diff --git a/docs/en/releases/1.17.md b/docs/en/releases/1.17.md
index 85643647da..16e3e11b21 100644
--- a/docs/en/releases/1.17.md
+++ b/docs/en/releases/1.17.md
@@ -13,122 +13,336 @@ const { site } = useData();
   </div>
 </div>
 
-This contains changes in PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)).
+PX4 v1.17 builds on [PX4 v1.16](../releases/1.16.md), with the changes below landing since v1.16.2.
+This release adds Altitude Cruise mode, improves Fixed Wing Takeoff behaviour on navigation loss, and exposes cleaner high-level fixed-wing and rover control interfaces for ROS 2 workflows.
+The in-tree Zenoh middleware matures to `rmw_zenoh` compatibility, simulation gains Gazebo Jetty support and Ackermann SIH, and three new INS drivers (MicroStrain, sbgECom, EULER-NAV) join the ecosystem alongside Septentrio GNSS resilience reporting and barometer auto-calibration against GNSS height.
+PX4 v1.17 also includes user-visible MAVLink, RC, logging, failsafe, and rover refinements across the stack.
 
 ::: warning
-PX4 v1.17 is in alpha/beta testing.
-Update these notes with features that are going to be in PX4 v1.17 release.
-New features that are not expected to go into the v1.17 release are in [PX4-Autopilot `main` Release Notes](../releases/main.md).
+PX4 v1.17 is documented on an alpha/beta release branch.
+See [PX4-Autopilot `main` Release Notes](../releases/main.md) for newer changes on `main`.
 :::
 
 ## Read Before Upgrading
 
-TBD …
-
 Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ## Major Changes
 
-- TBD
+- <Badge type="warning" text="Experimental" /> [MC Neural Network Control](../neural_networks/mc_neural_network_control.md): PX4 gains first-class on-device neural-network inference.
+  With [TensorFlow Lite Micro](../neural_networks/tflm.md) now integrated into the firmware, you can take a network you trained externally (e.g. via reinforcement learning in [Aerial Gym](https://ntnu-arl.github.io/aerial_gym_simulator/)), convert it to tflite, and run it on the autopilot as a full replacement for the multicopter controller stack.
+  ([PX4-Autopilot#24366](https://github.com/PX4/PX4-Autopilot/pull/24366))
+- New multicopter flight mode: [Altitude Cruise](../flight_modes_mc/altitude_cruise.md).
+  Holds tilt and heading on stick release so the vehicle keeps cruising at a steady velocity instead of stopping like Altitude mode does.
+- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) now keeps climbing with level wings on navigation loss and can use the takeoff waypoint latitude and longitude to define the loiter position.
+  ([PX4-Autopilot#25226](https://github.com/PX4/PX4-Autopilot/pull/25226))
+- Fixed-wing vehicles (and VTOLs in fixed-wing mode) can now be controlled from ROS 2 via the new [`FwLateralLongitudinalSetpointType`](../ros2/px4_ros2_control_interface.md#fw-lateral-longitudinal-setpoint) in the PX4 ROS 2 Control Interface, exposing direct lateral and longitudinal setpoints.
+- Rovers can now be controlled from ROS 2 via the new [`RoverSetpointTypes`](../ros2/px4_ros2_control_interface.md#rover-setpoints) in the PX4 ROS 2 Control Interface, with valid combinations of position, speed, throttle, attitude, rate, and steering setpoints exposed as guaranteed-valid setpoint types. See [Rovers Apps & API](../flight_modes_rover/api.md).
+- <Badge type="warning" text="Experimental" /> The in-tree [Zenoh middleware](../middleware/zenoh.md) matures to `rmw_zenoh` compatibility (CDRv1 serialization, ROS 2 graph liveliness, auto-generated config from `dds_topics.yaml`, Domain ID parameter, Zenoh CLI). Zenoh is built into the default firmware on FMU-v6xRT (`make px4_fmu-v6xrt_default`); on FMU-v6x and SITL it ships as an opt-in `zenoh` build variant (`make px4_fmu-v6x_zenoh`, `make px4_sitl_zenoh`).
 
