PX4/Firmware: Stable Release v1.11.0

• Multicopter hover thrust estimator (https://github.com/PX4/Firmware/pull/13981)
• Backup yaw estimator for emergency recovery (https://github.com/PX4/ecl/pull/766)
• new Invensense and Bosch IMU drivers enabled everywhere
  • completely rewritten drivers and framework optimized for flight performance (high rate raw data up to 8 kHz and low end-to-end latency)
  • configurable low latency sensor pipeline with new notch filter
  • Multicopter rate controller runs synchronized with primary gyro (up to 4 kHz configured via IMU_GYRO_RATEMAX)
• Major sensor calibration improvements (Gyro, Mag, Level)

• VTOL support is no longer included in flash limited px4_fmu-v2 hardware (original 3DR Pixhawk with silicon bug) ### Hardware Support
• Holybro Durandal, (Manufacturer Supported)
• NXP IMX-RT, S32K, (Manufacturer Supported)
• Holybro PIX32V5, (Manufacturer Supported)
• CubePilot Cube Yellow, (Manufacturer Supported)
• CubePilot Cube Orange, (Manufacturer Supported)
• CUAV X7, (Manufacturer Supported)
• CUAV X7 Pro, (Manufacturer Supported)
• CUAV Nora, (PR #15536) (Manufacturer Supported) ### Drivers
• SPI DMA adds centralized DMA map (PR #14207)
• Move primary IMU to new InvenSense driver (PR #14356)
• New drivers interface and 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) (PR #13596)
• 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)
• Pre-flight accel bias estimation stability fixes (PR PX4/ecl#818) ### Onboard computer / middleware improvements
• Adds ROS 2 Dashing and Eloquent support to the microRTPS bridge (PR #13907)
• Adds ROS 2 Foxy support to the microRTPS bridge (PR #15227}
• Adds time sync to the microRTPS bridge (PR #14297)
• UART link data stream fixed in the microRTPS bridge (PR #15354) ### 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 strength 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.

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

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