PX4/Firmware: v1.11.0 Beta 1

v1.11 Release Notes Highlights

• New significantly improved Invensense IMU drivers that provide all raw data up to 8 kHz using SPI DMA.
  • rate controller can run up to 2 kHz (>= 4 kHz coming soon) by settingIMU_GYRO_RATEMAX
• New multicopter hover thrust estimator (PR #13981)
• Emergency Yaw recovery using EKF-GSF estimator (PR PX4/ecl#766)
• Major sensor calibration improvements (Gyro, Mag, Level) ### Main Features and Improvements ### Migration Guide
• DEPRECATED: VTOL is no longer supported in FMUv2 hardware ### PX4/Drivers
• Enable SPI DMA adds centralized DMA map (PR #14207)
• Move primary IMU to new InvenSense driver (PR #14356)
  • FMUv5, FMUv5x
  • ModalAI_fv-v1
• Drivers CLI interface consolidation (PR #14386 ) ### System Architecture
• Board config simplifications for SPI & I2C (PR #14221) and PWM timers (#13871)
• Adds UAVCAN node cannode (PR #14148)
• Adds CAN interface runtime (PR #14367) ### Multicopter
• New hover thrust estimator (PR #13981)
• XYZ-synchronized motion in auto modes (diagonal climb)
• New Notch filter (PR #13549)
• Acceleration feedforward (PR #14212)
• Mag power compensation (PR #14457, Docs)
• Takeoff failure detection (PR #14428, Docs)
• Horizontal velocity limit close to ground (PR #13561, Parameter) ### VTOL
• Tiltrotor: Use tilt to accelerate the vehicle forward while in hover (PR #13779)
• Weather vane improvements (PR #13782)
• Active path and deceleration tracking during transitions (PR #14405) ### Fixed Wing
• Improved airspeed failure detection (PR #12353)
• Enables fallback estimation without airspeed sensor. (PR #12887) ### Rover
• Major improvements to offboard control
• Enable offboard attitude setpoints (PR #13323)
• Enable offboard velocity setpoints (PR #13225)
• Enable ActuatorControl setpoints in offboard mode (PR #13314) ### Underwater Vehicles
• New mixers for underwater vehicles Generic & HippoCampus (PR #14079)
• New UUV default specific parameters and autostarting (PR #14079)
• New Mixer for UUVs with X-shaped thruster configuration (PR #14079)
• New uvv_att_control controller for UUV attitude control (PR #14079) ### PX4/ECL - Estimators improvement
• Emergency Yaw recovery using EKF-GSF estimator (PR PX4/ecl#766) ### Onboard computer / middleware improvements
• Adds ROS 2 Dashing and Eloquent support to the microRTPS bridge (PR #13907)
• Adds time sync to the microRTPS bridge (PR #14297) ### PX4/Avoidance
• Smoother flight planning with improved repeatability (PR PX4/Avoidance#555)
• Bezier trajectory avoidance interface (PR #14279)
• Bugfixes and improvements ### Simulation
• Multi-Vehicle simulation with Gazebo
• Adds support for multiple distance sensor instances. (PR #14143)
• Adds support for UUV vehicles. (PR #14079)
• Adds support for boats. (PR PX4/sitl_gazebo#409 )
• Adds Catapult and Hand launch support for fixed-wing. (PR PX4/sitl_gazebo#393 ) ### Failsafe / Commander / Navigation improvements
• New Hover Thrust estimator (PR #13981)
• Commander, Navigator state clean-up (PR #14307)
• Navigator fixes heading drift after takeoff (PR #13965)
• Enable RC-Override in Take-off (PR #14022)
• Takeoff failure detection (PR #14428)
• Pre-flight check: Disable mag field strengh check via parameter (COM_ARM_MAG_STR) (PR #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.