 ## Upgrade Guide
 
+- Removed `MPC_XY_MAN_EXPO`, `MPC_Z_MAN_EXPO`, and `MPC_YAW_MAN_EXPO`.
+  Renamed `MPC_HOLD_DZ` to [`MAN_DEADZONE`](../advanced_config/parameter_reference.md#MAN_DEADZONE) and made it globally available across modes that allow a deadzone.
+- Added [`SENS_BAR_AUTOCAL`](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) for barometer auto-calibration against GNSS height; enabled by default in v1.17.
+  ([PX4-Autopilot#24859](https://github.com/PX4/PX4-Autopilot/pull/24859))
+- [`MAV_PROTO_VER`](../advanced_config/parameter_reference.md#MAV_PROTO_VER) now defaults to `2`, making MAVLink v1 opt-in instead of the default fallback.
+  ([PX4-Autopilot#25583](https://github.com/PX4/PX4-Autopilot/pull/25583))
+- Removed `EKF2_RNG_A_IGATE` from range-aid tuning during the EKF2 parameter-naming consistency refactor.
+  ([PX4-Autopilot#25137](https://github.com/PX4/PX4-Autopilot/pull/25137))
+- Reduced [`EKF2_MIN_RNG`](../advanced_config/parameter_reference.md#EKF2_MIN_RNG) default from 0.1 m to 0.01 m.
+  ([PX4-Autopilot#25574](https://github.com/PX4/PX4-Autopilot/pull/25574))
+- Servo trim parameters `PWM_*_TRIM` are replaced by `PWM_*_CENTER` with asymmetric deflection.
+  ([PX4-Autopilot#25897](https://github.com/PX4/PX4-Autopilot/pull/25897))
+- The default 1 percent deadzone on RC channels 1 to 8 has been removed; configure deadzone explicitly per channel if required.
+  ([PX4-Autopilot#25502](https://github.com/PX4/PX4-Autopilot/pull/25502))
+- Magnetometer calibration is only allowed when at least one mag is available and enabled (priority not 0).
+  ([PX4-Autopilot#25714](https://github.com/PX4/PX4-Autopilot/pull/25714))
+- `SYS_AUTOSTART=0` is now treated the same as no valid airframe.
+  ([PX4-Autopilot#25645](https://github.com/PX4/PX4-Autopilot/pull/25645))
+- `commander lockdown on` shell command renamed to `commander termination`; `FORCE_FAILSAFE` renamed to `TERMINATION` and `manual_lockdown` renamed to `kill` for clarity.
+- The `serial_number` field has moved from `battery_status` to a new `battery_info` uORB message; consumers reading the serial number must migrate.
+- `parameters_injected.xml` removed from the build system.
+  ([PX4-Autopilot#25549](https://github.com/PX4/PX4-Autopilot/pull/25549))
+
 ## Other changes
 
 ### Hardware Support
 
-- **[New Hardware]** boards: [MicoAir743-Lite FC](../flight_controller/micoair743-lite.md) <!-- CHECK is this version and add PR link (or fix up doc version tag and move this) -->
-- **[New Hardware]** boards: [RadiolinkPIX6 FC](../flight_controller/radiolink_pix6.md) <!-- CHECK is this version and add PR! -->
-- **[New Hardware]** boards: [AP-H743-R1 FC](../flight_controller/x-mav_ap-h743r1.md) <!-- CHECK is this version and add PR! -->
+#### New Flight Controllers
 
