# Release 1.13
# Changes
# Common
Explicit Joystick source selection (PR#17404 (opens new window))
- Possibility to:
- Explicitly allow just one source
- Fall back to other source in air
- Disable stick input completely
- Configuration parameter: COM_RC_IN_MODE
- Possibility to:
Remaining flight time based on low battery (PR#17828 (opens new window))
Remaining flight time based low battery RTL (PR#18646 (opens new window))
Improved default battery estimation parameters (PR#19429 (opens new window), PR#19700 (opens new window))
Autonomous gentle touch down using distance sensor (PR#19126 (opens new window))
Orbit Flight Mode Improvements (approach smoothness (opens new window), radius limiting (opens new window), and stick input with heading not to the center (opens new window))
# Sensors
- Barometers
- Goertek SPL06 (PR#19229 (opens new window))
- TDK ICP10100 & ICP10111 (PR#18451 (opens new window))
- Maiertek MPC2520 (PR#17910 (opens new window))
- TE MS5837 (PR#19183 (opens new window))
- Hygometer
- Sensirion SHT3X (PR#18910 (opens new window))
- IMU
- TDK ICM42670p (PR#18141 (opens new window))
- BMI088 I2C (Support Improved) (PR#17467 (opens new window))
- Optical Flow
- Pixart PAA3905 (PR#19461 (opens new window))
- Power Monitor
- TI INA228 (PR#19461 (opens new window))
- TI INA238 (PR#18260 (opens new window))
- Misc
- GPS PPS Input Capture (PR#18849 (opens new window))
- NXP Ultra Wide Band (UWB) SR150 (PR#14474 (opens new window))
# Hardware
- ARK CAN RTK GPS (PR#18412 (opens new window))
- ATL Mantis EDU (PR#17910 (opens new window))
- Diatone Mamba f405 mk2 (PR#18402 (opens new window))
- Holybro Kakute H7 (PR#19019 (opens new window))
- Matek GNSS-M9N-F4 (PR#19061 (opens new window))
- Matek H743-slim (PR#18544 (opens new window))
- mRo Control Zero Classic (PR#19593 (opens new window))
- Pixhawk FMUv6C (PR#19544 (opens new window))
- Raspberry Pi Pico (PR#18083 (opens new window))
- Sky Drones SmartAP Airlink (PR#19529 (opens new window))
# MAVLink
- MAVLink triggered parachute system support (PR#18589 (opens new window))
# Estimation
- Control Allocation Beta (PR#18776 (opens new window))
- 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 (opens new window))
- 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
# Multicopter
- auto tune
# VTOL
- auto tune
# GPS
# NuttX
# CAN
- UAVCANv1 aka OpenCyphal
- DroneCAN
- Battery Support
- Hygrometer Support
- Internal Combustion Engine (ICE)
- Log message handling from CAN nodes