apx-ap

Changelog

All notable changes to the APX Autopilot Firmware will be documented in this file.

APX Firmware v11.2.9 (06/03/25)

Branch: main
Date: 06/03/25 19:53:48
Diff: uavos/apx-fw

New Features

• dev blocking by error rate

Bug Fixes

• slip control at low ground speed
• build nav R41
• xcan filter rx
• warning for gps RS1
• mag calibration pkt routing
• disconnect mission
• include module
• debug FDCAN

APX Firmware v11.2.8 (05/06/25)

Branch: main
Date: 05/06/25 11:56:18
Diff: uavos/apx-fw

New Features

• temp sensors via adc

Bug Fixes

• request timeout in mdb
• request data for PubConnection
• temp imu icm42688
• event sub connection
• gain ktas
• landing on missing runway behavior
• voltage mode for ADC
• check local data
• local pub bind
• transform setpoint to body angular rates

Performance Enhancements

• remove old async mission signals

APX Firmware v11.2.7 (03/24/25)

Branch: main
Date: 03/24/25 21:08:24
Diff: uavos/apx-fw

Bug Fixes

• min tc for yaw reg

APX Firmware v11.2.6 (01/27/25)

Branch: main
Date: 01/27/25 18:22:44
Diff: uavos/apx-fw

Bug Fixes

• use cmd roll in coordinated turn rate bias control

Performance Enhancements

• fully static sub via template

APX Firmware v11.2.5 (01/16/25)

Branch: main
Date: 01/16/25 21:28:32
Diff: uavos/apx-fw

Bug Fixes

• no mission warning message
• Takeoff cancel if no runway
• remove repeated console messages on missing takeoff runway
• STBY min radius for VTOL

Performance Enhancements

• atomize regulators
• Pub via template

APX Firmware v11.2.4 (01/08/25)

Branch: main
Date: 01/08/25 21:01:50
Diff: uavos/apx-fw

New Features

• altitude tracking wpt navigation mode

Bug Fixes

• protect LD/TO/TAXI modes from fly-to-here GCS commands

Performance Enhancements

• wp switch behavior refactoring

APX Firmware v11.2.3 (01/06/25)

Branch: main
Date: 01/06/25 19:18:43
Diff: uavos/apx-fw

Security updates

APX Firmware v11.2.2 (12/23/24)

Branch: main
Date: 12/23/24 19:27:56
Diff: uavos/apx-fw

New Features

• mag reset command
• EKF status reporting

Bug Fixes

• estimator init
• axis for mmc5983
• mag declination for sim

APX Firmware v11.2.1 (12/19/24)

Branch: main
Date: 12/19/24 08:57:20
Diff: uavos/apx-fw

Bug Fixes

• pitot estimator time

APX Firmware v11.2.0 (12/07/24)

Branch: main
Date: 12/07/24 11:28:47
Diff: uavos/apx-fw

New Features

• user data from xplane to sim

Bug Fixes

• trim zero for yaw
• type for trim zero
• distance to vehicle

Performance Enhancements

• mdb Sub as static class template
• mdb static lists

APX Firmware v11.1.26 (08/08/24)

Branch: main
Date: 08/08/24 14:54:08
Diff: uavos/apx-fw

Bug Fixes

• invalid samples for icm42688
• reading FIFO for icm42688
• VOLZ protocol
• reset ekf

APX Firmware v11.1.25 (06/19/24)

Branch: main
Date: 06/19/24 20:57:27
Diff: uavos/apx-fw

New Features

• WPT mode wp passed signal via stage=1
• script vmexec with arg

Bug Fixes

• XPDR and telemetry refactoring
• MAVEV vmexec via NAMED_VALUE_FLOAT
• MAVEV go WPT mode from STBY on MISSION_SET_CURRENT

APX Firmware v11.1.24 (05/23/24)

Branch: main
Date: 05/23/24 17:30:05
Diff: uavos/apx-fw

Bug Fixes

• ahrs & shiva config updaters
• HRT timer scheduler bug
• HRT timer scheduler bug
• ahrs & shiva config updaters

APX Firmware v11.1.23 (05/21/24)

Branch: main
Date: 05/21/24 22:37:22
Diff: uavos/apx-fw

New Features

• safety datalink timeout

Bug Fixes

• publishers schedule
• GPIO LLD events init don’t touch pin config

APX Firmware v11.1.22 (05/19/24)

Branch: main
Date: 05/19/24 18:28:55
Diff: uavos/apx-fw

Bug Fixes

• SPI over DMA for H7
• MAVEV mission controls
• TECS min speed
• HUB interfaces mutual exclusion
• MDB publisher init
• publishers thread safety

