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---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
2025-03-13 16:08:27 +11:00
committed by GitHub
co-authored by Ramon Roche
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docs/zh/releases/1.12.md
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# Release 1.12
- [Release 1.12](#release-1-12)
- [Pre Releases](#pre-releases)
- [Changes](#changes)
- [Common](#common)
- [Sensors](#sensors)
- [Hardware](#hardware)
- [MAVLink](#mavlink)
- [Commander](#commander)
- [Multicopter](#multicopter)
- [VTOL](#vtol)
- [Control](#control)
- [GPS](#gps)
- [NuttX](#nuttx)
- [UAVCAN](#uavcan)
## Pre Releases
- [Beta 4](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta4)
- [Beta 3](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta3)
- [Beta 2](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta2)
- [Beta 1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta1)
## Changes
### Common
- **RTL Trigger based on remaining flight range ([PR#16399](https://github.com/PX4/PX4-Autopilot/pull/16399))**
- Calculates time to home, on RTL, taking into account vehicle speed, wind speed, and destination distance/direction
- **Pre-emptive geofence breach ([PR#16400](https://github.com/PX4/PX4-Autopilot/pull/16400))**
- Triggers a breach if the _predicted_ current trajectory will result in a breach, allowing the vehicle to be re-routed to a safe hold position.
- **Airframe Scripts**
- The syntax for setting defaults was changed and custom scripts require an update
- See [PR#16796](https://github.com/PX4/PX4-Autopilot/pull/16796/files#diff-dcf2f5536f47f260e5e0ff3b3fd22eaef6b6c510126463d70affa0eb7bd4d3ddL20) for an example.
- Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move)
- Safety switch is latching: Once it is disabled, it will stay disabled
- Land detector: Expand land detection to use the ground distance if a distance sensor is present
- Added support for IRC Ghost including telemetry
### 传感器
- Magnetometer calibration faster and more robust
- new soft iron calibration coefficients
- automatically determine the rotation of external sensors
- Optimized rate control sensor pipeline (minimal inner loop end-to-end latency)
### 硬件
The release includes new hardware support for the following boards, peripherals, and accessories:
- Pixhawk FMUv6U (Read more about this spec on the [Pixhawk GitHub Repository](https://github.com/pixhawk/Pixhawk-Standards))
- Pixhawk FMUv6X (Read more about this spec on the [Pixhawk GitHub Repository](https://github.com/pixhawk/Pixhawk-Standards))
- CUAV X7 / X7Pro ([Read more about this product on the manufacturers site](http://www.cuav.net/en/x7en/)]
- CUAV Nora ([Read more about this product on the manufacturers site](http://www.cuav.net/en/nora/))
- CUAV CAN GPS ([Read more about this product on the manufacturers site](http://www.cuav.net/en/neo-3-2/))
- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/spracingh7extreme))
- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1/))
- ARK CAN Flow ([Read more about this product on the manufacturers site](https://arkelectron.com/product/ark-flow/))
- mRo Ctrl Zero H7 (Experimental) ([Read more about this product on the manufacturers site](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm))
These are removed:
- Removal of discontinued Intel AeroFC
### MAVLink
- **MAVLink Ethernet configuration ([PR#14460](https://github.com/PX4/PX4-Autopilot/pull/14460))**
- MAVLink Ethernet channel settings such as UDP port, remote port and broadcast mode now can be changed dynamically via parameters.
- **Support for querying `COMPONENT_INFORMATION` ([PR#16039](https://github.com/PX4/PX4-Autopilot/pull/16039))**
- Parameter metadata is now automatically synchronized in combination with QGC daily.
- 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](https://github.com/mavlink/mavlink/issues/1339))
### Commander
- **Commander: use control mode flags and cleanup arm/disarm ([PR#16266](https://github.com/PX4/PX4-Autopilot/pull/16266))**
- Consolidate scattered arming requirements in arm_disarm(), and, keeps the `vehicle_control_mode` last state in commander
- **Commander: Separate out manual control setpoint processing ([PR#16878](https://github.com/PX4/PX4-Autopilot/pull/16878))**
- Adds a new class `ManualControl` for handling `manual_control_setpoint` and handles RC loss, RC override, and RC arming/disarming
### 多旋翼
- **More intuitive stick feel in Position mode**
- Horizontal stick input mapped to acceleration instead of velocity setpoints
- Removes unexpected tilt changes upon reaching travel speed velocity
- Intuitive shunting e.g. when landing
- Opt out possible using [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)
- Development: [First attempt](https://github.com/PX4/PX4-Autopilot/pull/12072), [Introduction](https://github.com/PX4/PX4-Autopilot/pull/16052), [Improvements](https://github.com/PX4/PX4-Autopilot/pull/16320), [Bugfix zero oscillation](https://github.com/PX4/PX4-Autopilot/pull/16786), [Bugfix position unlock](https://github.com/PX4/PX4-Autopilot/pull/16791), [Bugfix invalid setpoint](https://github.com/PX4/PX4-Autopilot/pull/17078), [Bugfix high velocity pre takeoff](https://github.com/PX4/PX4-Autopilot/pull/17437)
- **Hover thrust independent velocity control gains**
- Parameters `MPC_{XY/Z}_VEL_{P/I/D}` were replaced with `MPC_{XY/Z}_VEL_{P/I/D}_ACC`, see:
[MPC_XY_VEL_P_ACC](../advanced_config/parameter_reference.md#MPC_XY_VEL_P_ACC), [MPC_XY_VEL_I_ACC](../advanced_config/parameter_reference.md#MPC_XY_VEL_I_ACC), [MPC_XY_VEL_D_ACC](../advanced_config/parameter_reference.md#MPC_XY_VEL_D_ACC), [MPC_Z_VEL_P_ACC](../advanced_config/parameter_reference.md#MPC_Z_VEL_P_ACC), [MPC_Z_VEL_I_ACC](../advanced_config/parameter_reference.md#MPC_Z_VEL_I_ACC), [MPC_Z_VEL_D_ACC](../advanced_config/parameter_reference.md#MPC_Z_VEL_D_ACC)
:::warning
The gains have a new meaning
- Scale from velocity error in $m/s$ to acceleration output in $m/s^2$
- Existing gains need to roughly be rescaled by a factor of: $gravitational \_ constant / hover\_thrust$
- Automatic parameter transition assumes 50% hover thrust: `~10m/s^2 / 50% = 20 m/s^2`.
