diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index dca014ba84..7b9cf2b34c 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -904,6 +904,7 @@ - [Licenses](contribute/licenses.md) - [Releases](releases/index.md) - [main (alpha)](releases/main.md) + - [1.17 (alpha)](releases/1.17.md) - [1.16 (stable)](releases/1.16.md) - [1.15](releases/1.15.md) - [1.14](releases/1.14.md) diff --git a/docs/en/advanced/neural_networks.md b/docs/en/advanced/neural_networks.md index 91829f3a88..454d60a16a 100644 --- a/docs/en/advanced/neural_networks.md +++ b/docs/en/advanced/neural_networks.md @@ -1,6 +1,6 @@ # Neural Networks - + ::: warning This is an experimental module. diff --git a/docs/en/features_fw/gain_compression.md b/docs/en/features_fw/gain_compression.md index 7efb48f59c..25259fd05e 100644 --- a/docs/en/features_fw/gain_compression.md +++ b/docs/en/features_fw/gain_compression.md @@ -1,6 +1,6 @@ # Gain compression - + Automatic gain compression reduces the gains of the angular-rate PID whenever oscillations are detected. It monitors the angular-rate controller output through a band-pass filter to identify these oscillations. diff --git a/docs/en/flight_controller/micoair743-lite.md b/docs/en/flight_controller/micoair743-lite.md index 4f7ac36bc6..7b3ed25128 100644 --- a/docs/en/flight_controller/micoair743-lite.md +++ b/docs/en/flight_controller/micoair743-lite.md @@ -1,6 +1,6 @@ # MicoAir743-Lite - + :::warning PX4 does not manufacture this (or any) autopilot. diff --git a/docs/en/flight_controller/radiolink_pix6.md b/docs/en/flight_controller/radiolink_pix6.md index 98e5dae7a2..1574314338 100644 --- a/docs/en/flight_controller/radiolink_pix6.md +++ b/docs/en/flight_controller/radiolink_pix6.md @@ -1,6 +1,6 @@ # RadiolinkPIX6 Flight Controller - + :::warning PX4 does not manufacture this (or any) autopilot. diff --git a/docs/en/flight_controller/x-mav_ap-h743r1.md b/docs/en/flight_controller/x-mav_ap-h743r1.md index 435d39b640..f527e9876d 100644 --- a/docs/en/flight_controller/x-mav_ap-h743r1.md +++ b/docs/en/flight_controller/x-mav_ap-h743r1.md @@ -1,6 +1,6 @@ -# AP-H743-R1 +# AP-H743-R1 Flight Controller - + :::warning PX4 does not manufacture this (or any) autopilot. @@ -50,6 +50,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop Order from [X-MAV](https://www.x-mav.cn/). ## Radio Control + A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes). You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver). @@ -59,14 +60,14 @@ CRSF receiver must be wired to a spare port (UART) on the Flight Controller. The ## Serial Port Mapping -| UART | Device | Port | -| ------ | ---------- | ------------- | -| USART1 | /dev/ttyS0 | GPS | -| USART2 | /dev/ttyS1 | GPS2 | -| USART3 | /dev/ttyS2 | TELEM1 | -| UART4 | /dev/ttyS3 | TELEM2 | -| UART7 | /dev/ttyS4 | TELEM3 | -| UART8 | /dev/ttyS5 | SERIAL4 | +| UART | Device | Port | +| ------ | ---------- | ------- | +| USART1 | /dev/ttyS0 | GPS | +| USART2 | /dev/ttyS1 | GPS2 | +| USART3 | /dev/ttyS2 | TELEM1 | +| UART4 | /dev/ttyS3 | TELEM2 | +| UART7 | /dev/ttyS4 | TELEM3 | +| UART8 | /dev/ttyS5 | SERIAL4 | ## PWM Output @@ -133,13 +134,14 @@ The complete set of supported configurations can be found in the [Airframe Refer ## Debug Port ### SWD + The [SWD interface](../debug/swd_debug.md) operate on the **FMU-DEBUG** port (`FMU-DEBUG`). The debug port (`FMU-DEBUG`) uses a [JST SM04B-GHS-TB](https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM04B-GHS-TB/807788) connector and has the following pinout: -| Pin | Signal | Volt | -| ------- | -------------- | ----- | -| 1 (red) | 5V+ | +5V | -| 2 (blk) | FMU_SWDIO | +3.3V | -| 3 (blk) | FMU_SWCLK | +3.3V | -| 4 (blk) | GND | GND | +| Pin | Signal | Volt | +| ------- | --------- | ----- | +| 1 (red) | 5V+ | +5V | +| 2 (blk) | FMU_SWDIO | +3.3V | +| 3 (blk) | FMU_SWCLK | +3.3V | +| 4 (blk) | GND | GND | diff --git a/docs/en/flight_modes_fw/takeoff.md b/docs/en/flight_modes_fw/takeoff.md index 021a79df53..265c09f4b4 100644 --- a/docs/en/flight_modes_fw/takeoff.md +++ b/docs/en/flight_modes_fw/takeoff.md @@ -49,8 +49,8 @@ If the local position is invalid or becomes invalid while executing the takeoff, ::: info -- Takeoff towards a target position was added in . -- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in . +- Takeoff towards a target position was added in . +- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in . - QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing). ::: diff --git a/docs/en/middleware/uxrce_dds.md b/docs/en/middleware/uxrce_dds.md index eb568e5a58..3e1a38d226 100644 --- a/docs/en/middleware/uxrce_dds.md +++ b/docs/en/middleware/uxrce_dds.md @@ -321,7 +321,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi - [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable. The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge. This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled. - - [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition + - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) : Index-based namespace definition Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc. See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces. @@ -426,7 +426,7 @@ will generate topics under the namespaces: ::: -- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999. +- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999. This will generate a namespace such as `/uav_0`, `/uav_1`, and so on. This technique is ideal if vehicles must be persistently associated with namespaces because their clients are automatically started through PX4. diff --git a/docs/en/releases/1.16.md b/docs/en/releases/1.16.md index 0fac823996..42019f52d1 100644 --- a/docs/en/releases/1.16.md +++ b/docs/en/releases/1.16.md @@ -129,6 +129,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### uXRCE-DDS / ROS2 - [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically +- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md). - dds_topics: add vtol_vehicle_status ([PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582)) - dds_topics: add home_position ([PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583)) @@ -138,6 +139,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234)) - Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234)) - mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234)) + ### Multi-Rotor - [Multirotor] add yaw torque low pass filter ([PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173)) diff --git a/docs/en/releases/1.17.md b/docs/en/releases/1.17.md new file mode 100644 index 0000000000..67728cca98 --- /dev/null +++ b/docs/en/releases/1.17.md @@ -0,0 +1,134 @@ +# PX4-Autopilot v1.17.0 Release Notes + + + + + +
+
+

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

+
+
+ +This contains changes to PX4 planned for PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)). + +::: warning +PX4 v1.17 is in alpha/beta testing. +Update these notes with features that are going to be in PX4 v1.17 release. +New features that are not expected to go into the v1.17 release are in [PX4-Autopilot `main` Release Notes](../releases/main.md). +::: + +## Read Before Upgrading + +TBD … + +Please continue reading for [upgrade instructions](#upgrade-guide). + +## Major Changes + +- TBD + +## Upgrade Guide + +## Other changes + +### Hardware Support + +- **[New Hardware]** boards: [MicoAir743-Lite FC](../flight_controller/micoair743-lite.md) +- **[New Hardware]** boards: [RadiolinkPIX6 FC](../flight_controller/radiolink_pix6.md) +- **[New Hardware]** boards: [AP-H743-R1 FC](../flight_controller/x-mav_ap-h743r1.md) + + + +### Control + + + +- [MC Neural Network Module](../advanced/neural_networkss.md) + +### Estimation + +- TBD + + + +### Simulation + +- Overhaul rover simulation: + - Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107) + - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113) + - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117) + +- [Simulation-in-Hardware (SIH)](../sim_sih/index.md#compatibility) + - New simulation: MC Hexacopter X + - New simulation: Ackermann Rover + +### Debug & Logging + +- TBD + +### Ethernet + +- TBD + +### uXRCE-DDS / Zenoh / ROS2 + +- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)). +- [UXRCE_DDS: Simple index based namespace (UXRCE_DDS_NS_IDX)](../middleware/uxrce_dds.md#customizing-the-namespace) +- [Zenoh (PX4 ROS 2 rmw_zenoh)](../middleware/zenoh.md) + +### MAVLink + +- TBD + + + +### VTOL + +- TBD + +### Fixed-wing + +- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) 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](https://github.com/PX4/PX4-Autopilot/pull/25083)). +- Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840)) + +### Rover + +- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)). +- Add support for [Apps & API](../flight_modes_rover/api.md) including [Rover Setpoints](../ros2/px4_ros2_control_interface.md#rover-setpoints) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)). +- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details). + +### ROS 2 + +- TBD diff --git a/docs/en/releases/index.md b/docs/en/releases/index.md index 7c5aa295c5..69986e1ea4 100644 --- a/docs/en/releases/index.md +++ b/docs/en/releases/index.md @@ -2,7 +2,8 @@ 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 v1.16) +- [main](../releases/main.md) (changes planned for v1.18 or later) +- [v1.17](../releases/1.17.md) (changes planned for v1.17, since v1.16) - [v1.16](../releases/1.16.md) - [v1.15](../releases/1.15.md) - [v1.14](../releases/1.14.md) diff --git a/docs/en/releases/main.md b/docs/en/releases/main.md index 43174d9c57..acee02d522 100644 --- a/docs/en/releases/main.md +++ b/docs/en/releases/main.md @@ -16,13 +16,13 @@ const { site } = useData(); This contains changes to PX4 `main` branch since the last major release ([PX v1.16](../releases/1.16.md)). ::: 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. +PX4 v1.17 is in alpha/beta testing. +Update these notes with features that are going to be in `main` (PX4 v1.18 or later) but not the PX4 v1.17 release. ::: ## Read Before Upgrading -TBD … +- TBD … Please continue reading for [upgrade instructions](#upgrade-guide). @@ -58,25 +58,34 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### Simulation +- TBD + + + ### Debug & Logging -- [Asset Tracking](../debug/asset_tracking.md): Automatic tracking and logging of external device information, including: vendor name, firmware and hardware version, serial numbers. - Currently supports DroneCAN devices. - ([PX4-Autopilot#25617](https://github.com/PX4/PX4-Autopilot/pull/25617)) +- [Asset Tracking](../debug/asset_tracking.md): Automatic tracking and logging of external device information including vendor name, firmware and hardware version, serial numbers. Currently supports DroneCAN devices. ([PX4-Autopilot#25617](https://github.com/PX4/PX4-Autopilot/pull/25617)) ### Ethernet - TBD -### uXRCE-DDS / ROS2 +### uXRCE-DDS / Zenoh / ROS2 + +- TBD + + ### MAVLink @@ -97,16 +106,26 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### Fixed-wing +- TBD + + ### Rover +- TBD + + + ### ROS 2 - TBD diff --git a/docs/en/ros2/px4_ros2_control_interface.md b/docs/en/ros2/px4_ros2_control_interface.md index ebb54be960..81f5943882 100644 --- a/docs/en/ros2/px4_ros2_control_interface.md +++ b/docs/en/ros2/px4_ros2_control_interface.md @@ -341,9 +341,9 @@ The used types also define the compatibility with different vehicle types. The following sections provide a list of supported setpoint types: - [MulticopterGotoSetpointType](#go-to-setpoint-multicoptergotosetpointtype): Smooth position and (optionally) heading control -- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics +- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics - [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints -- [Rover Setpoints](#rover-setpoints): Direct access to rover control setpoints (Position, Speed, Attitude, Rate, Throttle and Steering). +- [Rover Setpoints](#rover-setpoints): Direct access to rover control setpoints (Position, Speed, Attitude, Rate, Throttle and Steering). :::tip The other setpoint types are currently experimental, and can be found in: [px4_ros2/control/setpoint_types/experimental](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental). @@ -410,7 +410,7 @@ _goto_setpoint->update( #### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType) - + ::: info This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode. @@ -552,7 +552,7 @@ If you want to control an actuator that does not control the vehicle's motion, b #### Rover Setpoints - + The rover modules use a hierarchical structure to propagate setpoints: @@ -586,7 +586,7 @@ An example for a rover specific drive mode using the `RoverSpeedAttitudeSetpoint ### Controlling a VTOL - + To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration: diff --git a/docs/en/sim_sih/index.md b/docs/en/sim_sih/index.md index c134b8aca8..07767e72ef 100644 --- a/docs/en/sim_sih/index.md +++ b/docs/en/sim_sih/index.md @@ -27,8 +27,8 @@ The Desktop computer is only used to display the virtual vehicle. - SIH for FW (airplane) and VTOL tailsitter are supported from PX4 v1.13. - SIH as SITL (without hardware) from PX4 v1.14. - SIH for Standard VTOL from PX4 v1.16. -- SIH for MC Hexacopter X from `main` (expected to be PX4 v1.17). -- SIH for Ackermann Rover from `main`. +- SIH for MC Hexacopter X from PX4 v1.17. +- SIH for Ackermann Rover from PX4 v1.17. ### Benefits @@ -339,6 +339,7 @@ You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../adva Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters. You may also configure the output as desired: + - Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1)) - Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1)) - Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))