PX4 1.11 Beta is here! Community Testing Week Starts Today!

[JingerZ]

The PX4 dev team is getting ready for 1.11 release, and Community Testing Week will last from April 13th to April 21st. We’ll be releasing the stable 1.11 after halting all new changes and fixing bugs reported during the community testing week.

Please get involved by providing test feedback for us with the following procedure:

1. Flash via QGC with “PX4 1.11 Beta”

2. If the test is successful, please post to the thread here with a confirmation. What would be awesome in the reporting:

   • Your test case and procedure (bench test, autopilot make and model, vehicle type etc. )
   • Flight log

3. If you discovered a bug, please report on Github issue, so our maintainers can quickly triage:

   • This is the kind of feedback we desperately need in order to get to a v1.11.0 stable release - https://github.com/PX4/Firmware/issues/14640 (Side by side comparison of a good working setup in v1.10.0 upgraded v1.11.0-beta)

4. Join the #release channel on PX4 Slack

[rroche]

Here’s the release notes draft for v1.11

[WIP] v1.11.0 Release Notes

Awesome post @JingerZ

[cuhome]

HI；jingger;I used CUAV v5 nano for the quadrotor test; I found that it requires a larger pid than the previous firmware, and the altitude hold mode will fluctuate within a certain altitude range; but unfortunately, I found that The altitude error will occur on the first flight (change from stable mode to altitude hold mode, the altitude will drop quickly;) It only appears on the first flight after connecting the battery; if I do not restart the flight control, I will perform the same take-off operation; The height maintenance is normal.
log: https://logs.px4.io/plot_app?log=cf5fc3ca-4cc6-4e68-ac49-c63bc0b2ecee
Switching mode alt reduce log ：https://logs.px4.io/plot_app?log=6b774a27-5f7a-403f-ade2-0c53df838ebc

[mogu_pu]

Holybro durandal with PX4 1.11beta
S500 frame , Motor 2216 880kv, BLHeli_S ESC, Prop 1045, 4S LiPo battery

flight log:
https://logs.px4.io/plot_app?log=e0a6d432-0b8b-4e3e-af0b-4b5cafa38a5a

[dpsoul]

IFO, IFO-S with current master as of today.

[JingerZ]

Do you have a log, Hyon?

[dagar]

Thanks @cuhome. The altitude error you reported has been fixed in master (MPC: initialize hover thrust with parameter even if using HTE by bresch · Pull Request #14715 · PX4/PX4-Autopilot · GitHub) and will be included in the next beta.

I found that it requires a larger pid than the previous firmware

Which PIDs did you need to change?
At a glance for your vehicle it looks like you could increase IMU_GYRO_CUTOFF from the conservative default 30 Hz. You could also switch to DSHOT or OneShot instead of legacy PWM output to further improve performance.

[dagar]

Holybro durandal with PX4 1.11beta
S500 frame , Motor 2216 880kv, BLHeli_S ESC, Prop 1045, 4S LiPo battery

flight log:
https://logs.px4.io/plot_app?log=e0a6d432-0b8b-4e3e-af0b-4b5cafa38a5a

Thanks @mogu_pu, any issues to report? You might be interested in trying DSHOT with those ESCs.

[rroche]

Flight by @physicsman

Durandal First Flight (1.11.0 Beta)

Shaky for sure. Using a 4in1 esc on an S500 style frame. https://review.px4.io/plot_app?log=c87e57fa-8cfc-40d2-873b-1711b8030a2a

[physicsman]

Durandal with latest (1.11 Beta). Auto takeoff/land.
Twitchy with moments of stability.

Test Flight 1: https://logs.px4.io/plot_app?log=d46b4bee-09a8-4ae5-bac2-060ba6ffacc1

[physicsman]

This test flight was with a 1.11 I built. The one further down is the recent one flashed from the QGC Beta menu.

[WhiteBearSpirit]

Tried 1.11 Beta 2 on my 3DR Pixhawk Mini.
Central signal LED on my px was not working all the time. Is this intended?

Thank you for new temperature data!
By the way, when I tried to perform Thermal Calibration on my sensors, it didn’t work, just didn’t change anything. Is there any chance that it is broken in new firmware? Or maybe I did something wrong… It was my first try of Thermal Calibration so this is very likely.

[Dave84]

Good day,
Tested today the pre-release of v1.11.0 Beta 1, i’ve notice a high CPU overload not found in the previous version v1.10.1, im running on my fc version PX4_FMU_V4.
I’ve already posted this issue on the issue that must be fix
Regards

[taileron]

Hi, tried all 1.11 till Beta 2 on two systems in both I want to use it in tiltrotors and I´m very exciting about the new “pusher” tilt function.
All previous versions worked perfect on these systems.