See [question](https://github.com/PX4/PX4-Autopilot/pull/14823#issuecomment-791357646)
:::
- Development: [Logic introduction](https://github.com/PX4/PX4-Autopilot/pull/14749), [Parameter replacement](https://github.com/PX4/PX4-Autopilot/pull/14823)
- **Improve Rounded Turns ([PR#16376](https://github.com/PX4/PX4-Autopilot/pull/16376))**
- Creates a more rounded turn at waypoints in multirotor missions (using L1-style guidance logic in corners)
- See [Mission Mode > Inter-waypoint Trajectory](../flight_modes_fw/mission.md#rounded-turns-inter-waypoint-trajectory) and [Mission > Setting Acceptance/Turning Radius](../flying/missions.md#setting-acceptance-turning-radius)
- **Removal of Rattitude flight mode ([PR#17019](https://github.com/PX4/PX4-Autopilot/pull/17019))**
- Let us know if you want it back.
### 垂直起降
- **RTL improvements ([PR#16377](https://github.com/PX4/PX4-Autopilot/pull/16377))**
- Hardens the RTL safety failsafes taking into consideration the many edge cases when trying to land, depending on the current vehicle mode (Multicopter vs Fixed-wing)
- Fixed-wing / VTOL significant TECS improvements
### Control
- **Dynamic Notch Filter updated with Gyro FFT ([PR#16385](https://github.com/PX4/PX4-Autopilot/pull/16385))**
- 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](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL) needs to be changed if another GPS is used.
### NuttX
Nuttx was upgraded from [8.2+ to NuttX 10.10.0+](https://github.com/apache/incubator-nuttx/compare/nuttx-8.2..nuttx-10.0.1) (@ [904a602c74dc08a100b5c2bd490807de19e73e10](https://github.com/apache/incubator-nuttx/commit/904a602c74dc08a100b5c2bd490807de19e73e10))
- **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
::: info
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 achieve 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
docs/zh/releases/1.13.md
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# Release 1.13
- [Release 1.13](#release-1-13)
- [Pre Releases](#pre-releases)
- [Changes](#changes)
- [Common](#common)
- [Sensors](#sensors)
- [Hardware](#hardware)
- [MAVLink](#mavlink)
- [Multicopter](#multicopter)
- [VTOL](#vtol)
- [Control](#control)
- [GPS](#gps)
- [NuttX](#nuttx)
- [CAN](#can)
## Pre Releases
- [Release Candidate 1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.13.0-rc1)
- [Beta 1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.13.0-beta1)
## Changes
### Common
- **Explicit Joystick source selection ([PR#17404](https://github.com/PX4/PX4-Autopilot/pull/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](../advanced_config/parameter_reference.md#COM_RC_IN_MODE)
- Remaining flight time based on low battery ([PR#17828](https://github.com/PX4/PX4-Autopilot/pull/17828))
- Remaining flight time based low battery RTL ([PR#18646](https://github.com/PX4/PX4-Autopilot/pull/18646))
- Improved default battery estimation parameters ([PR#19429](https://github.com/PX4/PX4-Autopilot/pull/19429), [PR#19700](https://github.com/PX4/PX4-Autopilot/pull/19700))
- Autonomous gentle touch down using distance sensor ([PR#19126](https://github.com/PX4/PX4-Autopilot/pull/19126))
- Orbit Flight Mode Improvements ([approach smoothness](https://github.com/PX4/PX4-Autopilot/pull/18988), [radius limiting](https://github.com/PX4/PX4-Autopilot/pull/19362), and [stick input with heading not to the center](https://github.com/PX4/PX4-Autopilot/pull/19367))
### 传感器
- Barometers
- Goertek SPL06 ([PR#19229](https://github.com/PX4/PX4-Autopilot/pull/19229))
- TDK ICP10100 & ICP10111 ([PR#18451](https://github.com/PX4/PX4-Autopilot/pull/18451))
- Maiertek MPC2520 ([PR#17910](https://github.com/PX4/PX4-Autopilot/pull/17910))
- TE MS5837 ([PR#19183](https://github.com/PX4/PX4-Autopilot/pull/19183))
- Hygometer
- Sensirion SHT3X ([PR#18910](https://github.com/PX4/PX4-Autopilot/pull/18910))
- IMU
- TDK ICM42670p ([PR#18141](https://github.com/PX4/PX4-Autopilot/pull/18141))
- BMI088 I2C (Support Improved) ([PR#17467](https://github.com/PX4/PX4-Autopilot/pull/17467))
- 光流
- Pixart PAA3905 ([PR#19461](https://github.com/PX4/PX4-Autopilot/pull/19461))
- Power Monitor
- TI INA228 ([PR#19461](https://github.com/PX4/PX4-Autopilot/pull/17994))
- TI INA238 ([PR#18260](https://github.com/PX4/PX4-Autopilot/pull/18260))
- Misc
- GPS PPS Input Capture ([PR#18849](https://github.com/PX4/PX4-Autopilot/pull/18849))
- NXP Ultra Wide Band (UWB) SR150 ([PR#14474](https://github.com/PX4/PX4-Autopilot/pull/14474))
### 硬件
- ARK CAN RTK GPS ([PR#18412](https://github.com/PX4/PX4-Autopilot/pull/14474))
- ATL Mantis EDU ([PR#17910](https://github.com/PX4/PX4-Autopilot/pull/17910))
- Diatone Mamba f405 mk2 ([PR#18402](https://github.com/PX4/PX4-Autopilot/pull/18402))
- Holybro Kakute H7 ([PR#19019](https://github.com/PX4/PX4-Autopilot/pull/19019))
- Matek GNSS-M9N-F4 ([PR#19061](https://github.com/PX4/PX4-Autopilot/pull/19061))
- Matek H743-slim ([PR#18544](https://github.com/PX4/PX4-Autopilot/pull/18544))
- mRo Control Zero Classic ([PR#19593](https://github.com/PX4/PX4-Autopilot/pull/19593))
- Pixhawk FMUv6C ([PR#19544](https://github.com/PX4/PX4-Autopilot/pull/19544))
- Raspberry Pi Pico ([PR#18083](https://github.com/PX4/PX4-Autopilot/pull/18083))
- Sky Drones SmartAP Airlink ([PR#19529](https://github.com/PX4/PX4-Autopilot/pull/19529))
### MAVLink
- MAVLink triggered parachute system support ([PR#18589](https://github.com/PX4/PX4-Autopilot/pull/18589))
### Estimation
- Control Allocation Beta ([PR#18776](https://github.com/PX4/PX4-Autopilot/pull/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](https://github.com/PX4/PX4-Autopilot/pull/18776))**
- Disabled by default, see [usage instructions](../config/actuators.md) 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
docs/zh/releases/1.14.md
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# PX4-Autopilot v1.14 Release Notes
## Read Before Upgrading
The v1.14 release includes a few breaking changes for users upgrading from previous versions, in particular we are moving away from using mixer files to define the vehicle geometry, motor mappings and actuators.