APX Firmware v11.1.21 (05/12/24)

Branch: main
Date: 05/12/24 20:01:23
Diff: uavos/apx-fw

New Features

• MAVLINK mission control
• VTOL fly to hover transitions
• heli hover velocity control

Bug Fixes

• AHRS default tune
• Telemetry mode for VCP
• maneuvers logic
• VTOL low speed TECS
• AHRS airdata mode fix (wind speed)
• feed forward for governor
• min prop for kff
• landing height source option

APX Firmware v11.1.20 (05/07/24)

Branch: main
Date: 05/07/24 09:18:23
Diff: uavos/apx-fw

Bug Fixes

• sim macos universal binary

APX Firmware v11.1.19 (05/06/24)

Branch: main
Date: 05/06/24 20:22:28
Diff: uavos/apx-fw

Bug Fixes

• dataset for telemetry
• MAVLINK byte re-ordering
• dataset for telemetry
• init PWM
• xusb TX error messages when disconnected
• silent disabled protocols module children
• Wind Estimator for VTOL
• validate all binded controls in mixer on init
• Wind Estimator for VTOL
• gspeed enables AHRS airdata
• use VSI for AHRS airdata for VTOL
• helipad landing speed control
• protocols module enabled check
• add VPS variances

Performance Enhancements

• gpio mixer fixes

APX Firmware v11.1.18 (04/10/24)

Branch: main
Date: 04/10/24 11:08:03
Diff: uavos/apx-fw

New Features

• shock/busy CPU test commands

Bug Fixes

• VCP rx fifo ovf handling
• stop bits conf options
• VCP rx fifo full errors spam
• MAVLINK HEARTBEAT stream
• MAV_MODE_FLAG_SAFETY_ARMED by default is true
• MAV base_status msg flags

APX Firmware v11.1.17 (03/25/24)

Branch: main
Date: 03/25/24 15:08:05
Diff: uavos/apx-fw

Bug Fixes

• MAVLINK TIMESYNC units (nanosec)
• MAVLINK packets reception on multiple consecutive messages

APX Firmware v11.1.16 (03/19/24)

Branch: fix-heli-turns
Date: 03/19/24 21:43:55
Diff: uavos/apx-fw

New Features

• airspeed control refactoring for VTOL

Bug Fixes

• VCP reconfiguration and bundle sub duplicates check
• VTOL hover transitions (exit to HDG)
• climb/sink rate gains

APX Firmware v11.1.15 (03/12/24)

Branch: main
Date: 03/12/24 12:39:03
Diff: uavos/apx-fw

Bug Fixes

• raw GPS velocities for MAVLINK msg

APX Firmware v11.1.14 (03/11/24)

Branch: main
Date: 03/11/24 20:02:09
Diff: uavos/apx-fw

New Features

• conf parameters for yaw control coordinated turns

Bug Fixes

• coordinated turn VSO bottom limit
• contstraints for slip and roll for turns
• conf fields refactoring

APX Firmware v11.1.13 (02/26/24)

Branch: main
Date: 02/26/24 14:09:00
Diff: uavos/apx-fw

Bug Fixes

• nav.R4 16kHz IMU timing
• drop first IMU reads after reset
• nav.R4 MAVLINK protocols

APX Firmware v11.1.12 (02/23/24)

Branch: main
Date: 02/23/24 09:01:05
Diff: uavos/apx-fw

Bug Fixes

• pos state for landing
• MMC5983 DRDY pull up
• mmc5983 mag body frame
• configure pwm
• condition for limit cmd_roll
• title in vcp
• quantity channels for r4 node

APX Firmware v11.1.11 (02/01/24)

Branch: main
Date: 02/01/24 09:14:59
Diff: uavos/apx-fw

New Features

• bias for sim data

Bug Fixes

• SPI over DMA for H7
• Ubuntu 20.04 LTS release build for SIM node
• protocols FIFO
• posix stack size constraints
• xudp task config temporary
• RS485 de re

Performance Enhancements

• wasm build optimizations

APX Firmware v11.1.10 (11/20/23)

Branch: main
Date: 11/20/23 16:28:45
Diff: uavos/apx-fw

New Features

• bias for sim data
• VCP receiver timeout packetization

Bug Fixes

• UART timeout based receiver

APX Firmware v11.1.9 (11/10/23)

Branch: main
Date: 11/10/23 09:00:52
Diff: uavos/apx-fw

Security updates

APX Firmware v11.1.8 (11/05/23)

