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238 lines
12 KiB
Markdown
238 lines
12 KiB
Markdown
# 출시 1.12
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- [Release 1.12](#release-1-12)
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- [Pre Releases](#pre-releases)
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- [Changes](#changes)
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- [Common](#common)
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- [Sensors](#sensors)
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- [Hardware](#hardware)
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- [MAVLink](#mavlink)
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- [Commander](#commander)
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- [Multicopter](#multicopter)
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- [VTOL](#vtol)
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- [Control](#control)
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- [GPS](#gps)
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- [NuttX](#nuttx)
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- [UAVCAN](#uavcan)
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## 사전 출시
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- [Beta 4](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta4)
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- [Beta 3](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta3)
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- [Beta 2](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta2)
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- [Beta 1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.12.0-beta1)
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## 변경 사항
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### 공통
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- **RTL Trigger based on remaining flight range ([PR#16399](https://github.com/PX4/PX4-Autopilot/pull/16399))**
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- 기체 속도, 풍속 및 목적지 거리와 방향을 고려하여 RTL에서 집까지의 시간을 계산합니다.
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- **Preemptive geofence breach ([PR#16400](https://github.com/PX4/PX4-Autopilot/pull/16400))**
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- 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.
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- **Airframe Scripts**
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- 기본값 설정 구문이 변경되었으며 사용자 지정 스크립트를 업데이트하여야 합니다.
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- See [PR#16796](https://github.com/PX4/PX4-Autopilot/pull/16796/files#diff-dcf2f5536f47f260e5e0ff3b3fd22eaef6b6c510126463d70affa0eb7bd4d3ddL20) for an example.
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- 안전 스위치는 기본적으로 꺼짐으로 설정(모터는 시동 해제되지만 서보/플랩은 움직일 수 있음)
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- 안전 스위치가 잠깁니다. 일단 비활성화되면 비활성화 상태로 유지됩니다.
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- 착륙 감지기 : 거리 센서가있는 경우지면 거리를 사용하도록 착륙 감지를 확장합니다.
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- 텔레메트리 포함 IRC Ghost에 대한 지원 추가
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### 센서
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- 더 빠르고 안정적인 자력계 보정
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- 새로운 연철 교정 계수
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- 외부 센서의 회전을을 자동으로 결정
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- 최적화된 속도 제어 센서 파이프 라인 (최소 내부 루프 종단간 지연 시간)
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### 하드웨어
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이 릴리스에는 아래의 보드, 주변 장치, 액세서리 및 신규 하드웨어 지원이 포함됩니다.
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- Pixhawk FMUv6U (Read more about this spec on the [Pixhawk GitHub Repository](https://github.com/pixhawk/Pixhawk-Standards))
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- Pixhawk FMUv6X (Read more about this spec on the [Pixhawk GitHub Repository](https://github.com/pixhawk/Pixhawk-Standards))
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- CUAV X7 / X7Pro
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- CUAV Nora
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- CUAV CAN GPS (Neo-3-2)
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- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/products/spracingh7extreme))
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- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1-brushless/))
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- ARK CAN Flow ([Read more about this product on the manufacturers site](https://arkelectron.com/product/ark-flow/))
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- 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))
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다음 내용들이 제거됩니다.
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- 단종된 Intel AeroFC 제거
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### MAVLink
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- **MAVLink Ethernet configuration ([PR#14460](https://github.com/PX4/PX4-Autopilot/pull/14460))**
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- UDP 포트, 원격 포트 및 브로드캐스트 모드와 같은 MAVLink 이더넷 설정은 이제 매개변수를 통해 동적으로 변경할 수 있습니다.
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- **Support for querying `COMPONENT_INFORMATION` ([PR#16039](https://github.com/PX4/PX4-Autopilot/pull/16039))**
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- 이제 매개변수 메타데이터가 매일 QGC와 함께 자동으로 동기화됩니다.