Additionally, we deprecated the Fast-RTPS interface used by ROS 2 in favor of a much cleaner solution that doesn't require a custom build target, and goes away with the additional message generation step.
Please continue reading for [upgrade instructions](#upgrade-guide).
## Major Changes
- Dynamic Control Allocation
- Improved Preflight Failure Check Reporting
- Failsafe Simplification and Simulation
- Default Simulation is now New Gazebo
- Improved ROS 2 Interface thanks to uXRCE-DDS
### Dynamic Control Allocation
We are very excited to enable the new [dynamic control allocation](../concept/control_allocation.md) by default; it allows users to define vehicle configurations at runtime without needing a mixer file, thanks to the new [vehicle setup dashboard](../config/actuators.md) in QGroundControl.
:::info
The new actuator configuration UI is available on QGroundControl 4.2.0 or newer.
:::
### Improved Preflight Failure Check Reporting (QGC Arming Check Report)
PX4 v1.14 adds much improved preflight failure _reporting_ through the [events interface](../concept/events_interface.md).
If the vehicle won't arm, you can more easily find out why in the [QGC Arming Check Report](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.html#arm).
No more wondering if it's a problem with the safety switch, a poor calibration, or something in the internals of the estimator!
:::info
The QGC Arming Check Report UI is available in the **QGC Daily Build** (QGC v4.2.0 and later)
:::
As part of this change, it is now possible to switch to any mode when disarmed (previously you could not switch to a mode that required GPS if you didn't have a good position estimate).
PX4 will only allow you to arm when the conditions for the current mode are met, and will report failure checks that are not relevant to the current mode as warnings.
For more information see: [QGroundControl Flight-Readiness Status](../flying/pre_flight_checks.md).
### Failsafe Simplification
[Safety Failsafe](../config/safety.md) handling has been simplified, in particular with respect to what happens if a failsafe is triggered when another failsafe is already in progress.
- There is now a hold delay before the action is performed, giving the user time to override the failsafe if needed.
- If multiple failsafes are triggered, the more severe _action_ is taken.
For example if both RC and GPS are lost, and manual control loss is set to Return mode and GCS link loss to Land, Land is executed.
The new [Failsafe State Machine Simulation](../config/safety_simulation.md) allows you to test failsafe behaviour under all possible configurations and conditions.
### New Gazebo
Given [the recent changes](https://discourse.ros.org/t/a-new-era-for-gazebo-cross-post/25012) by the Open Robotics simulation team, we are introducing name changes for our gazebo simulations, mirroring Open Robotics naming scheme, starting with v1.14:
- [Ignition Gazebo](https://docs.px4.io/v1.13/en/simulation/ignition_gazebo.html) to [Gazebo](../sim_gazebo_gz/index.md)
- [Gazebo](https://docs.px4.io/v1.13/en/simulation/gazebo.html) to [Gazebo Classic](../sim_gazebo_classic/index.md).
Most importantly this affects the PX4 build target names as well:
- Gazebo targets are prefixed with `gz_` (e.g. `make px4_sitl gz_x500`).
- Gazebo Classic `make` targets are now prefixed with `gazebo-classic_` (e.g., `make px4_sitl gazebo-classic_cloudship`).
### Improved ROS 2 Interface via uXRCE-DDS
We updated the ROS 2 interface, replacing [Fast-RTPS](https://docs.px4.io/v1.13/en/middleware/micrortps.html) with [uXRCE-DDS](../ros2/user_guide.md), resulting in an improved experience across the board.
The change also avoids the need for `_rtps` build targets, enabling the interface on even more targets by default.
## Upgrade Guide
For users upgrading from previous versions, please take a moment to review the following:
1. The actuator changes require you to verify vehicle geometry and motors/servos mappings match your vehicle. In QGC, find the [Actuator Configuration Dashboard](../config/actuators.md), and make sure to confirm the airframe geometry matches actuals from your vehicle, as well as update motor and ensure motors and servos are mapped to outputs as they are wired to the frame and with the correct ESC type specified. Note: take advantage of the sliders in the UI. They can be used to confirm motor wiring.
We highly recommend running an [ESC Calibration](../advanced_config/esc_calibration.md) if using PWM ESC motors and then setting appropriate disarmed minimum and maximum values for the motors (in the actuator UI).
The calibration is critical if you are using a custom mixer file or the airframe you assigned in an earlier version is not present in PX4 v1.14.
However, an ESC Calibration is still recommended **even if** you are using an airframe that precisely matches a specific vehicle in the [Airframe Reference](../airframes/airframe_reference.md) (such as the [Holybro X500 V2](../airframes/airframe_reference.md#copter_quadrotor_x_holybro_x500_v2)) as your wiring and ESCs calibration may not match the defaults.
2. Default disarmed PWM was changed from 900us to 1000us.
Verify if you previously used the default PWM disarmed values and if the changes impact your setup.
For details, you can find related information in the [step 7 of ESC calibration](../advanced_config/esc_calibration.md#steps) document.
3. Fast-RTPS users must port their code to the new uXRCE-DDS interface.
Application code should only require minor modifications. These include (minimally):
Modifying topic names to match the new naming pattern, which changed from `fmu/<topic_name>/out` to `fmu/out/<topic_name>`, and [Adusting the QoS settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings).
