PX4/Firmware: v1.7.0 Stable Release

Release Notes First-generation experimental support for ROS2-like setups with FastRTPS Reduced CPU load and RAM usage Support for new sensors (LIDAR, airspeed, IMU, etc) Significant improvements to estimation system (EKF2) Significant improvements to VTOL flight control Increased smoothness of multicopter flight control Better performance of fixed wing flight control Build system improvements Many improvements and fixes in various subsystems, as listed below. Change Log v1.7.0 (2017-12-12) Full Changelog <strong>Implemented enhancements:</strong> Adding PX4 precompiled 1.6.5 Firmwares #8326 Consider SF1xx Driver for 1.7 Release #8177 Standard way to disable internal magnetometer? #8059 NuttX enable CONFIG_MEMSET_OPTSPEED #7815 add MAVLink FLIGHT_INFORMATION support #7706 FW Minimum Airspeed scaling for banked stall avoidance #7572 Be smart about using MAVLink 2.0 #7246 Bit-banding for atomic flag access on STM32 #7183 HC_SR04 driver needs cleanup #7168 Snapdragon Flight ESC support #6962 Create pure racer config #6780 Gazebo HIL #6631 listener does not work for subtopics #6607 Reduce effect of estimator vertical velocity errors #8445 (priseborough) ekf2: relax preflight yaw check when possible #8424 (priseborough) cmake NuttX wrapper work around windows cygwin path issues #8397 (dagar) QuadChute monitor tecs height rate #8395 (sanderux) vtol_att_control increase stack by 30 Bytes (1200 -&gt; 1230) #8390 (dagar) px4io delete old v1 battery current and voltage #8353 (dagar) fw_pos_control_l1 increase stack by 100 Bytes #8348 (dagar) Update the Description of the estimator_status Message #8346 (acfloria) nuttx-configs remove cu and mount example #8344 (dagar) cmake nuttx build and link libnet if networking is enabled #8314 (dagar) Scale FW cruise throttle based on baro pressure #8304 (sanderux) Add a driver for the ADIS16448 IMU #8301 (ASM3) add boolean parameters to enable/disable each sensor #8283 (dagar) SDP3x Airspeed Correction #8242 (acfloria) Adaptive quadchute #8144 (sanderux) logger: Add logging profile to support comparison of multiple sensors #8134 (priseborough) RTPS and micro-CDR build system improvements #8084 (dagar) Positon Controller: multiple small refinements #8072 (MaEtUgR) Generate mixers from description of multicopter geometry #8063 (jlecoeur) Check mag sensor for consistency before flight #8039 (priseborough) Acro: SuperExpo Stick Input #8036 (MaEtUgR) sitl: add possibility to not run gazebo when running make #7965 (JonasVautherin) VTOL back transition: check only forward velocity #7948 (sanderux) Factor in reverse pusher delay on mission acceptance radius #7915 (sanderux) FW position failsafe defaults #7894 (dagar) delete control_state and cleanup vehicle_attitude #7882 (dagar) NuttX upgrade split UAVCAN bootloaders into separate repository #7878 (dagar) Reverse pusher delay #7877 (sanderux) Remove thrust_sp from pusher assist calculation #7865 (sanderux) [RFC] Make NuttX drivers cross platform (VDev -&gt; CDev) and MS4525 linux driver #7864 (dagar) Allow position failsafe sensitivity to be adjusted for different platform types #7842 (priseborough) Disable pusher assist for quadchute failsafe and while landing #7782 (sanderux) Support thrust reversal for vtol back transition #7666 (sanderux) commander RTL failsafe should be sticky #7576 (dagar) FW raise min airspeed based on commanded bank #7575 (dagar) FW landing abort use reposition #7574 (dagar) EKF: Enable compensation for static pressure positional error #7264 (priseborough) <strong>Fixed bugs:</strong> v1.7-rc3 'hangs' for split second after arm/disarm #8413 MC: LowBat RTL Performed at 5m Alt instead of 50m! #8408 ECL__Lib EKF stopping navigation -&gt; Meaning? #8401 MR: uncontrollable altitude gain when engaging auto or rtl #8400 F450 with Pixhawk 1 - f63c821 crash #8398 F450 with Pixhawk 3 Pro v1.7.0-rc3 crash #8392 RTL issues with multiCopter #8389 FW crash v1.7.0-rc2 #8380 PX4 1.6.5 Stbl: Loiter switching BUG. #8376 Potential critical NuttX alignment issue #8367 Fixed Wing reject auto mission #8361 [SubmodulesClean] error 