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- 이 새로운 메시지를 통하여 모든 MAVLink 시스템은 자동조종장치에서 풍부한 계층 정보를 요청할 수 있습니다. 즉, 임무에서 지원되는 명령을 이해하거나, 매개변수 메타데이터를 얻을 수 있습니다. This message was introduced primarily to help GCS better understand autopilots (RFC: [mavlink#1339](https://github.com/mavlink/mavlink/issues/1339))
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### 사령관(Commander)
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- **Commander: use control mode flags and cleanup arm/disarm ([PR#16266](https://github.com/PX4/PX4-Autopilot/pull/16266))**
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- Consolidate scattered arming requirements in arm_disarm(), and, keeps the `vehicle_control_mode` last state in commander
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- **Commander: Separate out manual control setpoint processing ([PR#16878](https://github.com/PX4/PX4-Autopilot/pull/16878))**
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- Adds a new class `ManualControl` for handling `manual_control_setpoint` and handles RC loss, RC override, and RC arming/disarming
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### 멀티콥터
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- **More intuitive stick feel in Position mode**
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- 속도 설정값 대신 가속에 매핑된 수평 스틱 입력
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- 이동 속도 속도에 도달시의 갑작스런 기울기 변화를 제거합니다.
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- 직관적인 단락(예: 착륙시)
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- Opt out possible using [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)
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- 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)
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- **Hover thrust independent velocity control gains**
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- Parameters `MPC_{XY/Z}_VEL_{P/I/D}` were replaced with `MPC_{XY/Z}_VEL_{P/I/D}_ACC`, see:
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[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)
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:::warning
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이득은 새로운 의미를 가지게 되었습니다.
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- $m/s$의 속도 오류에서 $m/s^2$의 가속 출력으로 확장
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-
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- Automatic parameter transition assumes 50% hover thrust: `~10m/s^2 / 50% = 20 m/s^2`.
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See [question](https://github.com/PX4/PX4-Autopilot/pull/14823#issuecomment-791357646)
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:::
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- Development: [Logic introduction](https://github.com/PX4/PX4-Autopilot/pull/14749), [Parameter replacement](https://github.com/PX4/PX4-Autopilot/pull/14823)
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- **Improve Rounded Turns ([PR#16376](https://github.com/PX4/PX4-Autopilot/pull/16376))**
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- 멀티로터 임무의 웨이포인트에서 좀 더 큰 둥근 회전을 생성합니다 (코너에서 L1 스타일 안내 로직 사용).
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- 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)
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- **Removal of Rattitude flight mode ([PR#17019](https://github.com/PX4/PX4-Autopilot/pull/17019))**
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- 다시 원하시면 저희에게 알려주십시오.
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### 수직이착륙기(VTOL)
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- **RTL improvements ([PR#16377](https://github.com/PX4/PX4-Autopilot/pull/16377))**
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- 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)
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- Fixed-wing / VTOL significant TECS improvements
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### 제어
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- **Dynamic Notch Filter updated with Gyro FFT ([PR#16385](https://github.com/PX4/PX4-Autopilot/pull/16385))**
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- 자이로 제어 데이터에 동적 노치 필터링을 추가하여 제어가 훨씬 부드러워졌습니다.
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- **Multi-EKF enabled by default** on stm32f7 and stm32h7 boards
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### GPS
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- 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.
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### NuttX
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Nuttx was upgraded from [8.2+ to NuttX 10.10.0+](https://github.com/apache/nuttx/compare/nuttx-8.2..nuttx-10.0.1) (@ [904a602c74dc08a100b5c2bd490807de19e73e10](https://github.com/apache/nuttx/commit/904a602c74dc08a100b5c2bd490807de19e73e10))
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- **SDCARD performance:** Results in better performance on H7 Targets
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- [**BACKPORT**] stm32:SDIO:Use 250 Ms Data path timeout, regardless of Card Clock frequency
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- [**BACKPORT**] stm32h7:SDMMC:Use 250 Ms Data path timeout, regardless of Card Clock frequency
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- [**BACKPORT**] stm32f7:SDMMC:Use 250 Ms Data path timeout, regardless of Card Clock frequency
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- [**BACKPORT**] Fixes race condition in event wait logic of SDMMC driver.