For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines)
## Other changes
### Hardware Support
- Cubepilot Cube Orange+ - [PX4-Autopilot#20304](https://github.com/PX4/PX4-Autopilot/pull/20304)
- Unicore GPS: Support for Holybro Unicore UM982 GPS - [PX4-Autopilot#21214](https://github.com/PX4/PX4-Autopilot/pull/21214))
- VOXL2 Improved support - [PX4-Autopilot#21426](https://github.com/PX4/PX4-Autopilot/pull/21426)
- Cubepilot Cube Black detection: Fixed Cube Black vs. Pixhawk 2 detection with CAN1 connected - [PX4-Autopilot#21342](https://github.com/PX4/PX4-Autopilot/pull/21342)
### Common
- Failsafe state machine rewrite and [web simulation](../config/safety_simulation.md)
- Improved preflight failure check reporting (requires QGC [v4.2.0](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) or later): [PX4-Autopilot#20030](https://github.com/PX4/PX4-Autopilot/pull/20030) and [qgroundcontrol#10362](https://github.com/mavlink/qgroundcontrol/pull/10362)
- [Package delivery in mission](../advanced/package_delivery.md): For package delivery applications, inital support for payload delivery in mission for gripper actuator was added
- Manual control setpoint message redefinition: `manual_control_setpoint.x`, `y`, `z`, `w` -> `roll`, `pitch`, `yaw`, `throttle`; `throttle scale [0,1] -> [-1,1]` - [PX4-Autopilot#15949](https://github.com/PX4/PX4-Autopilot/pull/15949)
- Default motor PWM configuration - [PX4-Autopilot#21800](https://github.com/PX4/PX4-Autopilot/pull/21800)
- Fix PWM/Oneshot calibration - [PX4-Autopilot#21726](https://github.com/PX4/PX4-Autopilot/pull/21726)
### Control
- Land and take off again in mission: Landing doesn't disarm if the mission is not done - [PX4-Autopilot#19659](https://github.com/PX4/PX4-Autopilot/pull/19659)
- Separate trajectory setpoint message: Message is now separate from vehicle_local_position_setpoint message. - [PX4-Autopilot#19622](https://github.com/PX4/PX4-Autopilot/pull/19622)
- Bugfix: "Invalid setpoint" message on takeoff or mode switch: The message popped up as false positive depending on timing - [PX4-Autopilot#20581](https://github.com/PX4/PX4-Autopilot/pull/20581)
- Bugfix: Step switching Altitude to Position: Switching from Altitude to Position with speed produced a jerk step - [PX4-Autopilot#20905](https://github.com/PX4/PX4-Autopilot/pull/20905)
### Estimation
- [Multiple height source fusion](../advanced_config/tuning_the_ecl_ekf.md#height)
- EKF2 start without magnetometer and barometer data: Until now, a mag and a baro was mandatory to run EKF2 - [PX4-Autopilot#20021](https://github.com/PX4/PX4-Autopilot/pull/20021)
- Multirotor wind estimate improvements: More accurate bluff body drag model - [PX4-Autopilot#20848](https://github.com/PX4/PX4-Autopilot/pull/20848)
### 传感器
- [DroneCAN sensors now need to be individually enabled via `UAVCAN_SUB_*` parameters](../dronecan/index.md#dronecan-subscriptions-publications) - [PX4-Autopilot#18471](https://github.com/PX4/PX4-Autopilot/pull/18471)
- Battery estimation defaults, reporting improvements: Defaults: current based load compensation, higher empty cell voltage, shorter action delay - [PX4-Autopilot#19429](https://github.com/PX4/PX4-Autopilot/pull/19429), [PX4-Autopilot#19700](https://github.com/PX4/PX4-Autopilot/pull/19700), [PX4-Autopilot#19594](https://github.com/PX4/PX4-Autopilot/pull/19594), https://github.com/PX4/PX4-Autopilot/pull/19679
- SF45 rotation Lidar serial driver - [PX4-Autopilot#19891](https://github.com/PX4/PX4-Autopilot/pull/19891)
### 仿真
- [Gazebo] Ignition Fuel for PX4: PX4 now has a repository for gazebo models in ignition fuel - https://app.gazebosim.org/PX4
- [Gazebo] Support for Gazebo garden with native ignition transport support: Added native ignition transport support for direct interaction with Gazebo and the simulation. Supported vehicles in Gazebo are X500 (Multicopter), Plane, Standard VTOL - [PX4-Autopilot#20319](https://github.com/PX4/PX4-Autopilot/pull/20319)
- [Gazebo-classic] Serializer for Gazebo sniffer: Added a sniffer for serializing gazebo related information - [PX4-SITL_gazebo-classic#937](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/937)
- [Gazebo-classic] Motor failure plugin as a ros2 plugin: Motor failure plugin has been updated to be a ros2 plugin - [PX4-SITL_gazebo-classic#862](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/862)
- [Gazebo-classic] Addition of Omnicopter model: A fully actuated omnidirectional vehicle model has been added to Gazebo SITL - https://github.com/PX4/PX4-SITL_gazebo-classic/pull/866
- [Gazebo-classic] Addition of Advanced liftdrag plugin: Advanced liftdrag plugin that models nonlinear aerodynamics based on AVL - [PX4-SITL_gazebo-classic#901](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/901)
- [Gazebo-classic] Addition of Safe landing world: Addition of safe landing world, for testing safe landing - [PX4-SITL_gazebo-classic#93](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/93)
- [Gazebo-classic] Depricated Ubuntu Bionic reated tests: Removed testing due to EOL of Ubuntu Bionic - [PX4-SITL_gazebo-classic#974](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/974)
- [SIH] Standalone sensor simulations in tree: Ability to simulate sensors in tree that was part of SIH is now a stand alone sensor module. Sensors include magnetometer, GPS, Barometer, Airspeed - [PX4-Autopilot#20137](https://github.com/PX4/PX4-Autopilot/pull/20137), https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim
- [SIH] Failure injection for battery simulation - https://github.com/PX4/PX4-Autopilot/commit/ebc1d7544e8146788c9e7cf5e8b64f60199240e4
