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f9fdda1a29
Make the logger practical on small flash storage (e.g. 128 MB W25N
NAND) while keeping the existing SD-card behaviour sensible.
- Move cleanup from boot to log start so logs can be downloaded via
MAVLink FTP before deletion.
- Delete individual .ulg files (oldest first) instead of whole
directories, prioritising the naming scheme not currently in use
(session dirs vs date dirs).
- Add SDLOG_MAX_SIZE (new, default 1024 MB): maximum size of a single
log file. When reached, the log rotates to a new file. The value is
also reserved as headroom in the cleanup threshold.
- Add SDLOG_ROTATE (new, default 90): maximum disk usage percentage.
Cleanup guarantees (100 - SDLOG_ROTATE)% free at all times, even
during writing of a new log file. 0 disables space-based cleanup,
100 allows filling the disk.
- Repurpose SDLOG_DIRS_MAX as an orthogonal directory-count cap
(default 0 = disabled). Useful for capping log usage by count
independent of disk size, e.g. in SITL.
- Drop the implicit ~300 MB free-space floor that used to fire even
with SDLOG_DIRS_MAX=0; space is now governed entirely by
SDLOG_ROTATE + SDLOG_MAX_SIZE.
- Split pure parsing helpers into util_parse.{h,cpp} and add unit
tests (loggerUtilTest.cpp).
- Simplify get_log_time to rely on clock_gettime (set by the GPS
driver); safer string handling in directory parsing.
- Reset _total_written in LogFileBuffer::reset() so callers reading
get_total_written() between stop and start don't see stale counts.
Sponsored by CubePilot.
8.3 KiB
8.3 KiB
PX4-Autopilot Main Release Notes
<script setup> import { useData } from 'vitepress' const { site } = useData(); </script>This page is on a release branch, and hence probably out of date. See the latest version.
This contains changes to PX4 main branch since the last major release (PX v1.16).
::: warning
PX4 v1.17 is in alpha/beta testing.
Update these notes with features that are going to be in main (PX4 v1.18 or later) but not the PX4 v1.17 release.
:::
Read Before Upgrading
- Log rotation is now enabled by default. Previously, a single log file grew for the entire flight and old logs were only deleted at boot once free space fell below a fixed 300 MB floor. The logger now caps each log file at SDLOG_MAX_SIZE (new parameter, default
1024MB) and keeps a configurable percentage of the disk free via SDLOG_ROTATE (new parameter, default90, so at least 10% free). Cleanup runs at log start rather than boot, so logs can still be downloaded via FTP before they are deleted. See Log Cleanup for details. SDLOG_DIRS_MAXbehaviour changed: it is now an orthogonal directory-count cap that runs on top of the new space-based cleanup, and the default is0(disabled). Previously it enforced a fixed ~300 MB free-space floor even when set to0. If you relied on that implicit floor, set SDLOG_ROTATE instead.
Please continue reading for upgrade instructions.
Major Changes
- TBD
Upgrade Guide
Other changes
Hardware Support
- TBD
Common
- Remote ID (Open Drone ID) in-flight failsafe: extended COM_ARM_ODID to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on
COM_ARM_ODID=2retain the same arming behaviour; set to3or higher to enable the in-flight action. (PX4-Autopilot#27029) - QGroundControl Bootloader Update via the SYS_BL_UPDATE parameter has been re-enabled after being broken for a number of releases. (PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade).
- Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order. (PX4-Autopilot#25602: Ascending and descending manual control input priorities).
Control
- Added new flight mode(s): Altitude Cruise (MC), Altitude Cruise (FW). For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise).
Estimation
- Added EKF2_POS_LOCK to force constant position fusion while landed, useful for vehicles relying on dead-reckoning sensors (airspeed, optical flow) that provide no aiding on the ground.
Sensors
- Add sbgECom INS driver (PX4-Autopilot#24137)
- Quick magnetometer calibration now supports specifying an arbitrary initial heading (PX4-Autopilot#24637)
Simulation
- SIH: Add option to set wind velocity (PX4-Autopilot#26467)
Debug & Logging
- Asset Tracking: Automatic tracking and logging of external device information including vendor name, firmware and hardware version, serial numbers. Currently supports DroneCAN devices. (PX4-Autopilot#25617)
- Logger: support for small flash storage (e.g. 128 MB W25N NAND on kakuteh7mini, kakuteh7v2, airbrainh743). Logs can now be written directly to an internal littlefs volume instead of requiring an SD card.
- Logger: reworked log rotation and cleanup. Log rotation is now on by default, and cleanup runs at log start rather than boot so logs can be downloaded via FTP before being deleted.
- New SDLOG_MAX_SIZE (default
1024MB) caps the size of a single log file; once reached, the logger closes the current file and starts a new one. - New SDLOG_ROTATE (default
90) sets the maximum disk usage percentage. Cleanup guarantees(100 - SDLOG_ROTATE)%of the disk stays free at all times, even while writing a new log file. Set0to disable space-based cleanup,100to allow filling the disk completely. SDLOG_DIRS_MAXis now an orthogonal cap on the number of log directories (default0= disabled), on top of the space-based cleanup driven bySDLOG_ROTATEandSDLOG_MAX_SIZE. SITL defaults to7.
- New SDLOG_MAX_SIZE (default
Ethernet
- TBD
uXRCE-DDS / Zenoh / ROS2
- TBD
MAVLink
- TBD
RC
- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
Multi-Rotor
- Removed parameters
MPC_{XY/Z/YAW}_MAN_EXPOand use default value instead, as they were not deemed necessary anymore. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise). - Renamed
MPC_HOLD_DZtoMAN_DEADZONEto have it globally available in modes that allow for a dead zone. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise).
VTOL
- TBD
Fixed-wing
- TBD
Rover
- TBD
ROS 2
- TBD