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- [**BACKPORT**] mmcsd:Stuck in 1-bit mode, Removed CONFIG_ARCH_HAVE_SDIO_DELAYED_INVLDT
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- **Ethernet stability:**
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- [**BACKPORT**] stm32x7:Ethernet Fixed hardfaults, from too big frames
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- [**BACKPORT**] stm32:Ethernet Fix too big frames
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- **Boot up stability** V5-V6X ensuring the LSE (RTC) oscillator is started
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- [**BACKPORT**] stm32h7:lse fix Kconfig help text
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- [**BACKPORT**] stm32f7:lse Use Kconfig values directly
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- [**BACKPORT**] stm32h7:Add DBGMCU
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- [**BACKPORT**] stm32f7:Add option to auto select LSE CAPABILITY
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- [**BACKPORT**] stm32h7:Add option to auto select LSE CAPABILITY
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::: info
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This Knob will cycle through the correct\*
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values from low to high. To avoid damaging
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the crystal. We want to use the lowest setting
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that gets the OSC running. See app note AN2867
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\*It will take into account the rev of the silicon
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and use the correct code points to achieve the drive
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strength. See Eratta ES0392 Rev 7 2.2.14 LSE oscillator
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driving capability selection bits are swapped.
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:::
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- **Driver changes**
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- [**BACKPORT**] drivers/serial: fix Rx interrupt enable for cdcacm
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- [**BACKPORT**] binnfmt:Fix return before close ELF fd
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- [**BACKPORT**] stm32f7:Allow for reuse of the OTG_ID GPIO
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- [**BACKPORT**] stm32f7:SDMMC fix reset of do_gpio
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- [**BACKPORT**] stm32h7: serial: use dma tx semaphore as resource holder
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- [**BACKPORT**] stm32h7:SDMMC fix reset of do_gpio
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- [**BACKPORT**] stm32h7:Serial Add RX and TX DMA
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- [**BACKPORT**] stm32h7:Allow for reuse of the OTG_ID GPIO
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- [**BACKPORT**] Kinetis:kinetis:Replace DMA
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- [**BACKPORT**] kinetis:Serial use eDMA
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- [**BACKPORT**] kinetis:SPI use eDMA
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- [**BACKPORT**] Kinetis:Serail No DMA Poll needed
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- [**BACKPORT**] libc/stdio: Preallocate the stdin, stdout and stderr
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For targets without consoles.
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- **FlexCan fixes**
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- [**BACKPORT**][flexcan] Correct reset state for CTRL1 register
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- [**BACKPORT**][flexcan] Fix TX drop #2792 and correctly set CAN timings to non-zeroed registers
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- [**BACKPORT**] FlexCAN Fix TX abort process
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- **Support for CAN bootloader**
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- [**BACKPORT**] s32k1xx:Support ramfunc
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- **STM32F412 cleanup**
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- [**BACKPORT**] stm32f412:Corrected Pin count
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- [**BACKPORT**] stm32f412:Replaced Kludged pinmap with one for SoC
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- [**BACKPORT**] stm32412: Fixes pinmap CAN1
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- **Security patches**
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- [**BACKPORT**] tcp: Remove incomplete support for TCP reassembly
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- [**BACKPORT**] net/tcp/tcp_input.c: Correct bad check of urgent data length
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- [**BACKPORT**] libc: Add additional checks to malloc realloc and memalign
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- **IMXRT fixes**
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- Add Single wire and proper parity settings to IMXRT to support sbus etal.
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- [**BACKPORT**] imxrt:serial support single-wire mode
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- [**BACKPORT**] imxrt:imxrt_lowputc Fixed parity settings.
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- **STM32H7 improvements**
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- [**BACKPORT**] stm32h7:SPI Fix 16 bit SPI mode
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- [**BACKPORT**] stm32h7:DMA BDMA does not auto disabled on completion
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- [**BACKPORT**] Fix HEAP clobbering static data in SRAM4
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- [**BACKPORT**] stm32h7:SDMMC fix reset of do_gpio
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### UAVCAN
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- UAVCANv0 : 펌웨어 업그레이드와 CAN 노드의 매개변수 동기화와 같은 기본 기능이 5 년 이상 구현되었지만, 이제는 장치가 시장에 출시되어 새롭게 지원합니다. 일반적인 CAN GPS, 대기 속도 및 전력 모듈이 지원됩니다.
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- UAVCANv0 노드 : PX4는 수년 동안 빌딩 노드를 지원하였습니다. 이제 CUAV GPS 장치와 같은 특정 타겟 구축을 지원합니다.
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- UAVCANv1 : 완전한 종단간 구현의 초기 알파
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