FMU V3 can be installed on PixFalcon is it capable to do vtol despite V2 hardware?
But currently it doesn´t speak anymore with the Spektrum SPM4648 (manual control lost) in all other aspects it works.
Pixracer gets strange raw values from gyro 0 and acc 0 so gyro cal always ends with “motion retrying” error.
sensors status
INFO [sensors] gyro status:
INFO [ecl/validation] validator: best: 1, prev best: 1, failsafe: YES (4 events)
INFO [ecl/validation] sensor #0, prio: 1, state: TOUT ECNT
INFO [ecl/validation] val: 0.4073, lp: 0.1746 mean dev: 0.0076 RMS: 1.0619 conf: 0.0000
INFO [ecl/validation] val: 1.2216, lp: -0.1350 mean dev: 0.0624 RMS: 1.2962 conf: 0.0000
INFO [ecl/validation] val: -0.2300, lp: -0.0765 mean dev: -0.0917 RMS: 1.1297 conf: 0.0000
INFO [ecl/validation] sensor #1, prio: 100, state: OK
INFO [ecl/validation] val: -0.0058, lp: 0.0028 mean dev: -0.0000 RMS: 0.0023 conf: 1.0000
INFO [ecl/validation] val: -0.0019, lp: -0.0011 mean dev: 0.0000 RMS: 0.0019 conf: 1.0000
INFO [ecl/validation] val: 0.0027, lp: 0.0015 mean dev: 0.0000 RMS: 0.0014 conf: 1.0000
INFO [sensors] accel status:
INFO [ecl/validation] validator: best: 1, prev best: 1, failsafe: YES (4 events)
INFO [ecl/validation] sensor #0, prio: 1, state: TOUT ECNT
INFO [ecl/validation] val: -0.1547, lp: 6.1306 mean dev: 0.6197 RMS: 10.1262 conf: 0.0000
INFO [ecl/validation] val: 24.8830, lp: 6.1518 mean dev: -0.2533 RMS: 9.6765 conf: 0.0000
INFO [ecl/validation] val: 13.0815, lp: 6.6939 mean dev: 0.1947 RMS: 9.7891 conf: 0.0000
INFO [ecl/validation] sensor #1, prio: 100, state: OK
INFO [ecl/validation] val: 0.2108, lp: 0.2164 mean dev: 0.0005 RMS: 0.0379 conf: 1.0000
INFO [ecl/validation] val: 0.1070, lp: 0.0857 mean dev: 0.0001 RMS: 0.0378 conf: 1.0000
INFO [ecl/validation] val: -9.5672, lp: -9.6160 mean dev: -0.0002 RMS: 0.0269 conf: 1.0000
INFO [sensors] mag status:
INFO [ecl/validation] validator: best: -1, prev best: -1, failsafe: NO (0 events)

INFO [sensors] Airspeed status:
INFO [ecl/validation] no data

INFO [vehicle_acceleration] selected sensor: 2359306 (1)
INFO [vehicle_acceleration] bias: [0.000 0.000 0.000]
INFO [vehicle_acceleration] sample rate: 799.041 Hz

INFO [vehicle_angular_velocity] selected sensor: 2359306 (1)
INFO [vehicle_angular_velocity] bias: [0.000 0.000 0.000]
INFO [vehicle_angular_velocity] sample rate: 799.041 Hz

INFO [vehicle_air_data] selected barometer: 3997714 (0)
vehicle_air_data: cycle: 12001 events, 822591us elapsed, 68.54us avg, min 20us max 622us 93.233us rms
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 75, state: OK
INFO [ecl/validation] val: 101380.0000, lp: 101378.8125 mean dev: -0.0567 RMS: 4.3212 conf: 1.0000
INFO [ecl/validation] val: 30.7600, lp: 30.7019 mean dev: 0.0802 RMS: 0.0169 conf: 1.0000
INFO [ecl/validation] val: 0.0000, lp: 0.0000 mean dev: 0.0000 RMS: 0.0000 conf: 1.0000
nsh> listener sensor_gyro

TOPIC: sensor_gyro 2 instances

Instance 0:
sensor_gyro_s
timestamp: 399377360 (0.008741 seconds ago)
timestamp_sample: 399376921 (439 us before timestamp)
device_id: 3801098 (Type: 0x3A, SPI:1 (0x00))
x: -2.3780
y: 2.7612
z: 0.8742
temperature: 0.0000

Instance 1:
sensor_gyro_s
timestamp: 399392838 (0.004444 seconds ago)
timestamp_sample: 399392599 (239 us before timestamp)
device_id: 2359306 (Type: 0x24, SPI:1 (0x00))
x: 0.0080
y: 0.0018
z: 0.0081
temperature: 47.0700

[rroche]

Community, we are looking for help testing the following issue that is currently blocking the first release candidate.

https://github.com/PX4/Firmware/issues/14640

This issue was brought up during May 27th developer call, please see the meeting minutes (under estimation) for some instructions.

PX4 Dev Call: May 27, 2020

May 27, 2020 Agenda Status update by component/project Roadmap, and Release discussion Community Q&A In-Depth discussions Join Meeting Meeting ID: 946 175 205 Join using your mobile/desktop Call in using your phone, find your local number: https://zoom.us/u/aetSYKbiMF Component update System Architecture @dagar There’s a pr pending that changes the place where IMU data is integrated and synchronized. Before all the integration depending on the configured sampling rate was done in the ind…

Please share logs here if you can help test this behavior.

[taileron]

sorry, now I moved the PixRacer into issues.
the main question is: can I run PX4 V1.11 VTOL on an PixFalcon which gets flashed with FMU V3 Firmware but HW arch says FMU_V2

[taileron]

@PX4 Dev Call: May 27

Join Meeting Meeting ID

https://review.px4.io/plot_app?log=f48a48f7-2323-4909-b604-86541f206731
(Convergence Vtol, PixRacer R14 now all v1.11 imu issues fixed)
All other issues I had to prevent me from updating from 1.8.2 to 1.9.x are fixed in 1.11.0 - flight tests with FW vectored thrust will follow as soon as wind and weather allow it.
The overall behavior of 1.11 is great I like the combination of WV and VT FWD in strong winds. Mission now enables high stable forward speeds in hover. (unfortunately I did not dare to finish the mission …)
Two strange things I noticed: in position mode xy stick forward adds a lot of roll so that the airplane wobbles left and right or flies a tight curve instead of straight on. Shouldn’t WV be reduced when moving forward? And the altitude decreases a bit with time but this is not really bad in contrast to the roll effect at pitch stick forward. That could be seen in previous 3D log views sometimes that the plane flies under the ground at the end - provably baro drift?
Tried to compensate it with a temperature compensation of the baro but after tc the drift of the baro was worse so I set TC_B_ENABLE back to 0 again.