1 #8333 Solo PREFLIGHT FAIL: MAG SENSORS INCONSISTENT #8305 F450 frame with Pixhawk mini crash - v1.7.0-rc1 #8299 Error compiling v1.7.0-rc1 for eagle_default target #8297 krait update param failed #8280 Protocol splitter is not sending any messages on UART #8262 RTL issues with multiCopter #8257 EKF2 Altitude estimation problem on Release 1.6.5 Stable #8256 Bug: Firmware does not build if submodule #8255 sensors voter not using SENS_BARO_QNH #8252 MISSION_ITEM_REACHED not sent in SITL #8245 rsync error when building the px4/firmware #8239 Battery remaining inversed when compensating for load #8198 Travis is not returning current master commit #8197 VTOL crash on V4Pro #8186 HIL: can't arm with latest versions #8176 Possible Lidar "double-correction" bug #8163 Param generation broken #8122 BUG on EKF2 when the PX4Flow goes invalid #8102 PX4_simple_app not in Builtin App List? #8087 Nuttx missing tag nuttx-7.21 in repo #8070 make: *** [px4fmu-v2_default] Error 2 #8034 sitl gazebo error DODECA_TOP_COX #7978 PX4IO calling <code>new</code> off ISR from DMA #7971 Pixhawk i2c bus lost (after missing ACK/NAK ?) #7968 previous main state isn't changing #7947 Logging fails on current master #7911 Gazebo8 protoc version conflict on Mac #7872 Mixer of Bormatec Maja not working in Manual Override #7861 Remove Support for Artistic Style Version 2.05.1 (Ubuntu 16.04) #7818 Land detector issues #7768 vmount causes system freeze #7755 Mag timeout current master #7746 Mission takeoff almost no thrust and does not take off #7737 Pixhawk 2.1 internal/external bus detection #7696 make: *** [px4fmu-v2_default] Error 2 #7612 FW Land mode = crash #7609 Battery Monitor not working on PixHawk Mini #7603 BUG: Code dependent on the compiler #7597 PX4 1.6.3: Strange problem with Airspeed-less transition. #7545 [PixHawk3] Accel1 startup bias huge changes #7541 Pixhawk Pro (V4Pro) Quad near flyaway #7495 Out-of-tree module build is broken #7409 Stuck during mission, if altitude higher than max height #7309 FCU:[lpe] gps fault 0.00120141 0.904114 0.156308 0.10 #7089 Setpoint raw issues Mavros ROS #7068 tailsitter after transiton to FW,can not control, has been flying straight line #7063 no_sim=1 make posix_sitl_default gazebo not work #7059 No RC input px4fmu-v4pro_default #7054 Oscillations on actuators with full thrust and roll ~ 45 degree #7051 LPSP.VZ jump during POSCTL #7048 FTP read file timeouts #6984 Failsafe mode on while in OFFBOARD mode #6982 Compiler is not emitting vsqrt.f32 on ARM Cortex M4F targets #6838 FLAPS: Does not work in 1.6.0 RC1 #6827 Preflight EKF error checking is linked to GPS #6797 Slow optical flow drift in SITL #6772 Pixhawk Pro lockup after mag cal #6712 RC lost with no GPS #6617 SITL stops with negative time #6602 commander: Fix pre-flight delta velocity bias check level #8446 (priseborough) NuttX update to latest 7.22+ with pipes poll fix #8431 (dagar) Fix uncontrolled height gain in hold/loiter mode #8418 (priseborough) mc_pos_control: set triplets to NAN if not in auto mode #8412 (Stifael) Update ekf2 to version with fixes for 1.7.0 release #8406 (priseborough) IO override fix #8384 (LorenzMeier) Potential critical NuttX alignment issue in bss prophylactic fix. #8382 (davids5) Fix vulnerability in pre flight checks and failsafe #8374 (priseborough) Increase fixed-wing l1 navigation radius limit #8365 (AndreasAntener) RTL fix RTL_LAND_DELAY behaviour #8351 (dagar) Removed [cal] references from calibration_log_critical() routines. #8347 (dagar) Merge FMUv3 into FMUv2 #8343 (dagar) fix MISSION_ITEM REACHED message broadcast #8332 (lamping7) simplify param scoping (fix out of tree builds) and fix qurt fc_addon linking #8325 (dagar) cmake nuttx keep builtins generated by nuttx apps #8323 (dagar) sensors remove barometer enabled check for now #8291 (dagar) mc_pos_control: smooth takeoff does not require slewrate #8282 (MaEtUgR) ecl: Update ekf2 to version that addresses known vulnerabilities #8276 (priseborough) integrationtests: fix numpy version problem (broken Jenkins) #8274 (korigod)

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