v1.8.1 Stable Release

This is a minor bug fix release on top of PX4 Stable v1.8.0

• mavlink properly wrap heading fields #9905
• Navigator: Fix fixed-wing first order altitude hold #9850
• fmu fix MAIN/AUX parameters #9925
• cmake fix BUILD_URI #9941
• tap_esc increase stack 1100 -> 1180 bytes #10041
• mavlink: fixed nullptr dereferencing #10063

v1.8.0 Stable Release

Migration Guide

• The EKF2 estimator has been the standard for some time and supports flying with vision positioning systems indoors. Users of the LP estimator are advised to upgrade, as LPE is no longer supported/maintained.
• Upgrading is advised to latest stable trough QGC.

Main features and improvements

• Fusion of Visual Inertial Odometry in EKF2 (video)
• Interface for external Obstacle Avoidance systems (video)
• Significantly improved performance on racing drones (users need to reconfigure, link)
  • Improved filtering and reduced control latency
  • Added Airmode
• Improved flight performance on VTOL (Tiltrotors, Tailsitters)
• Support for building natively on Windows (link)
• Significant EKF2 improvements
  • Hardening of the estimator for situations where GPS accuracy is limited
    improved sensor selection logic enabling simultaneous use of optical flow and GPS
  • Added the EKF2_MAG_TYPE parameter for environments with high magnetic interferences
• Wind Estimator
• Support for structure scanning
• High Latency telemetry support (Iridium)
• Precision landing framework (including IRLock driver)

New Supported Hardware

• FMUv5: Pixhawk 4 and Pixhawk 4 mini from Holybro and Pixhack v5 from CUAV
• Crazyflie 2.0 with optical flow deck
• Omnibus F4 SD
• Snapdragon 8074 with VIO enabled (video, 820 support coming)
• IRLock sensor for precision landing
• ST LPS22HB barometer driver
• Analog devices IMUs (ADIS16477, ADIS16448)
• TeraRanger Evo 600Hz support

Dependencies

• QGroundControl v3.3.2
• MAVLink (d8ea87b9c6173ad72a032219588e302eb8cb212a) https://github.com/mavlink/c_library_v2
• UAVCAN
• Important fixes
• Manual flight mode for VTOL
• Battery estimation fixes and improvements

Change Log

v1.8.0 (2018-06-19)

Implemented enhancements:

• PX4 Ping Message Protocol #9233
• IridiumSBD Debug Message + Acknowlege fix #9326 (acfloria)

Fixed bugs:

• Error in make posix_sitl_default gazebo #9575
• fmu_v5 NSH some commands force an instant reboot #9532
• 1.8.0beta does not "work" with QGC latest #9505
• Console output on Mac OS #9495
• EKF errors with Fixed Wing #9474
• PX4 1.7.3: Total crash in loiter. #9108
• set MODULE_NAME for parameters module and update ecl #9536 (dagar)
• Jenkins mission tests delete old build first #9535 (dagar)

Closed issues:

• v1.8 Changelog scratchpad #9593
• Increase IMU rate in ROS on Intel Aero RTF with PX4 #9579
• arming and takeoff with mavros ! #9578
• not able to launch posix_sitl.launch #9568
• Commander low on stack #9548
• Wrong Voltage Divider for FMUv5 #9526
• Start logging on RTK GPS condition or postprocessing option #9432
• 1.7 Crashes, log stops in-air #9271
• Crash: Pixhawk 2.1 (Cube) with v1.7.4 Beta firmware #9260
• Suspectible servo broken and PX4 dead #9139

Merged pull requests:

• Remove extra newline in omnibus-f4sd/usb.c to quiet git warning. #9592 (mcsauder)
• various getopt & argc index check fixes #9589 (bkueng)
• mavlink_messages: fill in all 16 servo channels #9586 (bkueng)
• Remove whitespace from the top-level CMakeLists.txt. #9581 (mcsauder)
• logger: fix SD card space computation #9580 (bkueng)
• Update submodule sitl_gazebo to latest Thu May 31 01:26:50 UTC 2018 #9571 (dagar)
• Jenkins archive nuttx bin file #9570 (dagar)
• Commander: complete thread cycle before emergency shutdown #9563 (potaito)
• Jenkins temporarily disable address sanitizer mission tests #9559 (dagar)
• ecl-ekf log analysis tool: fix missing filter_fault_status and one-off index bug #9552 (JohannesBrand)
• ROMFS: fix SYS_USE_IO==0 #9551 (bkueng)
• px4fmu-v5/board_config.h: update BOARD_BATTERY1_V_DIV #9550 (bkueng)
• mavlink mission: send an ack on duplicated last uploaded mission item #9547 (bkueng)
• IridiumSBD: Fix for multiple MT messages #9546 (acfloria)
• ADC support for Omnibus F4 SD #9545 (bkueng)
• Add param to adjust motor ordering #9544 (bkueng)
• Delete old issue template #9543 (hamishwillee)
• Fix link to slack (Broken) #9542 (hamishwillee)
• Fix link to flight reporting page #9541 (hamishwillee)
• Jenkins tests code coverage build + SIGSEGV handler #9419 (dagar)

v1.8.0-beta2 (2018-05-27)

