Stable Release v1.14.0

Major Changes

• Dynamic Control Allocation
• Improved Preflight Failure Check Reporting
• Failsafe Simplification and Simulation
• Default Simulation is now New Gazebo
• Improved ROS 2 Interface thanks to uXRCE-DDS

Read Before Upgrading

The v1.14 release includes a few breaking changes for users upgrading from previous versions, in particular we are moving away from using mixer files to define the vehicle geometry, motor mappings and actuators.

Additionally, we deprecated the Fast-RTPS interface used by ROS 2 in favor of a much cleaner solution that doesn't require a custom build target, and goes away with the additional message generation step.

Please see our detailed upgrade instructions on our docs.

Dynamic Control Allocation

We are very excited to enable the new dynamic control allocation by default; it allows users to define vehicle configurations at runtime without needing a mixer file, thanks to the new vehicle setup dashboard in QGroundControl.

Improved Preflight Failure Check Reporting (QGC Arming Checks UI)

PX4 v1.14 adds much improved preflight failure reporting through the events interface. If the vehicle won't arm, you can more easily find out why in the QGC Arming Checks UI (opens new window). No more wondering if it's a problem with the safety switch, a poor calibration, or something in the internals of the estimator!

As part of this change, it is now possible to switch to any mode when disarmed (previously you could not switch to a mode that required GPS if you didn't have a good position estimate). PX4 will only allow you to arm when the conditions for the current mode are met, and will report failure checks that are not relevant to the current mode as warnings.

Failsafe Simplification

Safety Failsafe handling has been simplified, in particular with respect to what happens if a failsafe is triggered when another failsafe is already in progress.

There is now a hold delay before the action is performed, giving the user time to override the failsafe if needed.
If multiple failsafes are triggered, the more severe action is taken. For example if both RC and GPS are lost, and manual control loss is set to Return mode and GCS link loss to Land, Land is executed.
The new Failsafe State Machine Simulation allows you to test failsafe behaviour under all possible configurations and conditions.

New Gazebo

Given the recent changes (opens new window) by the Open Robotics simulation team, we are introducing name changes for our gazebo simulations, mirroring Open Robotics naming scheme, starting with v1.14:

Ignition Gazebo (opens new window) to Gazebo
Gazebo (opens new window) to Gazebo Classic.
Most importantly this affects the PX4 build target names as well:

Gazebo targets are prefixed with gz_ (e.g. make px4_sitl gz_x500).
Gazebo Classic make targets are now prefixed with gazebo-classic_ (e.g., make px4_sitl gazebo-classic_cloudship).

Improved ROS 2 Interface via uXRCE-DDS

We updated the ROS 2 interface, replacing Fast-RTPS (opens new window) with uXRCE-DDS, resulting in an improved experience across the board. The change also avoids the need for _rtps build targets, enabling the interface on even more targets by default.

Full changelog available here

v1.14.0-rc1

Release Candidate v1.14.0

What's Changed

• [New] Dynamic Control Allocation
• [New] Default simulation is now New Gazebo
• [New] Improved ROS 2 Interface thanks to uXRCE-DDS

Read Before Upgrading

The v1.14 release includes a few breaking changes for users upgrading from previous versions. In particular, we are moving away from using mixer files to define the vehicle geometry, motor mappings, and actuators.

Additionally, we deprecated the Fast-RTPS interface in favor of a much cleaner solution that doesn't require a custom build target and goes away with the additional message generation step.

Please read the full release notes for recommended steps for upgrading users.

