v1.11.0 Release Notes

[mrpollo]

v1.11 Release Notes

Following the significant stability improvements on v1.10.0, the PX4 team is preparing for a new release, which will see lots of quality of life improvements, as well as internal robustness in the system architecture to allow for more straightforward board configuration.

Release Notes

Highlights

• Major sensor calibration improvements (Gyro, Mag, Level)

Main Features and Improvements

Migration Guide

• DEPRECATED: VTOL is no longer supported in FMUv2 hardware

Hardware Support

• Holybro Durandal, (Manufacturer Supported)
• NXP IMX-RT, S32K, (Manufacturer Supported)
• Holybro PIX32V5, (Manufacturer Supported)
• Cube Yellow, (Manufacturer Supported)
• Cube Orange, (Manufacturer Supported)
• CUAV X7, (Manufacturer Supported)
• CUAV X7 Pro, (Manufacturer Supported)
• CUAV Nora, (PR boards: add CUAV Nora support #15536) (Manufacturer Supported)

Drivers

• Enable SPI DMA adds centralized DMA map (PR boards: add centralized DMA map and enable SPI DMA on more boards #14207)
• Move primary IMU to new InvenSense driver (PR [WIP]: px4_fmu-v5, px4_fmu-v5x, modalai_fv-v1 switch to new InvenSense IMU drivers (icm20602 & icm20689) #14356)
  • FMUv5, FMUv5x
  • ModalAI_fv-v1
• Drivers CLI interface consolidation (PR Drivers: SPI & I2C config simplifications (2) #14386 )

System Architecture

• Board config simplifications for SPI & I2C (PR Board config: SPI & I2C config simplifications (1) #14221) and PWM timers (Board config: timer config simplifications #13871)
• Adds UAVCAN node cannode (PR UAVCAN sensor node (and px4_fmu-v4_cannode example) #14148)
• Adds CAN interface runtime (PR uavcan add run time enabling of CAN interfaces #14367)

Multicopter

• New hover thrust estimator (PR Hover thrust estimator #13981)
• XYZ-synchronized motion in auto modes (diagonal climb) (PR AutoLineSmoothVel refactoring & bugfixes, 2nd Attempt #13596)
• New Notch filter (PR Notch filter #13549)
• Acceleration feedforward (PR Acceleration based control/feed-forward #14212)
• Mag power compensation (PR Mag current/throttle compensation #14457, Docs)
• Takeoff failure detection (PR Flight termination: lockdown if failure is detected on takeoff #14428, Docs)
• Horizontal velocity limit close to ground (PR Limit horizontal velocity during landing #13561, Parameter)

VTOL

• Tiltrotor: Use tilt to accelerate the vehicle forward while in hover (PR VTOL tiltrotor tilt ("pusher") support in hover #13779)
• Weather vane improvements (PR VTOL: disable WV when moving #13782)
• Active path and deceleration tracking during transitions (PR Towards controlled VTOL transitions #14405)

Fixed Wing

• Improved airspeed failure detection (PR Airspeed validation & selection module #12353)
• Enables fallback estimation without airspeed sensor. (PR Airspeed selector follow-up #12887)

Rover

• Major improvements to offboard control
• Enable offboard attitude setpoints (PR Enable attitude setpoints for rover offboard control #13323)
• Enable offboard velocity setpoints (PR Support offboard velocity setpoints for rover #13225)
• Enable ActuatorControl setpoints in offboard mode (PR Add support for offboard ActuatorControl set points to RoverPositionControl (fixes #13192) #13314)

Underwater Vehicles

• New mixers for underwater vehicles Generic & HippoCampus (PR add support for unmanned underwater vehicles: #14079)
• New UUV default specific parameters and autostarting (PR add support for unmanned underwater vehicles: #14079)
• New Mixer for UUVs with X-shaped thruster configuration (PR add support for unmanned underwater vehicles: #14079)
• New uvv_att_control controller for UUV attitude control (PR add support for unmanned underwater vehicles: #14079)

PX4/ECL - Estimators improvement

• Emergency Yaw recovery using EKF-GSF estimator (PR EKF: Add Emergency yaw recovery using EKF-GSF estimator PX4-ECL#766)
• Pre-flight accel bias estimation stability fixes (PR ekf: disable xy accel bias learning before takeoff PX4-ECL#818)

Onboard computer / middleware improvements

• Adds ROS 2 Dashing and Eloquent support to the microRTPS bridge (PR msg: urtps: change the topic Data Type name to match expected on ROS2 #13907)
• Adds ROS 2 Foxy support to the microRTPS bridge (PR Feature: add support to FastRTPS 2.0.0 (Fast-DDS) #15227}
• Adds time sync to the microRTPS bridge (PR microRTPS: add timesync #14297)
• UART link data stream fixed in the microRTPS bridge (PR microRTPS: fix UART link #15354)