### MAVLink
- MAVLink forwarding over USB: Forward MAVLink traffic to/from USB by default - [PX4-Autopilot#20745](https://github.com/PX4/PX4-Autopilot/pull/20745)
### Multi-Rotor
- Improved Follow-Me flight mode: Follow-me mode was improved for better user experience - [PX4-Autopilot#18026](https://github.com/PX4/PX4-Autopilot/pull/18026) | [PX4 Dev Summit presentation](https://www.youtube.com/watch?v=rYYso87cmxA)
- Improved Helicopter Support: [Helicopter Configuration](../config_heli/index.md)
- Direction-based speed constraints for multirotors: Can define a different forward, backward and lateral speed - [PX4-Autopilot#19257](https://github.com/PX4/PX4-Autopilot/pull/19257)
- Allow yawing in hold mode: Let the pilot yaw the drone while staying in hold mode - [PX4-Autopilot#21399](https://github.com/PX4/PX4-Autopilot/pull/21399)
### 垂直起降
- Quad-chute: enable to reset failure state. Reset failure state once operator trigger transition to FW again - [PX4-Autopilot#20913](https://github.com/PX4/PX4-Autopilot/pull/20913)
- Simplify Tailsitter transitions to FW in Stabilized: Adapt the tilt threshold automatically on configured max tilt setting - [PX4-Autopilot#21582](https://github.com/PX4/PX4-Autopilot/pull/21582)
- Refactor uncommanded descend Quad-Chute: Enables to set altitude error threshold to trigger a Quad-chute - [PX4-Autopilot#21598](https://github.com/PX4/PX4-Autopilot/pull/21598)
- Enable control-surface-less Quad-tailsitters: Enables to use differential thrust to control full body attitude in FW mode on tailsitters - [PX4-Autopilot#20511](https://github.com/PX4/PX4-Autopilot/pull/20511)
- Skip VTOL_Takeoff mission item if already in-air - [PX4-Autopilot#19985](https://github.com/PX4/PX4-Autopilot/pull/19985)
### Fixed-wing
- Flaps/Spoiler refactor - [PX4-Autopilot#19329](https://github.com/PX4/PX4-Autopilot/pull/19329)
- FW Position control: switch from L1 to NPFG guidance - [PX4-Autopilot#19603](https://github.com/PX4/PX4-Autopilot/pull/19603) | [PX4 Dev Summit presentation video](https://www.youtube.com/watch?v=LY6hYBCdy-0)
- Automatically apply learned airspeed scale in-air - [PX4-Autopilot#19787](https://github.com/PX4/PX4-Autopilot/pull/19787)
- Takeoff refactor/enhancements - [PX4-Autopilot#19869](https://github.com/PX4/PX4-Autopilot/pull/19869)
- FW landing refactor/enhancements - [PX4-Autopilot#19871](https://github.com/PX4/PX4-Autopilot/pull/19871)
- Scale minimum airspeed with wind strength FW Position control: add option to scale min airspeed with wind magnitude - [PX4-Autopilot#20259](https://github.com/PX4/PX4-Autopilot/pull/20259)
- Improve FW hand-launch takeoff - [PX4-Autopilot#20557](https://github.com/PX4/PX4-Autopilot/pull/20557)
- Improve accelerated stall protection - [PX4-Autopilot#20636](https://github.com/PX4/PX4-Autopilot/pull/20636)
- Add option to disable manual yaw inputs - [PX4-Autopilot#20647](https://github.com/PX4/PX4-Autopilot/pull/20647)
- Disable airspeed rate input into TECS airspeed rate estimation has shown to be unreliable, so we decided to disable it for now - [PX4-Autopilot#21317](https://github.com/PX4/PX4-Autopilot/pull/21317)
- Support flying at different airspeeds Add airspeed to trim throttle mapping in TECS to support flying at different airspeeds - [PX4-Autopilot#21345](https://github.com/PX4/PX4-Autopilot/pull/21345)
- FWPositionControl: navigateWaypoints: fix logic if already past waypoint - [PX4-Autopilot#21642](https://github.com/PX4/PX4-Autopilot/pull/21642)
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# PX4-Autopilot v1.15 Release Notes
<Badge type="tip" text="Stable"/>
The v1.15 release brings lots of new upgrades and fixes, thanks in part to the tremendous community response to the 1.14 release.
In particular, PX4 v1.15 brings significant improvements for developers and integrators using PX4 as a target through [ROS 2](../ros2/index.md) and the [uXRCE-DDS middleware](../middleware/uxrce_dds.md).
In addition to networking and middleware updates, the new [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) allows flight modes written as ROS 2 applications to be peers of PX4 flight modes.
This release also brings new hardware support from sensors to drivers, thanks to our growing network of partners from across the industry.
In this release you will enjoy updated support for common hardware options, in part sponsored by the manufacturer themselves.
We are thankful for their support!
Lastly, there have been many improvements and bug fixes in the navigation code, which should result in a more enjoyable experience and straightforward debugging.
All of this makes PX4 v1.15 an ideal release, especially for anyone already enjoying the many benefits of version 1.14.
We hope more users try this release and report any issues to the developer team on GitHub. ([Learn how to raise an issue here](../contribute/support.md#issue-bug-reporting)).
Please continue reading for [upgrade instructions](#upgrade-guide).
## Major Changes
- Major improvements to navigation
- New and updated hardware support
- Dynamic Modes API
- <Badge type="warning" text="Experimental"/>[PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) that simplifies controlling PX4 from ROS 2.
## Upgrade Guide
- **Gazebo** has replaced the **jMAVSim** simulator as the default simulation engine for PX4-Autopilot.
If you're using JMAVSim, please move to Gazebo, as that is where we will be focusing our future efforts.
- The `SYS_MC_EST_GROUP` parameter has been removed, and there are now dedicated parameters for selecting an estimator.
Continue reading for a description of the changes.
