PX4 firmware December 2017 version (V1.7.1) test flight demonstration and evaluation

Recently tested the latest version of the PX4 firmware, the V1.7 firmware is a firmware with many updates, from 1.6 to 1.7. There are many kinds of updates and bug fixes, and the official revision instructions are very long. Added support for an adis16448 IMU unit. The IMU unit is extremely expensive. Is it better to add this sensor to support the oil-moving fixed wing? I haven't tested it, I don't know, the following is the Taobao quotation to feel it:

It is extremely expensive and has an SPI interface, which is something that the firmware did not have in the past. The PX4 official also hopes that more peripheral component manufacturers will join the PX4 system. As long as the code is provided to the PX4 official, the company's products can be sold to the world. UAV peripheral component manufacturers can pay attention! You can also feel the official repair instructions, the changes in 1.7 are still very big:

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 (days)

• 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