v1.14.3-rc3

Full Changelog: v1.14.3-rc1...v1.14.3-rc3

Build notes and Credit notes:
See here: https://github.com/w2016561536/PX4-Autopilot/releases/tag/v1.14.0-rc4

Flash and use: <中文版往下翻>

1. Download three bin files and esptool, or download burp.zip (included esptool and firm inside). You can download esptool from here: https://github.com/espressif/esptool/releases
2. If you download the burn.zip, unzip the folder inside, go into the folder burn, open the terminal here, execute esptool.exe write_flash 0x0 ./bootloader.bin 0x8000 ./partition-table.bin 0x10000 ./px4_esp32s3_default.bin. Or you can execute the bat script inside directly. Notice: Just connect only one serial device, i.e. only esp32s3, to your computer. If you need to specify the com port, you can use -p <COMPORT> to specify it. Example: esptool.exe -p COM1 write_flash 0x0 ./bootloader.bin 0x8000 ./partition-table.bin 0x10000 ./px4_esp32s3_default.bin
3. Esp32s3 ACM USB port is only used for download and power. UART0 is used as sNuttx Terminal. UART1 is used as Mavlink default, baudrate: 115200 8N1. UART2 is used as SBUS RC input as default. If you want to use SBUS on UART2. You need to enable UART2_RX_INV in QGC params setting. Also, UART1 can be used as SBUS RC input.
4. Wifi is used as Mavlink. You can connect to AP for QGC connection. Usually QGC will auto connect to the controller if wifi is connected. Wifi ssid: MY_PX4, passowrd: 12345678. If you want to edit SSID and password, you can edit in https://github.com/w2016561536/PX4-Autopilot/blob/e94b7efcf5cfdec7d0ffe85c62a3f56ba8b60ecc/boards/px4/esp32s3/nuttx-config/nsh/defconfig#L2117 . You need to recompile the full project.
5. If QGC cannot find the controller. Check your device's IP is 10.0.0.2 or not. You need to set ip manually if your IP is not 10.0.0.2. Full IP config: Address: 10.0.0.2, Gateway: 10.0.0.1, NetMask: 255.255.255.0. Do not connect more than 1 device at a time.

Build Notes (extra):

1. This release use this compile tool: https://github.com/espressif/crosstool-NG/releases/tag/esp-14.2.0_20240906
2. For this release, you should download esptool from here: https://github.com/espressif/esptool/releases . Do not download from pip or apt. This release uses version: v4.8.1.

烧录与使用：

1. 下载下方的三个bin文件与esptool工具，或者下载burp.zip，里面有固件和esptool工具。Esptool下载链接： https://github.com/espressif/esptool/releases
2. 如果你下载的是burp.zip，将里面的文件夹进行解压，进入burp文件夹，在文件夹空白处Shift+右键打开终端，执行 esptool.exe write_flash 0x0 ./bootloader.bin 0x8000 ./partition-table.bin 0x10000 ./px4_esp32s3_default.bin，或者直接执行文件夹内的bat脚本。注意，确保只连接ESP32这一个串口设备到电脑。如果你需要指定串口，可以在命令中带上-p <COMPORT>参数来指定参数，比如：esptool.exe -p COM1 write_flash 0x0 ./bootloader.bin 0x8000 ./partition-table.bin 0x10000 ./px4_esp32s3_default.bin
3. ESP32S3的USB串口只用作烧录程序和供电，它的串口0被用作NuttX系统的终端，串口1默认用于Mavlink，波特率: 115200 8N1，串口2可以链接SBUS接收机，如果串口2需要连接接收机，你需要在地面站参数列表里启用选项UART2_RX_INV，串口1也是如此。
4. WIFI被用作Mavlink传输，你可以通过WIFI与飞机连接。正常情况下，连接wifi后，地面站软件应自动发现飞机并连接。WIFI名字：MY_PX4, 密码: 12345678，如果需要修改，改动的地方在此： https://github.com/w2016561536/PX4-Autopilot/blob/e94b7efcf5cfdec7d0ffe85c62a3f56ba8b60ecc/boards/px4/esp32s3/nuttx-config/nsh/defconfig#L2117 ，修改后需要重新编译工程。
5. 如果地面站没有自动发现飞机，检查你的设备IP是不是10.0.0.2，如果不是，设置为如下参数：地址：10.0.0.2，网关：10.0.0.1，子网掩码： 255.255.255.0（对应网络前缀24），同时只能有一个设备连接飞机。