## Other changes
### Hardware Support
- **[Pixhawk Standards]** Pixhawk Autopilot Bus (PAB) Split Base ID and FMUM ID ([PX4-Autopilot#22639](https://github.com/PX4/PX4-Autopilot/pull/22639))
- **[Pixhawk Standards] [FMUv6X]** Increase TELEM2 RX buffer size to increase throughput ([PX4-Autopilot#21660](https://github.com/PX4/PX4-Autopilot/pull/21660))
- **[New Hardware]** Support for FMUv6XRT - Pixhawk 6X-RT ([PX4-Autopilot#22263](https://github.com/PX4/PX4-Autopilot/pull/22263))
- **[New Hardware]** MicoAir H743 ([PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218))
- **[New Hardware]** ARK Mosaic-X5 RTK GPS ([PX4-Autopilot#22735](https://github.com/PX4/PX4-Autopilot/pull/22735))
- **[New Hardware]** ARK Pi6X Flow ([PX4-Autopilot#22829](https://github.com/PX4/PX4-Autopilot/pull/22829))
- **[Feature]** Add power module selector for Auterion power modules ([PX4-Autopilot#22073](https://github.com/PX4/PX4-Autopilot/pull/22073))
- **[Lights]** Add LP5562 RGBLED driver ([PX4-Autopilot#21649](https://github.com/PX4/PX4-Autopilot/pull/21649))
- **[Holybro]** Enable EKF2 on KakuteH7 / KakuteH7v2 / KakuteH7mini ([PX4-Autopilot#21961](https://github.com/PX4/PX4-Autopilot/pull/21961))
- **[Cubepilot]** Add support for 4. variant of Orange+ ([PX4-Autopilot#22039](https://github.com/PX4/PX4-Autopilot/pull/22039))
- **[3DR]** Control Zero Classic Support Improvements ([PX4-Autopilot#22971](https://github.com/PX4/PX4-Autopilot/pull/22971))
### Common
- `SYS_MC_EST_GROUP` has been removed and there are now dedicated parameters [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN), [ATT_EN](../advanced_config/parameter_reference.md#ATT_EN), and [LPE_EN](../advanced_config/parameter_reference.md#LPE_EN) for [Switching State Estimators](../advanced/switching_state_estimators.md) ([PX4-Autopilot#22567](https://github.com/PX4/PX4-Autopilot/pull/22567))
- Most setups should enable [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) (the default).
- **[Bootloader]** add force-erase option and bootloader version ([PX4-Autopilot#22777](https://github.com/PX4/PX4-Autopilot/pull/22777))
- **[uORB]** Allow for more than 255 uORB messages ([PX4-Autopilot#21923](https://github.com/PX4/PX4-Autopilot/pull/21923))
- **[Feature]** <Badge type="warning" text="Experimental"/> Zenoh Pico support ([PX4-Autopilot#22017](https://github.com/PX4/PX4-Autopilot/pull/22017))
- **[Feature]** Improve mission resume, e.g. replay gimbal and camera commands of a survey ([PX4-Autopilot#21710](https://github.com/PX4/PX4-Autopilot/pull/21710))
- **[Feature]** Resume mission with flight speed from previous mission items ([PX4-Autopilot#21714](https://github.com/PX4/PX4-Autopilot/pull/21714))
- **[Feature]** Warn user when navigation failure is imminent ([PX4-Autopilot#21876](https://github.com/PX4/PX4-Autopilot/pull/21876))
- **[Navigator]** Geofence improvements ([PX4-Autopilot#22394](https://github.com/PX4/PX4-Autopilot/pull/22394))
- **[Improvement]** Commander: trigger warning when arming denied due to check failure ([PX4-Autopilot#22885](https://github.com/PX4/PX4-Autopilot/pull/22885))
- **[Improvement]** Commander: make failsafe warnings shorter ([PX4-Autopilot#22886](https://github.com/PX4/PX4-Autopilot/pull/22886))
- Support for a remote parameter database ([PX4-Autopilot#22836](https://github.com/PX4/PX4-Autopilot/pull/22836))
- New platform independent UART interface ([PX4-Autopilot#21723](https://github.com/PX4/PX4-Autopilot/pull/21723))
- **[Improvement]** A one-way [Kill Gesture](../config/safety.md#kill-gesture) has been added, allowing you to stop the motors at any time. This is disabled by default. [PX4-Autopilot#18509](https://github.com/PX4/PX4-Autopilot/pull/18509).
- **[Feature]** [Compass calibration for large vehicles](../config/compass.md#large-vehicle-calibration).
This method is designed for vehicles where full rotation is impractical or impossible.
([PX4-Autopilot#15235](https://github.com/PX4/PX4-Autopilot/pull/15235), [PX4-Autopilot#15687](https://github.com/PX4/PX4-Autopilot/pull/15687)).
### Control
- **[Offboard]** [ros2 offboard control](../flight_modes/offboard.md#ros-2-messages) allows for direct motors and servo control ([PX4-Autopilot#22222](https://github.com/PX4/PX4-Autopilot/pull/22222))
### Estimation
- Derivation changed to **Error-State Kalman Filter** ([PX4-Autopilot#22262](https://github.com/PX4/PX4-Autopilot/pull/22262))
Main advantages of the "error state" derivation compared to the current "total state":
- Better convergence properties (less sensitive to initial heading accuracy)
- More stable numerically
- Less computationally expensive
- Correct way of describing the quaternion uncertainty using Lie group theory
- Use Joseph stabilized covariance update algorithm for better covariance stability and allow use of "consider states" (inactive states with non-zero variance) ([PX4-Autopilot#22770](https://github.com/PX4/PX4-Autopilot/pull/22770))
- Covariance prediction, measurement jacobians, state struct and covariance index auto-generated using SymForce
- Manual position update throught MAVLink (`MAV_CMD_EXTERNAL_POSITION_ESTIMATE`)
- Add Auxiliary Global Position (AGP) fusion (for e.g.: external map matching vision algorithm)
**Mag:**
- New mag type "**Init**" (`EKF2_MAG_TYPE`). In this mode, the magnetometer is only used to initialize the heading of the filter.
The heading is then only estimated using gyro prediction and position/velocity updates (e.g.: **GNSS**).
- Mag checks rework (`EKF2_MAG_CHECK`):
- Parameterize strength tolerance (`EKF2_MAG_CHK_STR`)
- Add inclination check (`EKF2_MAG_CHK_INC`)
- Rework mag heading fusion to correctly consider mag bias and earth field uncertainties
- Allow mag bias estimation in all mag modes
- Improve heading convergence speed after bad heading initialization when using GNSS aiding
**IMU:**
- Improve gyro and accel bias estimation numerical stability (change delta angle and delta velocity bias to accel and gyro bias)
**Optical Flow:**
- Can now run before takeoff (useful for bench testing)
**Yaw Emergency Estimator:**
- Change to Error-State derivation for better performances
- Can now run before takeoff to initialize the heading of the EKF
### 传感器
- NXP UWB SR150 Driver fixes ([PX4-Autopilot#1123](https://github.com/PX4/PX4-Autopilot/pull/21124))
- Septentrio GPS updates ([PX4-Autopilot#23386](https://github.com/PX4/PX4-Autopilot/pull/23386))
- Ublox add UBX-RXM-RTCM for RTCM input status ([PX4-Autopilot#21595](https://github.com/PX4/PX4-Autopilot/pull/21595))
- Add TDK IIM42653 IMU driver ([PX4-Autopilot#21019](https://github.com/PX4/PX4-Autopilot/pull/21019))
- **[Feature]** Make airspeed sensor configuration easier and consistent with other sensors ([PX4-Autopilot#22510](https://github.com/PX4/PX4-Autopilot/pull/22510))
- **[New Parameter]** `SYS_HAS_NUM_ASPD`, `FW_USE_AIRSPD`
- **[logger]**: log all GPS data ([PX4-Autopilot#22421](https://github.com/PX4/PX4-Autopilot/pull/22421))
### 仿真
- **[[Gazebo](../sim_gazebo_gz/index.md)]** Support for [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane), a simulated fixed-wing vehicle that provides better aerodynamic simulation than the regular plane ([PX4-Autopilot#22167](https://github.com/PX4/PX4-Autopilot/pull/22167), [gz-sim#2185](https://github.com/gazebosim/gz-sim/pull/2185))
- **[[Gazebo](../sim_gazebo_gz/index.md)]** The environment variable `PX4_SIM_MODEL` can now be used to indicate the simulation model ([PX4-Autopilot#22400](https://github.com/PX4/PX4-Autopilot/pull/22400))
- This supersedes `PX4_GZ_MODEL`, which is now deprecated.
