PX4固件2017年12月版(V1.7.1)试飞演示与测评

最近测试了下PX4固件最新版的固件，V1.7固件是一个有很多更新的固件，从1.6到1.7。更新和修复BUG很多种，官方的修订说明很长。增加了一个adis16448 IMU单元的支持。该IMU单元巨贵无比，难道添加了这个传感器，对于油动固定翼支持就比较好了？我没有测试过不知道，下面是淘宝报价感受一下：

巨贵无比，SPI接口的，这是以往固件没有的东西。PX4官方也希望更多的周边元器件厂商加入到PX4体系中来，只要向PX4官方提供代码，就可以把公司的产品卖向全世界，无人机周边元器件厂商可以关注下！大家还可以感受下官方的修复说明，1.7的改动还是非常大的：

Implemented enhancements:

• 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 -> 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 -> 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)

Fixed bugs:

• 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 -> Meaning? #8401

太多了，在这里给出跳转链接，自己慢慢研究：https://github.com/PX4/Firmware/releases

以下是我们的测试视频，装好就飞，没有任何PID调参。就定点飞行的效果而言，要比以往的好些，当然也有可能机架的原因，下面的是测试飞行的视频。包括自稳模式 ，定点， 定高， HOLD， 一键起飞，自动飞行等等模式。顺便做下广告我们的这款300轴距左右的小飞机，用来做研发和验证是极好的，安全性不错，我们的淘宝店有售。我们平时做算法验证也是用这款飞机，售价也不贵，比自己组装的F50机架的飞机好用和便宜很多。

无人机测试视频地址：https://v.qq.com/x/page/s0529uhhzmj.html

任务航点模式测试视频地址：https://v.qq.com/x/page/e0529jbaoif.html