Branch: main
Date: 11/05/23 16:43:22
Diff: uavos/apx-fw

Performance Enhancements

• WASM engine upgrade

APX Firmware v11.1.7 (09/17/23)

Branch: main
Date: 09/17/23 18:49:46
Diff: uavos/apx-fw

New Features

• using auto flaps if VSI > VC
• UDP interface for C2
• SIM CLI for UDP configurations
• nav.R4 base node firmware

Bug Fixes

• block_rc in pitch
• AuxController
• mutex unlock
• Air brake controller
• circles count in STBY mode
• STBY mode timeout
• airbrk controller
• flaps controller
• descr in VSI speed
• touchdown stage
• touchdown and flare stage
• RC mode
• PWM in NAV module
• PWM in MHX module
• can in F7
• matrix scalar operators (sub,div)
• SPI baud rate configuration
• perf load int math rounding fix
• flash lld driver F7/F4 large fw upload blocks
• SPI multiple bus devices DMA config bug important
• driver for lsm9ds1
• LSM9DS1 flip axis
• description PWM
• merge file
• bias in GPIO
• type for custom literal
• SBUSRX

Performance Enhancements

• imu integrators and flip routines
• UART irq and IMU jitter
• optimize CPU load sampler
• HAL gpio driver refactoring
• math libs update

APX Firmware v11.1.96 (08/06/22)

Branch: main
Date: 08/06/22 17:27:47
Diff: uavos/apx-fw

New Features

• telemetry slots auto requests

Bug Fixes

• PWM in com.DLF1
• mandala reports values init
• L1 track mode waypoints triggers (closes 2)
• ATS module

Performance Enhancements

• telemetry streams and auto sync
• binary search for telemetry streamer
• static subs

APX Firmware v11.1.60 (03/22/22)

Branch: dev
Date: 03/22/22 17:36:15
Diff: uavos/apx-fw

Bug Fixes

• launcher procedure

Performance Enhancements

• EKF upgrade
• Matrix math update
• AHRS magnetometer faults mgmt

APX Firmware v11.1.52 (03/16/22)

Branch: main
Date: 03/16/22 00:06:48
Diff: uavos/apx-fw

New Features

• new range of cas sensors
• JetCat protocol
• analog input module
• ktas gain
• power ap on and pwr check on takeoff

Bug Fixes

• PWM in ifc device
• mux config in ifc
• ktas gain
• JetCat protocol
• WASM serial port packet size

APX Firmware v11.1.51 (03/16/22)

Branch: main
Date: 03/16/22 00:06:21
Diff: uavos/apx-fw

Security updates

APX Firmware v11.1.49 (03/15/22)

Branch: main
Date: 03/15/22 23:46:33
Diff: uavos/apx-fw

Security updates

APX Firmware v11.1.47 (03/15/22)

Branch: main
Date: 03/15/22 22:03:37
Diff: uavos/apx-fw

New Features

• new range of cas sensors
• JetCat protocol
• analog input module
• ktas gain
• power ap on and pwr check on takeoff

Bug Fixes

• PWM in ifc device
• mux config in ifc
• ktas gain
• JetCat protocol
• WASM serial port packet size

APX Firmware v11.1.21 (02/11/22)

Branch: main
Date: 02/11/22 20:08:46
Diff: uavos/apx-fw

New Features

• com-DLF1 board introduction and HW mappings
• MMC5983 magnetometer driver
• VCP UARTs as Identity links

APX Firmware v11.1.19 (02/11/22)

Branch: main
Date: 02/11/22 19:59:37
Diff: uavos/apx-fw

New Features

• com-DLF1 board introduction and HW mappings
• MMC5983 magnetometer driver
• VCP UARTs as Identity links

APX Firmware v11.1.6 (02/04/22)

Branch: ekf
Date: 02/04/22 16:21:38
Diff: uavos/apx-fw

Performance Enhancements

• apx-math removal, better math for EKF

APX Firmware v11.1.1 (01/29/22)

Branch: main
Date: 01/29/22 20:16:15
Diff: uavos/apx-fw

New Features

• heli hover regulators
• heli hover transitions
• engine governor with procedures
• engine regulator procedures
• engine warning est
• heli hover climb/sink limits
• sim vehicle UID by callsign (22)
• sim bias airspeed sensor

Bug Fixes

• TAS for Energy estimations
• LANDING pattern estimators
• L1 loiter near circle center
• ProcTO launcher and STBY
• imu sensor orientation in gps