- **[[Gazebo](../sim_gazebo_gz/index.md)]** Separation of Gazebo and PX4 SITL ([PX4-Autopilot#22467](https://github.com/PX4/PX4-Autopilot/pull/22467))
- The two parts of the simulation are now separated.
- They can be independently launched in any order, and even run on different hosts across a network.
- Gazebo additional supports drag-and-drop via the resource spawner in Gazebo GUI
- [JMAVSim Simulator](../sim_jmavsim/index.md) is now [community supported](../simulation/community_supported_simulators.md).
- It has been deprecated as part of the official PX4 development toolchain in order to focus our efforts on [Gazebo](../sim_gazebo_gz/index.md)
- **[Tools/simulation/gz]**: load ApplyLinkWrench plugin by default ([PX4-Autopilot#21874](https://github.com/PX4/PX4-Autopilot/pull/21874))
- Allow user to specify Gazebo Garden/Harmony render engine in simulations ([PX4-Autopilot#22693](https://github.com/PX4/PX4-Autopilot/pull/22693))
- Add support for quad tailsitter VTOL in SITL Gazebo ([PX4-Autopilot#20558](https://github.com/PX4/PX4-Autopilot/pull/20558))
- **[Feature]** Parameter for enabling/disabling PX4's internal battery simulator in SITL ([PX4-Autopilot#22710](https://github.com/PX4/PX4-Autopilot/pull/22710))
- **[New Parameter]** `SIM_BAT_ENABLE`
- **[gz-bridge]** Fix GZ timeout for slow starting simulations ([PX4-Autopilot#22194](https://github.com/PX4/PX4-Autopilot/pull/22194))
### Ethernet
- **[[Ethernet](../advanced_config/ethernet_setup.md)]** The default static IP address (used as a fallback for DHCP) has changed from `192.168.0.3` to `10.41.10.2` ([PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517))
- This avoids potential conflicts where the`192.168.0.x` range is used by routers for WIFI/ethernet networks
### MAVLink
- **[Gimbal]** fix auto RC and MAVLink mode ([PX4-Autopilot#23236](https://github.com/PX4/PX4-Autopilot/pull/23236))
### uXRCE-DDS Interface
- **[[uXRCE-DDS](../middleware/uxrce_dds.md)]** [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) now allows the use of `subscription_multi` to specify that indicated ROS 2 topics are sent to a separate uORB topic instance reserved for ROS 2 ([PX4-Autopilot#22266](https://github.com/PX4/PX4-Autopilot/pull/22266))
- This allows PX4 to differentiate between updates from ROS and those from PX4 uORB publishers
- With this change ROS2 users can now decide if the messages that they are sending to PX4 will overlap with the existing uORB ones or be kept in separate instances.
- Move VOXL from microdds client to UXRCE-DDS client ([PX4-Autopilot#22997](https://github.com/PX4/PX4-Autopilot/pull/22997))
- Add parameter to disable time synchronization between Agent and Client ([PX4-Autopilot#21757](https://github.com/PX4/PX4-Autopilot/pull/21757))
- **[New Parameter]** `UXRCE_DDS_SYNCT`
- **[Documentation]** [Middleware uXRCE-DDS](../middleware/uxrce_dds.md#starting-the-client) / [ROS 2](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization) / [Gazebo Simulation](../sim_gazebo_gz/index.md#change-simulation-speed)
### ROS 2
- **[Feature]** Dynamic Modes API ([PX4-Autopilot#20707](https://github.com/PX4/PX4-Autopilot/pull/20707))
- **[Feature]** **[[PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md)]**<Badge type="warning" text="Experimental"/>: A new C++ library that simplifies controlling PX4 from ROS 2
- Supports adding flight modes in ROS 2 that are peers of the PX4 modes running on the flight controller.
