PX4/PX4-Autopilot: v1.12.0 Beta 4 Article Swipe
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· 2021
· Open Access
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· DOI: https://doi.org/10.5281/zenodo.4724677
· OA: W3209908496
This is the fourth beta of v1.12, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html Multi-EKF enabled by default Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move) Safety switch is latching: Once it is disabled, it will stay disabled Multicopter Intuitive stick feel in Position mode Hover thrust independent velocity control gains UAVCANv0: Although the fundamental features like Firmware upgrades and parameter sync of CAN nodes have been implemented for over 5 years, we refreshed support now that finally, devices are on the market. Typical CAN GPS, airspeed and power modules are supported UAVCANv0 Node: PX4 supported building nodes for many years - now we support building specific targets like the CUAV GPS units UAVCANv1: Initial alpha of a complete end-to-end implementation Fixedwing/VTOL significant TECS improvements Magnetometer calibration faster and more robust new soft iron calibration coefficients automatically determine the rotation of external sensors Gyro dynamic notch filtering with onboard FFT Optimized rate control sensor pipeline (minimal inner loop end-to-end latency) Added support for IRC Ghost including telemetry new board support PX4 FMUv6u PX4 FMUv6x CUAV X7/X7Pro CUAV Nora CUAV CAN GPS SP Racing H7 Extreme Bitcraze Crazyflie v2.1 ARK CAN Flow mRo Ctrl Zero H7 (experimental) Differences to Beta 3: Fixed a rate mismatch on PWM outputs on FMU
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