编译注释：

1. 本次release使用的工具链：https://github.com/espressif/crosstool-NG/releases/tag/esp-14.2.0_20240906
2. 本次release使用的ESPTOOL来自： https://github.com/espressif/esptool/releases ，版本v4.8.1，不要从apt或者pip安装。

v1.14.3-rc2

Full Changelog: v1.14.3-rc1...v1.14.3-rc2

Build, Flash, Credit notes:
See here: https://github.com/w2016561536/PX4-Autopilot/releases/tag/v1.14.0-rc4

New:

1. Add top command support
2. Remove esp-dsp impl, now you do not need to download esp-dsp.a for building
3. add led support
4. fix the bug of NaN in ekf2
5. fix battery remaining time low
6. delete some drivers to make the firm smaller

v1.14.3-rc1

Full Changelog: v1.14.0-rc4...v1.14.3-rc1

Build, Flash, Credit notes:
See here: https://github.com/w2016561536/PX4-Autopilot/releases/tag/v1.14.0-rc4

New:

1. update to 14.3
2. add uart inverter ctrl module, now you can connect sbus receiver directly to uart RX. Just need to enable INV_UARTx_RX in params.
3. activacate i2c2 now you can use ip5109 or other i2c devices on i2c2
4. Add partitions way_ponits, but it seems to have some problems for uploading mission.

v1.14.0-rc4

Full Changelog: v1.14.0-rc3...v1.14.0-rc4

Build Notes:

Because Espressif use hal lib in nuttx, you need to build nuttx in platform/nuttx/Nuttx/nuttx for configuration esp32s3-devkit:sta_softap in order to apply hal lib patchs.

Adding ASM source file in PX4 have some problem, so esp-dsp is compiled manually. You need to copy libesp_dsp.a to src/lib/esp-dsp .

Because using new version of Nuttx, not only you need to install dependency in Tools/setup/, but also in https://nuttx.apache.org/docs/latest/quickstart/install.html.

You can get xteansa-gcc in https://github.com/espressif/crosstool-NG.git. Don't forget to add it in path.

Flash Notes:

If you are using linux, you can get esptool through pip. If you are using Windows, you can get it from https://www.espressif.com.cn/sites/default/files/tools/flash_download_tool_3.9.5_0.zip

Flash command:
esptool.exe -p <your serial port> write_flash 0x0 bootloader.bin 0x10000 px4_esp32s3_default.bin 0x8000 partition-table.bin
for linux, just replace esptool.exe to esptool.py

Configure Note:

1. Oneshot output mode is not really output oneshot, actually it output an 15khz pwm signal, used for directly mosfet driving.
2. Wifi ssid: MY_PX4 , Password: 12345678 . You can edit it in defconfig.
3. Do not increase loop rate due to the poor performance.
4. The default mavlink on ttyS1 baudrate is 115200 8N1.
5. I add an optical flow driver FLOW3953 . It quite like ThoneFlow, but it has VL53L1X distance sensor and add 2 bytes after optical flow data in report. You can get it in Taobao or DIY.

Credits:

@guanglun, @xiaoxiang781216 , @tmedicci , @acassis and everyone helped for this project development.

v1.14.0-rc3

Full Changelog: https://github.com/w2016561536/PX4-Autopilot/commits/v1.14.0-rc3

This is a pre-release and have not been fully tested!!!

Build Notes:

1. Because Espressif use hal lib in nuttx, you need to build nuttx in platform/nuttx/Nuttx/nuttx for configuration esp32s3-devkit:sta_softap in order to apply hal lib patchs.

2. Adding ASM source file in PX4 have some problem, so esp-dsp is compiled manually. You need to copy libesp_dsp.a to src/lib/esp-dsp .

3. Because using new version of Nuttx, not only you need to install dependency in Tools/setup/, but also in https://nuttx.apache.org/docs/latest/quickstart/install.html.

4. You can get xteansa-gcc in https://github.com/espressif/crosstool-NG.git. Don't forget to add it in path.

Flash Notes:

If you are using linux, you can get esptool through pip. If you are using Windows, you can get it from https://www.espressif.com.cn/sites/default/files/tools/flash_download_tool_3.9.5_0.zip

Flash command:
esptool.exe -p <your serial port> write_flash 0x0 bootloader.bin 0x10000 px4_esp32s3_default.bin 0x8000 partition-table.bin
for linux, just replace esptool.exe to esptool.py