-<!--
+- [Radiolink PIX6](../flight_controller/radiolink_pix6.md).
+  ([PX4-Autopilot#25562](https://github.com/PX4/PX4-Autopilot/pull/25562))
+- [CUAV X25-Evo](../flight_controller/cuav_x25-evo.md).
+  ([PX4-Autopilot#25176](https://github.com/PX4/PX4-Autopilot/pull/25176))
+- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md).
+  ([PX4-Autopilot#25411](https://github.com/PX4/PX4-Autopilot/pull/25411))
+- Kakute H7 dual-IMU build target (no English docs page).
+- NarinFC-H7 (no English docs page).
+- ESP32 generic-target support, sponsored by AutonoSky (no English docs page; experimental).
+
+#### New Build Targets for Existing Hardware
+
+- `cuav/fmu-v6x` build target for the [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md).
+- `auterion/fmu-v6x` build target for the Auterion FMU-v6x.
+
+#### New CAN Peripherals & Vehicle Platforms
+
+- MR-CANHUBK344 NXP B3RB Rover platform.
+  ([PX4-Autopilot#23897](https://github.com/PX4/PX4-Autopilot/pull/23897))
+- NXP MR-Tropic target with imxrt-related fixes.
+  ([PX4-Autopilot#26052](https://github.com/PX4/PX4-Autopilot/pull/26052))
+- ARK X20 and F9P GPS receivers.
+  ([PX4-Autopilot#25149](https://github.com/PX4/PX4-Autopilot/pull/25149))
+- ARK DIST distance sensor.
+
+#### Existing Boards: Improvements
+
+- FMU-v6xRT: V6XRT001 and V6XRT002 sensor sets, LIS2MDL and BMM350 magnetometer support, DTCM added to heap.
+  ([PX4-Autopilot#25733](https://github.com/PX4/PX4-Autopilot/pull/25733))
+- FMU-v6s: PCA9685 PWM expander driver, INA226 / INA228 / INA238 power-monitor support, HSE used as the RTC clock, init script reordered to start internal sensors first.
+- ARK FPV: rover board variant, payload-deliverer module, and `encrypted_logs` flash savings (FW and VTOL stripped).
+  ([PX4-Autopilot#25319](https://github.com/PX4/PX4-Autopilot/pull/25319), [PX4-Autopilot#25322](https://github.com/PX4/PX4-Autopilot/pull/25322))
+- ARK SCH16T driver updated for new Murata modules.
+  ([PX4-Autopilot#24029](https://github.com/PX4/PX4-Autopilot/pull/24029))
+- mRO PixracerPro: enable additional UARTs.
+  ([PX4-Autopilot#22516](https://github.com/PX4/PX4-Autopilot/pull/22516))
+- 3DR Control Zero H7 OEM Rev G: MTD driver fix and missing module that prevented USB enumeration.
+  ([PX4-Autopilot#25015](https://github.com/PX4/PX4-Autopilot/pull/25015))
+- ESP32: PWM register updates correctly on change.
+  ([PX4-Autopilot#25653](https://github.com/PX4/PX4-Autopilot/pull/25653))
+- Tropic-Community baseboard (Teensy 4.1): PX4 config refresh, DTCM moved to heap with vectors in ITCM.
 
 ### Common
 
-- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#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](https://github.com/PX4/PX4-Autopilot/pull/25032)).
--->
+- [QGC Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [`SYS_BL_UPDATE`](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for several releases.
+  ([PX4-Autopilot#25032](https://github.com/PX4/PX4-Autopilot/pull/25032))
+- Failsafe handling now lets the pilot take over from a degraded failsafe state.
+  ([PX4-Autopilot#26269](https://github.com/PX4/PX4-Autopilot/pull/26269))
+- Offboard to Position (hold) mode change is no longer entered without RC.
+  ([PX4-Autopilot#26391](https://github.com/PX4/PX4-Autopilot/pull/26391))
+- Motor failure detection uses more robust timeout checks.
+  ([PX4-Autopilot#25757](https://github.com/PX4/PX4-Autopilot/pull/25757))
+- New `battery_info` uORB message with serial number compatible with UAVCAN, MAVLink, and battery drivers; `battery_status.serial_number` is removed.
+- UAVCAN battery: better remaining-time calculation ([PX4-Autopilot#25500](https://github.com/PX4/PX4-Autopilot/pull/25500)) and filter sample interval increased to 500 ms ([PX4-Autopilot#25454](https://github.com/PX4/PX4-Autopilot/pull/25454)).
+- Battery instances are capped at 3 (loggable batteries also raised to 3).
+- Remaining-flight-time failsafe disabled by default.
 
