니다.
  • 텔레메트리 포함 IRC Ghost에 대한 지원 추가

# 센서

  • 더 빠르고 안정적인 자력계 보정
    • 새로운 연철 교정 계수
    • 외부 센서의 회전을을 자동으로 결정
  • 최적화된 속도 제어 센서 파이프 라인 (최소 내부 루프 종단간 지연 시간)

# 하드웨어

이 릴리스에는 아래의 보드, 주변 장치와 액세서리에 신규 하드웨어 지원이 포함됩니다.

These are removed:

  • Removal of discontinued Intel AeroFC
  • Commander : 제어 모드 플래그 사용 및 시동 정리 / 시동 해제 (PR#16266 (opens new window))
    • arm_disarm ()에서 분산된 시동 관련 요구 사항을 통합하고, commander에서 vehicle_control_mode 마지막 상태를 유지합니다.
  • Commander : 수동 제어 설정 값 처리 분리 (PR#16878 (opens new window))
    • manual_control_setpoint를 처리를 위한 신규 클래스 ManualControl을 추가하고 RC 손실, RC 재정의 및 RC 준비/해제를 처리합니다.
    • This new message allows any MAVLink system to request rich hierarchical information from an autopilot, i.e., to understand which commands are supported in missions or to get parameter metadata. This message was introduced primarily to help GCS better understand autopilots (RFC: mavlink#1339 (opens new window))

# 사령관(Commander)

  • Commander: use control mode flags and cleanup arm/disarm (PR#16266 (opens new window))
    • 속도 설정값 대신 가속도에 매핑된 수평 스틱 입력
  • Commander: Separate out manual control setpoint processing (PR#16878 (opens new window))
    • Adds a new class ManualControl for handling manual_control_setpoint and handles RC loss, RC override, and RC arming/disarming

# 멀티콥터

WARNING

The gains have a new meaning * Scale from velocity error in to acceleration output in * Existing gains need to roughly be rescaled by a factor of: * Automatic parameter transition assumes 50% hover thrust: ~10m/s^2 / 50% = 20 m/s^2. See question (opens new window)

# 수직이착륙기(VTOL)

  • Gyro FFT로 업데이트된 동적 노치 필터 (PR#16385 (opens new window))
    • 자이로 제어 데이터에 동적 노치 필터링을 추가하여 제어가 훨씬 부드러워졌습니다.
  • Fixed Wing / VTOL significant TECS improvements

# 제어

  • Dynamic Notch Filter updated with Gyro FFT (PR#16385 (opens new window))
    • Adds dynamic notch filtering to the gyro control data resulting in much smoother control
  • Multi-EKF enabled by default on stm32f7 and stm32h7 boards

# GPS

  • The GPS protocol now defaults to u-blox for faster startup, and GPS_x_PROTOCOL needs to be changed if another GPS is used.

# NuttX

Nuttx가 8.2+에서 NuttX 10.10.0 + (opens new window)로 업그레이드 되었습니다 (@ 904a602c74dc08a100b5c2bd490807de19e73e10 (opens new window)).

  • SDCARD performance: Results in better performance on H7 Targets
    • [BACKPORT] stm32:SDIO:Use 250 Ms Data path timeout, regardless of Card Clock frequency
    • [BACKPORT] stm32h7:SDMMC:Use 250 Ms Data path timeout, regardless of Card Clock frequency
    • [BACKPORT] stm32f7:SDMMC:Use 250 Ms Data path timeout, regardless of Card Clock frequency
    • [BACKPORT] Fixes race condition in event wait logic of SDMMC driver.
    • [BACKPORT] mmcsd:Stuck in 1-bit mode, Removed CONFIG_ARCH_HAVE_SDIO_DELAYED_INVLDT
  • Ethernet stability:
    • [BACKPORT] stm32x7:Ethernet Fixed hardfaults, from too big frames
    • [BACKPORT] stm32:Ethernet Fix too big frames
  • Boot up stability V5-V6X ensuring the LSE (RTC) oscillator is started
    • [BACKPORT] stm32h7:lse fix Kconfig help text
    • [BACKPORT] stm32f7:lse Use Kconfig values directly
    • [BACKPORT] stm32h7:Add DBGMCU
    • [BACKPORT] stm32f7:Add option to auto select LSE CAPABILITY
    • [BACKPORT] stm32h7:Add option to auto select LSE CAPABILITY

Note

This Knob will cycle through the correct* values from low to high. To avoid damaging the crystal. We want to use the lowest setting that gets the OSC running. See app note AN2867 *It will take into account the rev of the silicon and use the correct code points to achive the drive strength. See Eratta ES0392 Rev 7 2.2.14 LSE oscillator driving capability selection bits are swapped.

  • Driver changes
    • [BACKPORT] drivers/serial: fix Rx interrupt enable for cdcacm

    • [BACKPORT] binnfmt:Fix return before close ELF fd

    • [BACKPORT] stm32f7:Allow for reuse of the OTG_ID GPIO

    • [BACKPORT] stm32f7:SDMMC fix reset of do_gpio

    • [BACKPORT] stm32h7: serial: use dma tx semaphore as resource holder

    • [BACKPORT] stm32h7:SDMMC fix reset of do_gpio

    • [BACKPORT] stm32h7:Serial Add RX and TX DMA

    • [BACKPORT] stm32h7:Allow for reuse of the OTG_ID GPIO

    • [BACKPORT] Kinetis:kinetis:Replace DMA

    • [BACKPORT] kinetis:Serial use eDMA

    • [BACKPORT] kinetis:SPI use eDMA

    • [BACKPORT] Kinetis:Serail No DMA Poll needed

    • [BACKPORT] libc/stdio: Preallocate the stdin, stdout and stderr For targets without consoles.

  • FlexCan fixes
    • [BACKPORT] [FlexCAN] Correct reset state for CTRL1 register
    • [BACKPORT] [FlexCAN] Fix TX drop #2792 and correctly set CAN timings to non-zeroed registers
    • [BACKPORT] FlexCAN Fix TX abort process
  • Support for CAN bootloader
    • [BACKPORT] s32k1xx:Support ramfunc
  • STM32F412 cleanup
  • [BACKPORT] stm32f412:Corrected Pin count
  • [BACKPORT] stm32f412:Replaced Kludged pinmap with one for SoC
  • [BACKPORT] stm32412: Fixes pinmap CAN1
  • Security patches
  • [BACKPORT] tcp: Remove incomplete support for TCP reassembly
  • [BACKPORT] net/tcp/tcp_input.c: Correct bad check of urgent data length
  • [BACKPORT] libc: Add additional checks to malloc realloc and memalign
  • IMXRT fixes
  • Add Single wire and proper parity settings to IMXRT to support sbus etal.
  • [BACKPORT] imxrt:serial support single-wire mode
  • [BACKPORT] imxrt:imxrt_lowputc Fixed parity settings.
  • STM32H7 improvements
  • [BACKPORT] stm32h7:SPI Fix 16 bit SPI mode
  • [BACKPORT] stm32h7:DMA BDMA does not auto disabled on completion
  • [BACKPORT] Fix HEAP clobbering static data in SRAM4
  • [BACKPORT] stm32h7:SDMMC fix reset of do_gpio

# UAVCAN

  • UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported
  • UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units
  • UAVCANv1: Initial alpha of a complete end-to-end implementation