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# PX4-Autopilot Main Release Notes # PX4-Autopilot v1.16.0 Release Notes
<Badge type="danger" text="Alpha" /> <Badge type="danger" text="Alpha" />
This document covers all changes in PX4 `v1.16.0` since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)). This document covers all changes in PX4 v1.16.0 since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)).
::: warning ::: warning
These notes include only changes merged in 2023 and later—no commits from before 2023 are listed. These notes include only changes merged in 2023 and later—no commits from before 2023 are listed.
@@ -29,6 +29,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
## Other changes ## Other changes
### Hardware Support ### Hardware Support
- **[New Hardware]** [PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830): Boards: ARK FPV FC - **[New Hardware]** [PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830): Boards: ARK FPV FC
- **[New Hardware]** [PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414): board: add cuav 7-nano - **[New Hardware]** [PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414): board: add cuav 7-nano
- **[New Hardware]** [PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1 - **[New Hardware]** [PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1
@@ -42,8 +43,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- **[New Hardware]** [PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551): 3DR boards: Support for 3DR Control Zero H7 OEM Rev G - **[New Hardware]** [PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551): 3DR boards: Support for 3DR Control Zero H7 OEM Rev G
- **[New Hardware]** [PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623): new board support ZeroOne x6 - **[New Hardware]** [PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623): new board support ZeroOne x6
### Common ### Common
- [PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936): Optical flow: add scale factor parameter - [PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936): Optical flow: add scale factor parameter
- [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers - [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers
@@ -65,6 +66,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)). ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
### Control ### Control
- [PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863): [Sponsored by ARK] Bidirectional DShot - [PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863): [Sponsored by ARK] Bidirectional DShot
- [PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196): Make control allocation and actuator effectiveness a non-module-specific library - [PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196): Make control allocation and actuator effectiveness a non-module-specific library
- [PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator - [PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator
@@ -72,8 +74,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358)) - Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
- Collision prevention now works in manual (acceleration-based) flight mode (`MPC_POS_MODE`) ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)) - Collision prevention now works in manual (acceleration-based) flight mode (`MPC_POS_MODE`) ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
### Estimation ### Estimation
- [PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854): EKF2: ellipsoidal earth navigation - [PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854): EKF2: ellipsoidal earth navigation
- [PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263): EKF2: Terrain state - [PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263): EKF2: Terrain state
- [PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init - [PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init
@@ -82,6 +84,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Position-loss failsafe delay removed; triggers 1 s after loss (see Common) - Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
### Sensors ### Sensors
- [PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656): Implemented AUAV absolute/differential pressure sensor support - [PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656): Implemented AUAV absolute/differential pressure sensor support
- [PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639): Implemented temperature sensor support for INA228 / INA238 - [PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639): Implemented temperature sensor support for INA228 / INA238
- [PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B - [PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B
@@ -120,6 +123,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform - [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform
### uXRCE-DDS / ROS2 ### uXRCE-DDS / ROS2
- **[Feature]** [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically - **[Feature]** [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
- [PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582): dds_topics: add vtol_vehicle_status - [PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582): dds_topics: add vtol_vehicle_status
- [PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583): dds_topics: add home_position - [PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583): dds_topics: add home_position
@@ -129,6 +133,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- TBD - TBD
### Multi-Rotor ### Multi-Rotor
- [PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173): [Multirotor] add yaw torque low pass filter - [PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173): [Multirotor] add yaw torque low pass filter
- [PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943): Add gz model for quadtailsitter - [PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943): Add gz model for quadtailsitter
@@ -140,6 +145,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- TBD - TBD
### Fixed-wing ### Fixed-wing
- [PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167): Fixedwing: fix wheel controller - [PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167): Fixedwing: fix wheel controller
- [PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520): FixedWing: allow position control without valid global position - [PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520): FixedWing: allow position control without valid global position
@@ -169,6 +175,7 @@ This release contains a major rework for the rover support in PX4:
- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules. - Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
### Infrastructure ### Infrastructure
- [PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011): standard_modes: add vehicle-type specific standard modes - [PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011): standard_modes: add vehicle-type specific standard modes
- [PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020): ci: build all upload to releases - [PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020): ci: build all upload to releases
- [PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container - [PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container