PX4 v1.6.1 requires a recent version of QGroundControl for the best user experience, currently available as “daily build” here.
New Hardware Support
- Crazyflie v2
- FMUv4 PRO (Prototype donation and manufacturing: Drotek)
- FMUv5 (Prototype donation and manufacturing: Team Blacksheep)
New Features
- New .ulg uLog logging format which directly logs uORB topics and offers more accurate time stamping. Supported in FlightPlot. @bkueng
- New web-graphing engine for .ulg: http://review.px4.io @bkueng
- Easier to use camera triggering @mhkabir
- Basic support for real-time camera triggering feedback @mhkabir
- Support for survey flights (multicopter and fixed wing) with intuitive UI
- Temperature calibration and compensation (gyro, accel, mag, baro)
- Support for MAVLink and PWM controlled gimbals @bkueng
- Support for generic helicopters and Blade 130 mixer @bartslinger
- Fixedwing acro and rattitude flight modes
Major Upgrades
- EKF2 Robustness @priseborough @RomanBapst
- Tremendously better user experience on Snapdragon Flight @ChristophTobler
- Better user experience on Aero @lucasdemarchi
- Hardening against marginal GPS reception @priseborough
- Hardening against mag observability issues @priseborough
- NuttX Update to a recent release @davids5
- STM32F7 support @davids5
- Change default to use the new ULog logging format supporting http://review.px4.io zoomable graphing
- Significant reduction in RAM usage on STM32 @bkueng
Bugfixes and Improvements
- Critical bugfixes in magnetometer calibration routine preventing a race condition @mhkabir
- Improvements for FMUv3 / Pixhawk 2.1 HW support @mhkabir
- Improvements for UAVCAN motor control and parameter transfer @eyeam3
- Cleanup of PWM output driver, easier user-configuration of OneShot
- More reliable reboot of Pixracer boards
- Log tasks low on stack @AndreasAntener
- Prevent overshooting of landing waypoints on VTOLS by calculating the acceptance radius based on ground speed @sanderux
- Prevent takeoff in loiter mode when vehicle is on the ground and wait on transition to mission mode @julianoes
- Improved robustness and reliability of land detector
- Fix offboard attitude setpoint overwrite from RC channels @aivian
- Add ground truth tests to SITL Gazebo CI @jgoppert
- Disable the safety switch by default on Pixracer @LorenzMeier
- Use ellipsoid instead of sphere fitting in magnetometer calibration @bugobliterator
- Introduction of the event module @bkueng
- Temperature calibration for IMU and barometric sensors @bugobliterator @priseborough
- Don’t allow arming in low battery condition @LorenzMeier
- Enable takeoff and landing with just local position (e.g. flow) @ChristophTobler
- Add fixed-wing acro mode @AndreasAntener
- Trigger quadchute on maximum roll and pitch angles to prevent stalling or actuation problems like reversed ailerons/elevons @sanderux
- Add fast EKF2 replay for new ulog format @bkueng
- UAVCAN performance audit @pavel-kirienko
- Add preflight, postflight perf counters and process usage to ULog @bkueng
- Improve VTOL standard transition improvements
- Fix PX4 build on Windows platforms @MaEtUgR
- Improve multicopter takeoff and landing in altitude controlled flight modes
- Support for multiple UAVs in SITL simulation @mzahana
- Fixedwing offboard control mode improvements
- Fixedwing throttle scaling with battery voltage @sander
- VTOL land improved back transition waypoint accuracy
- TECS height rate feed forward fixed
- Fixedwing loiter to altitude landing improved predictibility @natorgator
- Fixedwing limits fix : The
FW_PSP_OFFparameter no longer breaches the pitch min/max limits. @sanderux - Improved the mixer clipping performance on yaw saturation @bresch
- BMI055 driver fixes for device IDs (from 1.6.0)
- Fixes for mag rotation (from 1.6.0) @mhkabir
R&D
- Iridium SBD @dagar
- ICM20602 and ICM20689 @davids5
- BMI055 and BMM150 @scheiermanns