 ### Control
 
-<!--
-
-- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), 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](https://github.com/PX4/PX4-Autopilot/pull/25435)).
-
--->
-
-- <Badge type="warning" text="Experimental" /> [MC Neural Network Module](../advanced/neural_networks.md)
+- Servo PWM gains center setting and asymmetric deflection (`PWM_*_CENTER`).
+  ([PX4-Autopilot#25897](https://github.com/PX4/PX4-Autopilot/pull/25897))
+- PWM center support extended to wheel and gimbal actuators.
+  ([PX4-Autopilot#26211](https://github.com/PX4/PX4-Autopilot/pull/26211))
+- Configurable board PWM frequency from Kconfig.
+  ([PX4-Autopilot#24787](https://github.com/PX4/PX4-Autopilot/pull/24787))
+- DShot telemetry refactored to the platform serial abstraction with RX/TX pin-swap support.
+- UAVCAN ESC initialization no longer publishes random values when stopped.
+  ([PX4-Autopilot#25485](https://github.com/PX4/PX4-Autopilot/pull/25485))
+- UAVCAN bootloader watchdog pet during long flashes.
+  ([PX4-Autopilot#25523](https://github.com/PX4/PX4-Autopilot/pull/25523))
+- Control allocator enabled for spacecraft on v6x.
+  ([PX4-Autopilot#25276](https://github.com/PX4/PX4-Autopilot/pull/25276))
 
 ### Estimation
 
-- TBD
-
-<!--
+- [Barometer auto-calibration](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) can calibrate offsets against GNSS height when GNSS is the height reference, enabled by default.
+  ([PX4-Autopilot#24859](https://github.com/PX4/PX4-Autopilot/pull/24859))
+- Septentrio GNSS resilience reporting (jamming, spoofing, authentication state) is now exposed in PX4.
+  ([PX4-Autopilot#25012](https://github.com/PX4/PX4-Autopilot/pull/25012))
+- EKF2 GPS checks include a GPS fix type validation bit.
+  ([PX4-Autopilot#25215](https://github.com/PX4/PX4-Autopilot/pull/25215))
+- EKF2 GNSS aiding: dedicated `gnss_fault` flag added to `EstimatorStatusFlags`; lat/lon/vel fusion is disabled on `gnss_hgt_fault`; hysteresis added for re-enabling fusion; GNSS-based altitude reset is suppressed in dead-reckoning mode.
+- EKF2 range fusion: skip unhealthy samples while respecting timeout ([PX4-Autopilot#25634](https://github.com/PX4/PX4-Autopilot/pull/25634)); reject bad measurements during `bad_acc_vertical` ([PX4-Autopilot#25636](https://github.com/PX4/PX4-Autopilot/pull/25636)).
+- EKF2 mag: post-takeoff yaw reset is never skipped; mag heading and declination updates no longer perturb the xy gyro biases.
+- EKF2 gravity: tilt alignment accelerated; gravity fusion start now uses an accel low-pass instead of peak hold.
+- EKF2 airspeed/wind: distinguish airspeed source so wind dead-reckoning logic can use a synthetic airspeed.
+- External heading update via `MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE` is now consumed by EKF2.
+- RTCM telemetry stream now also published for UAVCAN GNSS receivers.
+  ([PX4-Autopilot#25315](https://github.com/PX4/PX4-Autopilot/pull/25315))
+- EKF2 GNSS reset improvements.
+  ([PX4-Autopilot#25297](https://github.com/PX4/PX4-Autopilot/pull/25297))
 
 ### Sensors
 
-- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
-- Quick magnetometer calibration now supports specifying an arbitrary initial heading ([PX4-Autopilot#24637](https://github.com/PX4/PX4-Autopilot/pull/24637))
-
--->
+- Added [MicroStrain Inertial Sensors](../sensor/microstrain.md) driver support.
+  ([PX4-Autopilot#23858](https://github.com/PX4/PX4-Autopilot/pull/23858))
+- [MicroStrain Inertial Sensors](../sensor/microstrain.md) gain expanded aiding support.
+  ([PX4-Autopilot#25673](https://github.com/PX4/PX4-Autopilot/pull/25673))
+- Added [sbgECom INS driver](../sensor/sbgecom.md).
+  ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
+- Added EULER-NAV Baro-Inertial AHRS driver.
+  ([PX4-Autopilot#24534](https://github.com/PX4/PX4-Autopilot/pull/24534))
+- Added QMC5883P compass driver.
+  ([PX4-Autopilot#25115](https://github.com/PX4/PX4-Autopilot/pull/25115))
+- Added ICM42688P IMU support on the Mamba F405 MK2 V2.
+  ([PX4-Autopilot#25047](https://github.com/PX4/PX4-Autopilot/pull/25047))
+- Added LightWare SF30/d binary protocol.
+  ([PX4-Autopilot#25570](https://github.com/PX4/PX4-Autopilot/pull/25570))
+- Airspeed calibration only saves the offset when the full procedure succeeds.
+  ([PX4-Autopilot#25412](https://github.com/PX4/PX4-Autopilot/pull/25412))
+- AirspeedSelector adds a synthetic airspeed option.
+- IMU gyro: default angular-acceleration filter lowered from 30 Hz to 20 Hz.
 
