PX4-Autopilot Головна нотатка щодо релізу

Alpha

This page is on a release branch, and hence probably out of date. See the latest version.

This contains changes to PX4 main branch since the last major release (PX v1.16).

WARNING

PX4 v1.16 is in candidate-release testing, pending release. Update these notes with features that are going to be in main but not the PX4 v1.16 release.

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TBD …

Please continue reading for upgrade instructions.

Основні зміни

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Інструкції для оновлення

Інші зміни

Підтримка обладнання

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Загальні

• QGroundControl Bootloader Update via the SYS_BL_UPDATE parameter has been re-enabled after being broken for a number of releases. (PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade).

Управління

• Added new flight mode(s): Altitude Cruise (MC), Altitude Cruise (FW). For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise ).

Оцінки

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Датчики

• Add sbgECom INS driver (PX4-Autopilot#24137)

Симуляція

• Overhaul rover simulation:
  • Add synthetic differential rover model: PX4-gazebo-models#107
  • Add synthetic mecanum rover model: PX4-gazebo-models#113
  • Update synthetic ackermann rover model: PX4-gazebo-models#117

Ethernet

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uXRCE-DDS / ROS2

• PX4 ROS 2 Interface Library support for Fixed Wing lateral/longitudinal setpoint (FwLateralLongitudinalSetpointType) and VTOL transitions. (PX4-Autopilot#24056).
• PX4 ROS 2 Interface Library support for ROS-based waypoint missions.

MAVLink

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Мульти-Ротор

• Removed parameters MPC_{XY/Z/YAW}_MAN_EXPO and use default value instead, as they were not deemed necessary anymore. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise).
• Renamed MPC_HOLD_DZ to MAN_DEADZONE to have it globally available in modes that allow for a dead zone. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise).

VTOL

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Літак з фіксованим крилом

• Fixed Wing Takeoff mode will now keep climbing with level wings on position loss. A target takeoff waypoint can be set to control takeoff course and loiter altitude. (PX4-Autopilot#25083).

Ровер

• Removed deprecated rover module (PX4-Autopilot#25054).
• Add support for Apps & API (PX4-Autopilot#25074, PX4-ROS2-Interface-Lib#140).
• Update rover simulation (PX4-Autopilot#25644) (see Simulation release note for details).

ROS 2

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