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v1.14.3-rc8

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@w2016561536 w2016561536 released this 15 Dec 14:19
v1.14.3-rc8
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Full Changelog: https://github.com/w2016561536/PX4-Autopilot/commits/v1.14.3-rc8

主要更改内容：

  1. 更新到 nuttx 12.10

Major changes:

  1. Update to nuttx 12.10

Flash and use: <中文版往下翻>

  1. Download three bin files and esptool, or download burn.zip (included esptool and firmware 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/9d1a63089d1304331fb54f01465e832addf69ed9/boards/px4/esp32s3/nuttx-config/nsh/defconfig#L2246 . You need to recompile the full project.
  5. DHCP Server is closed for performance. You need to set ip manually . Full IP config: Address: 10.0.0.4, Gateway: 10.0.0.1, NetMask: 255.255.255.0. Do not connect more than 1 device at a time.

Build Notes (extra):

  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. Detailed method:
$ cd ./platforms/nuttx/NuttX/nuttx/
$ rm .config
$ ./tools/configure.sh esp32s3-devkit:sta_softap
$ make -j
# Waiting for build finish, then you can build px4
$ cd ../../../../
$ make espressif_esp32s3
  1. This release use this compile tool: https://github.com/espressif/crosstool-NG/releases/tag/esp-14.2.0_20241119
  2. For this release, you should download esptool from here: https://github.com/espressif/esptool/releases . Do not download from 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burn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ESP32S3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/9d1a63089d1304331fb54f01465e832addf69ed9/boards/px4/esp32s3/nuttx-config/nsh/defconfig#L2246 ，修改后需要重新编译工程。
  5. 已关闭DHCP服务器，IP设置为如下参数：地址：10.0.0.4，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. 由于乐鑫在Nuttx中使用HAL库，因此编译之前需要先打HAL库补丁，在platform/nuttx/Nuttx/nuttx下配置并编译 esp32s3-devkit:sta_softap。具体方法：
$ cd ./platforms/nuttx/NuttX/nuttx/
$ rm .config
$ ./tools/configure.sh esp32s3-devkit:sta_softap
$ make -j
# Waiting for build finish, then you can build px4
$ cd ../../../../
$ make espressif_esp32s3
  1. 本次release使用的工具链：https://github.com/espressif/crosstool-NG/releases/tag/esp-14.2.0_20241119
  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安装。
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