Full Changelog

Implemented enhancements:

• Replay does not publish second GPS #9422
• Use Nuttx defconfig defines to determine arch #9516 (joshuawhitehead)
• Cygwin: Enable ARM NuttX Upload within Cygwin Environment #9442 (MaEtUgR)
• Add baro temperature to sensor voter observation #9411 (potaito)
• adis16477 driver #9408 (dagar)
• Logger: add watchdog to boost its priority in case of a busy-looping task #9404 (bkueng)
• Mavlink Ping Protocol Implementation #9399 (mhkabir)
• cmake px4 + sitl package #9309 (dagar)
• WIP: doxygen #9234 (dagar)

Fixed bugs:

• PX4 SITL catkin build failing #9447
• posix_eagle broken on recent master (Snapdragon flight) #9444
• EKF2 with optical flow drifts without flow data #9414
• Internal HMC5883 not (always) starting on FMUv2 (Original 3DR Pixhawk) #9151
• Fix astyle Display Language Dependency & Makefile Colored Output #9441 (MaEtUgR)
• Jenkins run tests under address sanitizer and fix issues #9421 (dagar)
• Avionics power check type error (int to float) #9412 (dakejahl)

Closed issues:

• Bug Report: Multi-Vehicle Interference in the storage and execution of the mission #9500
• Battery Parameters Visualisation not working in simulation #9486
• Detected 0 radio channels. To operate PX4, you need at least 5 channels #9480
• Bug Report: Aberrant Yaw and Loss of Altitude causing Crash #9475
• "make posix_sitl_default gazebo" error #9466
• GPS here+ plus rover is not getting detected [#9463](h...

v1.7.4 Beta Release

This includes a number of stability and performance improvements for all vehicle types.

v1.7.3 Stable Release

This is a maintenance release for v1.7

• Fixed board support for boards electrically departing from FMUv2 schematic from several manufacturers
• Cascaded EKF2 error messages so they do not trigger when calibration is missing on the sensors
• Disabled some text / speech outputs when disarmed
• Ensured manual override is always enabled in fixed wing
• Help developers to use the correct config for their board if there are multiple compatibles ones
• Reduce CPU load of VTOL controller
• Make param updates lightweight

v1.7.3 Beta Release

This release is based on the new CI system and configuration and addresses a number of usability issues on vehicle setup:

• Cascaded EKF2 error messages so they do not trigger when calibration is missing on the sensors
• Disabled some text / speech outputs when disarmed
• Ensured manual override is always enabled in fixed wing

v1.7.2 Stable Release

Fixes boot issues with some boards that deviate from the reference design.

v1.7.0 Stable Release

Release Notes

• First-generation experimental support for ROS2-like setups with FastRTPS
• Support for many new sensors (LIDAR, airspeed, IMU, etc)
• Significant robustness improvements and new features in default estimation system (EKF2)
• Significant improvements to VTOL flight control
• Increased smoothness of multicopter flight control
• Better performance of fixed wing flight control
• Many build system improvements (including 50% faster nuttx builds)
• New continuous integration system system (http://ci.px4.io) with significantly more build and testing capacity
• Many improvements and fixes in various subsystems, as listed below.
• Reduced CPU load and RAM usage

Change Log

v1.7.0 (2017-12-12)

Full Changelog

Implemented enhancements:

• Consider SF1xx Driver for 1.7 Release #8177
• Standard way to disable internal magnetometer? #8059
• NuttX enable CONFIG_MEMSET_OPTSPEED #7815
• add MAVLink FLIGHT_INFORMATION support #7706
• FW Minimum Airspeed scaling for banked stall avoidance #7572
• Be smart about using MAVLink 2.0 #7246
• Bit-banding for atomic flag access on STM32 #7183
• HC_SR04 driver needs cleanup #7168
• Snapdragon Flight ESC support #6962
• Create pure racer config #6780
• Gazebo HIL #6631
• listener does not work for subtopics #6607
• Reduce effect of estimator vertical velocity errors #8445 (priseborough)
• ekf2: relax preflight yaw check when possible #8424 (priseborough)
• cmake NuttX wrapper work around windows cygwin path issues #8397 (dagar)
• QuadChute monitor tecs height rate #8395 (sanderux)
• vtol_att_control increase stack by 30 Bytes (1200 -> 1230) #8390 (dagar)
• px4io delete old v1 battery current and voltage #8353 (dagar)
• fw_pos_control_l1 increase stack by 100 Bytes #8348 (dagar)
• Update the Description of the estimator_status Message #8346 (acfloria)
• nuttx-configs remove cu and mount example #8344 (dagar)
• cmake nuttx build and link libnet if networking is enabled #8314 (dagar)
• Scale FW cruise throttle based on baro pressure #8304 (sanderux)
• Add a driver for the ADIS16448 IMU #8301 (ASM3)
• add boolean parameters to enable/disable each sensor #8283 (dagar)
• SDP3x Airspeed Correction #8242 (acfloria)
• Adaptive quadchute #8144 (sanderux)
• logger: Add logging profile to support comparison of multiple sensors #8134 (priseborough)
• RTPS and micro-CDR build system improvements #8084 (dagar)
• Positon Controller: multiple small refinements #8072 (MaEtUgR)
• Generate mixers from description of multicopter geometry #8063 (jlecoeur)
• Check mag sensor for consistency before flight #8039 (priseborough)
• Acro: SuperExpo Stick Input #8036 (MaEtUgR)
• sitl: add possibility to not run gazebo when running make #7965 (JonasVautherin)
• VTOL back transition: check only forward velocity #7948 (sanderux)
• Factor in reverse pusher delay on mission acceptance radius #7915 (sanderux)
• FW position failsafe defaults #7894 (dagar)
• delete control_state and cleanup vehicle_attitude #7882 (dagar)
• NuttX upgrade split UAVCAN bootloaders into separate repository #7878 (dagar)
• Reverse pusher delay #7877 (sanderux)
• Remove thrust_sp from pusher assist calculation #7865 (sanderux)
• [RFC] Make NuttX drivers cross platform (VDev -> CDev) and MS4525 linux driver #7864 (dagar)
• Allow position failsafe sensitivity to be adjusted for different platform types #7842 (priseborough)
• Disable pusher assist for quadchute failsafe and while landing #7782 (sanderux)
• Support thrust reversal for vtol back transition #7666 (sanderux)
• commander RTL failsafe should be sticky #7576 (dagar)
• FW raise min airspeed based on commanded bank #7575 (dagar)
• FW landing abort use reposition #7574 (dagar)
• EKF: Enable compensation for static pressure positional error #7264 (priseborough)

Fixed bugs:

• v1.7-rc3 'hangs' for split second after arm/disarm #8413
• MC: LowBat RTL Performed at 5m Alt instead of 50m! #8408
• ECL__Lib EKF stopping navigation -> Meaning? #8401
• MR: uncontrollable altitude gain when engaging auto or rtl #8400
• F450 with Pixhawk 1 - f63c821 crash #8398
• F450 with Pixhawk 3 Pro v1.7.0-rc3 crash #8392
• RTL issues with multiCopter #8389
• FW crash v1.7.0-rc2 #8380
• PX4 1.6.5 Stbl: Loiter switching BUG. #8376
• Potential critical NuttX alignment issue #8367
• Fixed Wing reject auto mission #8361
• [SubmodulesClean] error 1 #8333
• Solo PREFLIGHT FAIL: MAG SENSORS INCONSISTENT #8305
• F450 frame with Pixhawk mini crash - v1.7.0-rc1 #8299
• Error compiling v1.7.0-rc1 for eagle_default target #8297
• krait update param failed #8280
• Protocol splitter is not sending any messages on UART #8262
• RTL issues with multiCopter #8257
• EKF2 Altitude estimation problem on Release 1.6.5 Stable #8256
• Bug: Firmware does not build if submodule #8255
• sensors voter not using SENS_BARO_QNH #8252
• MISSION_ITEM_REACHED not sent in SITL #8245
• rsync error when building the px4/firmware #8239
• Battery remaining inversed when compensating for load #8198
• Travis is not returning current master commit #8197
• VTOL crash on V4Pro #8186
• HIL: can't arm with latest versions [#8176](...

v1.7.0 Release Candidate 4

This RC correctly builds FMUv3 targets and includes fixes to RTL behaviour and when GPS lock is acquired mid-flight.

v1.7.0 Release Candidate 3

v1.7.0-rc3

PX4 v1.7.0 Fourth Release Canadidate

v1.7.0 Release Candidate 2

v1.7.0-rc2

PX4 v1.7.0 Third Release Canadidate