Performance Enhancements

• shiva controllers refactoring

APX Firmware v11.0.122 (05/20/21)

Branch: main
Date: 05/20/21 17:04:48
Diff: uavos/apx-fw

New Features

• uptime telemetry provider
• AHRS mutex protection
• fuel estimator
• WASM vmexec requests support
• fuel sensor processing

Bug Fixes

• mission online update for WPT, LD, TO
• throttle cut behavior on takeoff
• inner loops validation and config check

APX Firmware v11.0.105 (05/08/21)

Branch: main
Date: 05/08/21 16:19:08
Diff: uavos/apx-fw

New Features

• TECS altitude priority operation (TO/LD)
• throttle block option on landing finished
• slip estimator with sensors data
• stability estimator
• stability gains and trims for attitude controllers
• U-turns optimization option
• mission item select commands for WPT and TAXI

Bug Fixes

• bearing management for L1 controllers

APX Firmware v11.0.94 (05/05/21)

Branch: main
Date: 05/05/21 21:45:28
Diff: uavos/apx-fw

New Features

• landing cancel procedure stage

Bug Fixes

• LD proc brakes off on APP vs INIT

APX Firmware v11.0.91 (05/04/21)

Branch: main
Date: 05/04/21 15:49:50
Diff: uavos/apx-fw

New Features

• STBY circle adjust
• documentation files
• runway takeoff safety auto checks

Bug Fixes

• pitch in telemetry stream packing
• att cmd limit for RC overrides
• telemetry aux data format handling

APX Firmware v11.0.68 (04/20/21)

Branch: main
Date: 04/20/21 16:37:27
Diff: uavos/apx-fw

New Features

• controls protection on AHRS failures
• gyro and acc critical failure protection
• AHRS in-air reset
• procedures protection against AHRS failures

Bug Fixes

• node reset configuration procedure

APX Firmware v11.0.62 (04/17/21)

Branch: main
Date: 04/17/21 17:09:46
Diff: uavos/apx-fw

New Features

• VCP UARTs
• VCP telemetry mode
• ifc node VCP ports

Bug Fixes

• nav gpio P1-2 fix

Performance Enhancements

• module status inheritance
• identity module fixes
• NMT modules addressing through indexes
• vehicle identity refactoring

APX Firmware v11.0.50 (04/15/21)

Branch: main
Date: 04/15/21 16:58:31
Diff: uavos/apx-fw

New Features

• COM node tested

Bug Fixes

• shell report for tasks

APX Firmware v11.0.48 (04/15/21)

Branch: main
Date: 04/15/21 16:49:48
Diff: uavos/apx-fw

New Features

• COM node tested

Bug Fixes

• shell report for tasks

APX Firmware v11.0.46 (04/15/21)

Branch: main
Date: 04/15/21 13:49:31
Diff: uavos/apx-fw

New Features

• COM node tested

Bug Fixes

• shell report for tasks

APX Firmware v11.0.43 (04/13/21)

Branch: main
Date: 04/13/21 19:10:38
Diff: uavos/apx-fw

New Features

• sim app self reboot

Bug Fixes

• conf hash auto update
• telemetry config change online update
• mission file hash
• system time t0 for sim

Performance Enhancements

• nodes shell and modules

APX Firmware v11.0.19 (03/13/21)

Branch: main
Date: 03/13/21 16:10:53
Diff: uavos/apx-fw

Optimizations

• TECS control refactoring

APX Firmware v11.0.17 (03/13/21)

Branch: main
Date: 03/13/21 12:14:50
Diff: uavos/apx-fw

Bug Fixes

• cmd_tecs reg on landing span from config

APX Firmware v11.0.15 (03/11/21)

Branch: main
Date: 03/11/21 14:12:37
Diff: uavos/apx-fw

Bug Fixes

• cmd_tecs reg on landing span from config

APX Firmware v11.0.12 (02/28/21)

Branch: main
Date: 02/28/21 09:00:57
Diff: uavos/apx-fw

Security updates

APX Firmware v11.0.10 (02/21/21)

Branch: main
Date: 02/21/21 14:49:14
Diff: uavos/apx-fw

New Features

• controls NaN protect

Bug Fixes

• tasks mutexes and conditional vars on linux
• no runway landing goes to STBY

APX Firmware v11.0.6 (02/19/21)

Branch: main
Date: 02/19/21 22:37:28
Diff: uavos/apx-fw

Bug Fixes

• mag sim

APX Firmware v11.0.2 (02/04/21)

Branch: main
Date: 02/04/21 12:14:34
Diff: uavos/apx-fw

Security updates