- Modes behave the same as an FMU-internal modes
- Propagated to GCS and selectable by users
- Interface for arming checks and mode requirements
- Integrated into the failsafe state machine
- **[Feature]** Multicopter Go-to Interface ([PX4-Autopilot#22375](https://github.com/PX4/PX4-Autopilot/pull/22375))
## Platform Changes
### Multi-Rotor
- **[New Mode]** [Throw launch](../flight_modes_mc/throw_launch.md)<Badge type="warning" text="Experimental"/>: Start a multicopter by throwing it into the air. [PX4-Autopilot#21170](https://github.com/PX4/PX4-Autopilot/pull/21170)
- **[New Mode]** [Position Slow Mode](../flight_modes_mc/position_slow.md): A slower version of _Position mode_, where the maximum horizontal velocity, vertical velocity and yaw-rate axes can be configured to lower values (using parameters, RC controller knobs/switches, or MAVLink). [PX4-Autopilot#22102](https://github.com/PX4/PX4-Autopilot/pull/22102)
- **[Helicopter]** add tail servo support [PX4-Autopilot#21274](https://github.com/PX4/PX4-Autopilot/pull/21274)
- **[Helicopter]** Add back support for coaxial helicopters with the new actuator allocation. [Documentation](../frames_helicopter/index.md), [PX4-Autopilot#22083](https://github.com/PX4/PX4-Autopilot/pull/22083)
- **[Improvement]** Multicopter position control parameter descriptions ([PX4-Autopilot#21729](https://github.com/PX4/PX4-Autopilot/pull/21729))
- **[Improvement]** Default motor PWM limits minimum 1100 maximum 1900. Default changed from 900us to 1000us! [Documentation](../advanced_config/esc_calibration.md), [PX4-Autopilot#21513](https://github.com/PX4/PX4-Autopilot/pull/21513)
### 垂直起降
- VTOL back-transition: expose tilting time as parameter and reduce overall duration ([PX4-Autopilot#21760](https://github.com/PX4/PX4-Autopilot/pull/21760))
- **[New Parameter]** `VT_BT_TILT_DUR`
- **[Feature]** VTOL Tailsitter: add automatic pitch ramps also in Stabilized mode ([PX4-Autopilot#22584](https://github.com/PX4/PX4-Autopilot/pull/22584))
- **[Improvement]** VTOL forward thrust assist: treat Descend as Land mode ([PX4-Autopilot#22843](https://github.com/PX4/PX4-Autopilot/pull/22843))
- Refactor uncommanded descend Quad-Chute ([PX4-Autopilot#21598](https://github.com/PX4/PX4-Autopilot/pull/21598))
- **[New Parameter]** `VT_QC_ALT_LOSS`
### Fixed-Wing
- [Simplified airspeed sensor configuration](../config_vtol/vtol_without_airspeed_sensor.md) ([PX4-Autopilot#22510](https://github.com/PX4/PX4-Autopilot/pull/22510)):
- Replace parameter `CBRK_AIRSPD_CHK` with [SYS_HAS_NUM_ASPD](../advanced_config/parameter_reference.md#SYS_HAS_NUM_ASPD) and renamed parameter `FW_ARSP_MODE` to [FW_USE_AIRSPD](../advanced_config/parameter_reference.md#FW_USE_AIRSPD).
- To be able to arm without an airspeed sensor set `SYS_HAS_NUM_ASPD` to 0.
- To not use the airspeed sensor data in the controller, set `FW_USE_AIRSPD` to 0.
- **[Improvement]** Fixed-wing high (dynamic) wind hardening ([PX4-Autopilot#21764](https://github.com/PX4/PX4-Autopilot/pull/21764))
- Attitude controller cleanup ([PX4-Autopilot#22472](https://github.com/PX4/PX4-Autopilot/pull/22472))
- **[Feature]** FW TECS: rename `FW_T_THR_DAMP` to `FW_T_THR_DAMPING` and `FW_T_I_GAIN_THR` to `FW_T_THR_INTEG` as the interpretation of these parameters has changed ([PX4-Autopilot#22548](https://github.com/PX4/PX4-Autopilot/pull/22548))
- **[Feature]** Enable high rate logging for VTOL ([PX4-Autopilot#22700)](https://github.com/PX4/PX4-Autopilot/pull/22700))
- **[Feature]** Add functionality to disable rate control of certain axes in fixed-wing Acro mode ([PX4-Autopilot#21566](https://github.com/PX4/PX4-Autopilot/pull/21566))
- **[New Parameter]** `FW_ACRO_AXS_CTRL`
- Add Fixedwing path following as a separate controller state ([PX4-Autopilot#21376](https://github.com/PX4/PX4-Autopilot/pull/21376))
- Added PerformanceModel for fixed wing ([PX4-Autopilot#22091](https://github.com/PX4/PX4-Autopilot/pull/22091))
- **[New Parameter]** `FW_S_CEILING`
### 无人车
- [Aion R1](../frames_rover/aion_r1.md)<Badge type="warning" text="Experimental"/>: ESC Driver for Roboclaw motor controller.
This comes with build instructions and support for the Aion R1, a new differential drive rover, along with information about integrating the Roboclaw motor controller.
- Add dedicated Rover build variants to px4/fmu-{v5,v5x,v6c,v6x} ([PX4-Autopilot#22675](https://github.com/PX4/PX4-Autopilot/pull/22675))
## Changelog
[Full changelog available on Github here. (v1.14.0...v1.15.0)](https://github.com/PX4/PX4-Autopilot/compare/v1.14.0...v1.15.0)
docs/zh/releases/index.md
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# 版本发布
A list of PX4 release notes, they contain a list of the changes that went into each release, explaining the included features, bug fixes, deprecations and updates in detail.
- [main](../releases/main.md) (changes since v1.15)
- [v1.15](../releases/1.15.md)
- [v1.14](../releases/1.14.md)
- [v1.13](../releases/1.13.md)
- [v1.12](../releases/1.12.md)
The full archive of releases for the PX4 autopilot project can be found on [GitHub](https://github.com/PX4/PX4-Autopilot/releases)
docs/zh/releases/main.md
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# PX4-Autopilot Main Release Notes
<Badge type="danger" text="Alpha" />
This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)).
:::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](#upgrade-guide).
## Major Changes
- TBD
## Upgrade Guide
## Other changes
### Hardware Support
- TBD
### Common
- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
- [Voltage-based estimation with load compensation](../config/battery.md#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).
- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
This makes log decryption much easier, as there is no need to download or identify a separate key file.
([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
This typically reduces false warnings due to magnetometer inconsistencies.
([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
### Control
- TBD
### Estimation
- TBD
### 传感器
- TBD
### 仿真
- [SIH]:
- The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-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](https://github.com/PX4/PX4-Autopilot/pull/23363)).
- SIH now supports the standard VTOL airframe
([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
- [Gazebo]:
- Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
The default installer scripts (used for CI) and documentation have been updated.
This is required because Garden end-of-life is Nov 2024.
([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
- New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
- New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
- New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
- New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
- New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
- New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
- New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
- New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
- [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
### Ethernet
- TBD
### uXRCE-DDS / ROS2
- **[Feature]** <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically ([PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
### MAVLink
- TBD
### Multi-Rotor
- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)
### 垂直起降
- TBD
### Fixed-wing
- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
### 无人车
This release contains a major rework for the rover support in PX4:
- Complete restructure of the [rover related documentation](../frames_rover/index.md).
- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
- The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
- New module dedicated to [differential rovers](../frames_rover/differential.md):
- The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
- The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
- Generic Differential Rover `50000`.
- Generic Ackermann Rover `51000`.
- Axial SCX10 2 Trail Honcho `51001`.
- Generic Mecanum Rover `52000`.
- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
### ROS 2
- TBD