 ### Simulation
 
-- Overhaul rover simulation:
-  - Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
-  - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
-  - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
+#### Gazebo
 
-- [Simulation-in-Hardware (SIH)](../sim_sih/index.md#supported-vehicle-types) <!-- Listed in https://docs.px4.io/main/en/sim_sih/#compatibility : Check the PRs -->
-  - New simulation: MC Hexacopter X
-  - New simulation: Ackermann Rover
+- Gazebo CMake linking is now version-agnostic across `gz-transport`, `gz-sim`, `gz-sensors`, and `gz-plugin`, removing the hard pin to Harmonic in the build glue. Harmonic remains the supported, CI-tested version; building against newer Gazebo releases (e.g. Jetty / v15) is up to the developer to install and verify locally.
+  ([PX4-Autopilot#25521](https://github.com/PX4/PX4-Autopilot/pull/25521))
+- [Rover simulation](../frames_rover/index.md#simulation) updated to match the current rover-control architecture.
+  ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644))
+- Gazebo bridge sensors can be selectively disabled.
+  ([PX4-Autopilot#25484](https://github.com/PX4/PX4-Autopilot/pull/25484))
+- Gimbal yaw fix and DDS attitude publisher in the Gazebo bridge.
+  ([PX4-Autopilot#25754](https://github.com/PX4/PX4-Autopilot/pull/25754))
+- `PX4_GZ_MODEL_POSE` for custom spawn pose.
+  ([PX4-Autopilot#24956](https://github.com/PX4/PX4-Autopilot/pull/24956))
+- Updated Gazebo 24.04 documentation.
+  ([PX4-Autopilot#25586](https://github.com/PX4/PX4-Autopilot/pull/25586))
+
+#### Simulation-in-Hardware (SIH)
+
+- [SIH](../sim_sih/index.md#supported-vehicle-types) now supports Hexacopter X and Ackermann rovers.
+  ([PX4-Autopilot#25194](https://github.com/PX4/PX4-Autopilot/pull/25194), [PX4-Autopilot#25405](https://github.com/PX4/PX4-Autopilot/pull/25405))
+- HITL/SIH battery status now driven by battery configuration parameters.
+  ([PX4-Autopilot#24103](https://github.com/PX4/PX4-Autopilot/pull/24103))
 
 ### Debug & Logging
 
-- TBD
+- `AirspeedValidated` promoted to a standard uORB topic.
+  ([PX4-Autopilot#25579](https://github.com/PX4/PX4-Autopilot/pull/25579))
+- `upload_log.py` can target a custom upload server via CLI argument.
+  ([PX4-Autopilot#25702](https://github.com/PX4/PX4-Autopilot/pull/25702))
+- ULog tooling can recover UTC timestamps even when `sensor_gps` is not present.
+  ([PX4-Autopilot#25534](https://github.com/PX4/PX4-Autopilot/pull/25534))
+- UAVCAN node status is now logged to uORB for debugging.
+  ([PX4-Autopilot#23890](https://github.com/PX4/PX4-Autopilot/pull/23890))
+- ULog file format documentation expanded.
+  ([PX4-Autopilot#25624](https://github.com/PX4/PX4-Autopilot/pull/25624))
 
-### Ethernet
+### ROS 2 / uXRCE-DDS
 
-- TBD
+- [PX4 ROS 2 Control Interface](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral and longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fw-lateral-longitudinal-setpoint) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol).
+- [Simple index-based namespace (`UXRCE_DDS_NS_IDX`)](../middleware/uxrce_dds.md#customizing-the-namespace) for uXRCE-DDS.
+  ([PX4-Autopilot#25444](https://github.com/PX4/PX4-Autopilot/pull/25444))
+- Namespace support for the uXRCE-DDS client during firmware upload.
+  ([PX4-Autopilot#25291](https://github.com/PX4/PX4-Autopilot/pull/25291))
+- New DDS topics: `TransponderReport` (ADS-B) ([PX4-Autopilot#25652](https://github.com/PX4/PX4-Autopilot/pull/25652)), `landing_gear` command from external modes ([PX4-Autopilot#25496](https://github.com/PX4/PX4-Autopilot/pull/25496)), `Wind` topic with 1 Hz rate limit, gimbal device attitude status, and FW high-level setpoint/configuration interfaces.
 