Changes between releases

Since beta2 ~ RC1

v1.14.0-beta2...v1.14.0-rc1

• FWPositionControl: navigateWaypoints: fix logic if already past waypo… - PX4-Autopilot#21642
• Geofence: Disable pre-emptive geofence predictor by default - PX4-Autopilot#21657
• VTOL mission item resets and QC rework - PX4-Autopilot#21665
• RTCM Fixes - PX4-Autopilot#21666
• FW/VTOL: open up a couple of param constraints - PX4-Autopilot#21671
• netman: update module description (#21664) - PX4-Autopilot#21673
• lights: Add LP5562 RGBLED driver - PX4-Autopilot#21685
• rc_update: throttle trim centering fix for reverse channel - PX4-Autopilot#21692
• Fix Rover Thrust Normalization - PX4-Autopilot#21722
• FW Rate Controller: fix saturation logic for VTOLs with differential thrust enabled - PX4-Autopilot#21725
• Fix PWM/Oneshot calibration - PX4-Autopilot#21726
• icp201: increase startup delay (FMUv6X) - PX4-Autopilot#21766
• SITL Tailsitter tuning fixes and add quadtailsitter - PX4-Autopilot#21773
• FMUv6X: Enable ADS1115 - PX4-Autopilot#21794
• Navigator: Loiter: always establish new Loiter with center at current… - PX4-Autopilot#21798
• Default motor PWM configuration - PX4-Autopilot#21800
• rc_update: fix on-off-switch with negative threshold values - PX4-Autopilot#21801
• ROMFS: auto try RGBLED is31fl3195 - PX4-Autopilot#21804
• netman line too long - PX4-Autopilot#21829
• icp201: increase startup delay (FMUv6X) - PX4-Autopilot#21834
• mag_cal: fix mag bias estimate to mag cal - PX4-Autopilot#21835
• airframes/x500_v2: move motors from AUX to MAIN - PX4-Autopilot#21841
• Opt flow fixes - PX4-Autopilot#21844
• Jenkinsfile-compile board updates - PX4-Autopilot#21860

Changelog since v1.13.3

v1.13.3...v1.14.0-rc1

Stable Release v1.13.3

Stable Release v1.13.3

What's Changed

• [New] CUAV Pixhawk V6X #21221
• [New] Holybro Pixhawk 6C Mini #21227
• [New] ARK PAB Carrier #21104
• [Fix] Cube Orange: enable mavlink_shell #20868
• [Fix] mRo Pixracer Pro: Configure FRAM for mRo PixracerPro. #21161
• [Fix] mRo Pixracer Pro: fix voltage/current monitoring #19757
• [Fix] Add support for ROS2 Humble for the microRTPS bridge #20968

Full Changelog: v1.13.2...v1.13.3

Stable Release v1.13.2

What's Changed

• Navigator: fix init of _mission_item by @sfuhrer in #20496
• Holybro PX4Vision: Don't use IO by @julianoes in #20534
• px4_fmu-v6: Add Revision 1 to manifest to note I2C4 is only internal by @julianoes in #20526
• VTOL takeoff problem hotfix by @MaEtUgR in #20568
• EKF2: ZVU improvements by @bresch in #20613
• fmu-v2: make optional sensor startup quiet by @julianoes in #20384

Full Changelog: v1.13.1...v1.13.2

Stable Release v1.13.1

What's Changed

• [BACKPORT v1.13] drivers/imu/invensense/icm42670p: cleanup and small fixes by @julianoes in #20165
• [BACKPORT v1.13] px4_fmu-v6x:HB Mini add Ver 3, Ver 4 init by @julianoes in #20166
• standard: fixed pusher assist in hover by @sfuhrer in #20220
• V1.13.0 ARKV6X Backport by @AlexKlimaj in #20253
• [BACKPORT v1.13] Pixhawk 6C external bus hack by @julianoes in #20250
• [BACKPORT v1.13] Add PX4 vision v1.5 Airframe by @julianoes in #20244
• Backport Add BMP390 to BMP388 driver by @AlexKlimaj in #20261
• [v1.13] boards/platform: remove confusing override by @julianoes in #20264
• [BACKPORT v1.13] Add Holybro Pixhawk Pi CM4 Baseboard Support by @julianoes in #20182
• [BACKPORT v1.13] libuavcan: update submodule by @julianoes in #20314
• [v1.13] Fix RTK by @julianoes in #20310
• 1.13 Backport Fix ARKV6X control allocator with base boards by @AlexKlimaj in #20315
• [BACKPORT v1.13] ms5611: ignore reading 0 by @julianoes in #20351

Full Changelog: v1.13.0...v1.13.1

Stable Release v1.13.0

This is the v1.13 stable release, which brings a number of significant improvements to PX4:

The full release notes are here: https://docs.px4.io/master/en/releases/1.13.html

Common

• Control Allocation Beta (PR#18776)
• Autotune for fixedwing and multicopter
• Explicit Joystick source selection (PR#17404)
  • Possibility to:
    • Explicitly allow just one source
    • Fall back to other source in air
    • Disable stick input completely
  • Configuration parameter: COM_RC_IN_MODE
• Remaining flight time based on low battery (PR#17828)
• Remaining flight time based low battery RTL (PR#18646)
• Improved default battery estimation parameters (PR#19429, PR#19700)
• Autonomous gentle touch down using distance sensor (PR#19126)
• Orbit Flight Mode Improvements (approach smoothness, radius limiting, and stick input with heading not to the center)

Sensors

• Barometers
  • Goertek SPL06 (PR#19229)
  • TDK ICP10100 & ICP10111 (PR#18451)
  • Maiertek MPC2520 (PR#17910)
  • TE MS5837 (PR#19183)
• Hygometer
  • Sensirion SHT3X (PR#18910)
• IMU
  • TDK ICM42670p (PR#18141)
  • BMI088 I2C (Support Improved) (PR#17467)
• Optical Flow
  • Pixart PAA3905 (PR#19461)
• Power Monitor
  • TI INA228 (PR#19461)
  • TI INA238 (PR#18260)
• Misc
  • GPS PPS Input Capture (PR#18849)
  • NXP Ultra Wide Band (UWB) SR150 (PR#14474)

Hardware

• ARK CAN RTK GPS (PR#18412)
• ATL Mantis EDU (PR#17910)
• Diatone Mamba f405 mk2 (PR#18402)
• Holybro Kakute H7 (PR#19019)
• Matek GNSS-M9N-F4 (PR#19061)
• Matek H743-slim (PR#18544)
• mRo Control Zero Classic (PR#19593)
• Pixhawk FMUv6C (PR#19544)
• Raspberry Pi Pico (PR#18083)
• Sky Drones SmartAP Airlink (PR#19529)

MAVLink

• MAVLink triggered parachute system support (PR#18589)

Estimation

• EKF2 barometer bias estimator
• EKF2 range finder kinematic consistency check
• EKF2 propeller momentum drag coefficient used for multi-rotor wind estimation.
• incremental accel and gyro auto-calibration
• dedicated magnetometer bias estimator for easy preflight calibration

Control

• Dynamic Control Allocation (PR#18776)
  • Disabled by default, see usage instructions to get started
  • Easy and flexible actuator configuration
  • Support for more hardware setups without manual mixer file adjustments
  • Possibility to dynamically adjust allocation in flight e.g. rotor loss

CAN

• UAVCANv1 aka OpenCyphal
• DroneCAN
  • Battery Support
  • Hygrometer Support
  • Internal Combustion Engine (ICE)
  • Log message handling from CAN nodes

Full Changelog:

Full Changelog: v1.12.0...v1.13.0

v1.13.0-rc1

PX4 stable v1.13.0 first release candidate

v1.13.0 Beta 1

v1.13.0-beta1

v1.13.0 Beta 1

Stable Release v1.12.3

• Enable Cube Orange built in ADS-B receiver by default: #18188
• fixed flash overflow on px4_fmu-v2_default and px4_fmu-v5_optimized

Stable Release v1.12.2

• Holybro V5X Rev 2 full support (#18069)
• flight_mode_manager: ManualAcceleration support weathervane yaw handler (#18038)
• mavlink: receiver fix HIL_STATE_QUATERNION map projection init (#18010)
• mavlink: fix offboard velocity input (#17958)
• ECL: update to include latest bugfixes (#17988)
• sensors: populate sensors_status_imu healthy flags even in multi-EKF mode (#17946)
• px4io_serial: ensure TX DMA is stopped if exiting early on stream error (#18172)
• boards fix memory protection unit (MPU) on STM32H7 boards with APM bootloader (#18175)
• boards: cubeorange/cubeyellow use amber LED for armed state (#18163)
• Fix memory corruption when work queue is being deleted (#18134)
• px4iofirmware: never directly touch mixer from isr (#18147)
• sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set (#18113)