1.13

• Release 1.13

  • Pre Releases

  • Changes

    • Common

    • Sensors

    • Hardware

    • MAVLink

    • Multicopter

    • VTOL

    • Control

    • GPS

    • NuttX

    • CAN

Pre Releases

• Release Candidate 1

• Beta 1

Changes

Common

• 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

• Control Allocation Beta (PR#18776)

• 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

Multicopter

• auto tune

VTOL

• auto tune

GPS

NuttX

CAN

• UAVCANv1 aka OpenCyphal

• DroneCAN

  • Battery Support

  • Hygrometer Support

  • Internal Combustion Engine (ICE)

  • Log message handling from CAN nodes