-### uXRCE-DDS / Zenoh / ROS2
+### ROS 2 / Zenoh
 
-- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
-- [UXRCE_DDS: Simple index based namespace (UXRCE_DDS_NS_IDX)](../middleware/uxrce_dds.md#customizing-the-namespace)
-- [Zenoh (PX4 ROS 2 rmw_zenoh)](../middleware/zenoh.md)
+<Badge type="warning" text="Experimental" />
+
+The in-tree [Zenoh middleware](../middleware/zenoh.md) (added in v1.16) matures toward `rmw_zenoh` compatibility in v1.17. Most of this work landed as direct commits without PR numbers; the following list groups it by area:
+
+- **rmw_zenoh compatibility**: implement `rmw_zenoh` features in the Zenoh module, move ROS 2 Rmw attachment code to `rmw_attachment.h`, switch to CDRv1 to match ROS 2, set transport lease to 60 s to match ROS 2, omit timestamp attachment, experimental liveliness so the ROS 2 graph works.
+- **Configuration and CLI**: auto-generate default Zenoh config from `dds_topics.yaml`, new Domain ID parameter (and move `gid` into Zenoh), Zenoh CLI improvements, instance selection and pub/sub deletion, copy the uXRCE config layout for Zenoh.
+- **Boards**: Zenoh is now built into the default firmware on `px4/fmu-v6xrt` (`make px4_fmu-v6xrt_default`). On `px4/fmu-v6x` and SITL it ships as an opt-in `zenoh` build variant (`make px4_fmu-v6x_zenoh`, `make px4_sitl_zenoh`); the same opt-in `zenoh.px4board` is also provided for `auterion/fmu-v6s` and `auterion/fmu-v6x`. Zenoh is additionally compiled in by default on `nxp/mr-canhubk3`, `nxp/mr-tropic`, and `nxp/tropic-community`.
+- **NuttX support**: update NuttX config for use with Zenoh; backport NuttX FMU-v6x config for Zenoh ([PX4-Autopilot#26213](https://github.com/PX4/PX4-Autopilot/pull/26213)).
+- **SITL**: new `px4_sitl_zenoh` cmake variant, default to `127.0.0.1` on SITL/POSIX, autostart Zenoh in SITL when enabled, friendlier error message when scouting finds nothing, GCC/SITL compile fixes.
+- **Robustness**: validate payload size before stack allocation, increase CDR safety margin, handle parsing errors and non-existing types in config, fix topic-name and datatype mapping, pubsub-factory datatype-naming fix, fix status `keyexpr` printf, prevent integer-conversion warnings in zenoh-pico, optimize memory usage with optional publish-on-matching.
+- **Docs and OOM fixes (backport)**: [PX4-Autopilot#26053](https://github.com/PX4/PX4-Autopilot/pull/26053).
+- **Submodule**: `zenoh-pico` updated.
 
 ### MAVLink
 
-- TBD
-
-<!--
+- MAVFTP hardening: rejects path-traversal sequences in FTP operations and validates sessions in FTP write/burst.
+- MAVLink v1 is now opt-in via [`MAV_PROTO_VER`](../advanced_config/parameter_reference.md#MAV_PROTO_VER).
+  ([PX4-Autopilot#25583](https://github.com/PX4/PX4-Autopilot/pull/25583))
+- Extended `MISSION_CURRENT` message implemented.
+- `MAV_CMD_REQUEST_MESSAGE` supported for `MESSAGE_INTERVAL`.
+  ([PX4-Autopilot#25460](https://github.com/PX4/PX4-Autopilot/pull/25460))
+- The low-bandwidth stream profile includes additional important streams with updated rates.
+  ([PX4-Autopilot#25524](https://github.com/PX4/PX4-Autopilot/pull/25524))
+- Parameter transmission throttled on low-bandwidth links.
+  ([PX4-Autopilot#25126](https://github.com/PX4/PX4-Autopilot/pull/25126))
+- Set system clock from `SYSTEM_TIME`.
+  ([PX4-Autopilot#24807](https://github.com/PX4/PX4-Autopilot/pull/24807))
+- Hardfault streaming over MAVLink option added.
+- MAVLink fuzz test added.
 