PX4/Avoidance

• Smoother flight planning with improved repeatability (PR Improve planning repeatability PX4-Avoidance#555)
• Bezier trajectory avoidance interface (PR Bezier trajectory avoidance interface #14279)
• Bugfixes and improvements

Simulation

• Multi-Vehicle simulation with Gazebo
• Adds support for multiple distance sensor instances. (PR simulator: add support for multi-distance_sensor instances #14143)
• Adds support for UUV vehicles. (PR add support for unmanned underwater vehicles: #14079)
• Adds support for boats. (PR Add support for boat airframe in SITL PX4-SITL_gazebo-classic#409 )
• Adds Catapult and Hand launch support for fixed-wing. (PR Catapult plugin for simulating catapult / handlaunching fixed wing PX4-SITL_gazebo-classic#393 )

Failsafe / Commander / Navigation improvements

• New Hover Thrust estimator (PR Hover thrust estimator #13981)
• Commander, Navigator state clean-up (PR delete NAVIGATION_STATE_AUTO_RTGS (OBC datalink loss) #14307)
• Navigator fixes heading drift after takeoff (PR navigator: set acceptance radius even for IDLE waypoint #13965)
• Enable RC-Override in Take-off (PR Commander: preflight check fixes #14022)
• Takeoff failure detection (PR Flight termination: lockdown if failure is detected on takeoff #14428)
• Pre-flight check: Disable mag field strength check via parameter (COM_ARM_MAG_STR) (PR Pre-flight check: add parameter to en/disable mag field strength check #13766)

OS/NuttX

The release includes a change from NuttX-7.29 to NuttX-8.2
See NuttX release notes for the details of changes in NuttX-8.2 details.

Included as backports are:

• STM32[F4 F7 H7]
  • spi_exchange (no DMA) with for STM32xx_SPI_DMATHRESHOLD
• STM32[F7 H7]
  • SDMMC internal pull up usage fixed
  • Add check_format tooling
  • nxstyle - output compiler like error format
• STM32H7
  • fix stm32h7x3xx_dmamux.h: add missing underscore to defines
• STM32F7
  • stm32f7:Add Serial Tx DMA
  • stm32f7:ethernet: Add some delays so that ifup() does not
• NXP IMX-RT, S32K
  • S32K add support for Nxp drone boards
  • imxrt: Adds the ability to run from OCRAM
  • imxrt: Add USB Device support for i.MX RT
  • imxrt: added missing i2c prescale mask
  • imxrt: interrupt serial storm, add DTCM and set up I and
  • imxrt: Allow clock setting for SPI and I2C from board.h.
  • imxrt:lpi2c Fix interrupt storm on failed write.
  • imxrt:lpi2c ensure that on an error status reflects it.
  • imxrt:lpi2c imxrt_lpi2c_reset uses GPIO with SION
  • imxrt:gpio Support readback on OUT GPIO
  • imxrt1020-evk: Enable the GPIO based CD.
  • imxrt:lpspi: Fixed race on register setting.
  • imxrt:lpspi: Remove hack setting LPSPI1 daisy irrespective
  • imxrt:lpi2c.c:Added configurations to fine tune LPI2C Time
  • IMXRT106x USDHC: Support regular GPIO for CD and inversion.
  • IMXRT106x:pinout add ALT 8 GPIO_GPT2_COMPARE3 & fix GPIO_G
  • IMXRT106x:pinout add ALT 8 GPIO_GPT1_CAPTURE[1|2]
  • Kinetis renamed TJA1100 to TJA110X registers

v.1.11.0 Changelog

https://gist.github.com/mrpollo/7173f6c89d2fdacb923eb4481b486e41

[bresch]

I'm not exactly sure what should go under "Highlights". Shouldn't be the "overall best improvements and new features" ?
Enable RC-Override in Take-off (PR #14022) and Pre-flight check: Disable mag field strengh check via parameter (COM_ARM_MAG_STR) are minor modifications that could go under Failsafe / Commander / Navigation improvements and shouldn't be here.

Other comments:

Emergency Yaw recovery using EKF-GPS estimator

EKF-GSF

Navigation improvements

Navigator improvements

New hover thrust estimator (

#13981

[jinger26]

Is "Computer Vision & Autonomy" redundant to "PX4/Avoidance"?

[mrpollo]

Thanks for the edits @bresch, please let me know if the changes work for you.

@jinger26 Yes. A remnant of the last release notes, not sure I remember what was going on there right now. Take a look -> PX4 v1.10.0. It's gone now, thank you.

[mrpollo]

add to notes please

#14473

[mrpollo]

add to notes please

#14405

[mrpollo]

update notes

#14473

[ThomasRigi]

Is dual battery support in v1.11? #12551 and #12034

They're not in the list (yet)

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[hamishwillee]

@mrpollo FMI is this ever going to release?

[jinger26]

Add to supported hardware:
Holybro PIX32V5
HEX Yellow/Orange?
CUAV X7, X7Pro, Nora?

verify with @dagar

[mrpollo]

Thanks, everyone, the release notes are finally complete.