 ### RC
 
-- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
+- Removed the hardcoded 1 percent deadzone on RC channels 1 to 8.
+  ([PX4-Autopilot#25502](https://github.com/PX4/PX4-Autopilot/pull/25502))
+- ManualControlSelector reworked: robust timeout checks, unified validity conditions, simplified prioritization, and an option to prioritize RC or MAVLink with fallback.
+- `COM_RC_IN_MODE` extended with source-ID ascending and descending priority modes; documentation rewritten.
+- Payload power switch generalized: optional 3-way switch, allowed on boards beyond ARK FPV, with unit tests.
 
 ### Multi-Rotor
 
-- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
-- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
--->
+- New multicopter flight mode: [Altitude Cruise](../flight_modes_mc/altitude_cruise.md). Like Altitude mode, but when the roll/pitch/yaw sticks are released the vehicle holds the current tilt and heading (rather than returning to level), letting it cruise at a steady velocity without constant stick input. Intended for long-distance flights where the same tilt is held for an extended period. The manual-control-loss failsafe can optionally be disabled for this mode by setting the corresponding bit in [`COM_RCL_EXCEPT`](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT); when doing so, configure the data-link-loss failsafe via [`NAV_DLL_ACT`](../advanced_config/parameter_reference.md#NAV_DLL_ACT) to avoid fly-aways.
+- Stick library refactored: globally available, getter-based, expo computed on getter call; `FixedWingModeManager` now uses the Sticks library.
+- Orbit mode: configurable max speed replaces the 10 m/s hardcode ([PX4-Autopilot#25192](https://github.com/PX4/PX4-Autopilot/pull/25192)) and `HeadingSmoothing` is applied to avoid step changes during the approach; documentation clarified ([PX4-Autopilot#25208](https://github.com/PX4/PX4-Autopilot/pull/25208)).
+- MC PositionControl: switch out of goto setpoint immediately when receiving `trajectory_setpoint`.
+- Hexarotor X added to SIH and to `ActuatorEffectivenessRotorsTest`.
+- `MC_RATE*` parameter metadata unified.
+  ([PX4-Autopilot#25133](https://github.com/PX4/PX4-Autopilot/pull/25133))
 
 ### VTOL
 
-- TBD
+- Fixed VTOL stuck after back-transition in Mission Fast RTL.
+- VTOL takeoff requires relaxed position only during the fixed-wing phase; on completion of takeoff, the state is forced to Loiter.
+- VTOL airspeed measurement handling centralized.
+- [PX4 ROS 2 Control Interface](../ros2/px4_ros2_control_interface.md#controlling-a-vtol) can command VTOL transitions from external modes.
 
 ### Fixed-wing
 
-- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
-  A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
-- Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840))
+- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) keeps climbing with level wings on navigation loss and can use the takeoff waypoint latitude and longitude to define the loiter position.
+  ([PX4-Autopilot#25226](https://github.com/PX4/PX4-Autopilot/pull/25226))
+- Reworked fixed-wing high-level control exposes clean lateral and longitudinal control interfaces for external integrations.
+- FW Attitude Controller wheel controller rework.
+- FW Autotune: identification maneuver auto-ramps the 1 Hz amplitude until R/P/Y rates of 0.8/0.5/0.5 rad/s are reached, then scales the identification signal accordingly.
+- TECS hardening: NaN protection on airspeed and altitude inputs.
 
 ### Rover
 
-- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
-- Add support for [Apps & API](../flight_modes_rover/api.md) including [Rover Setpoints](../ros2/px4_ros2_control_interface.md#rover-setpoints) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
-- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
+- Removed deprecated rover module.
+- Added [Apps & API](../flight_modes_rover/api.md) support including [Rover Setpoints](../ros2/px4_ros2_control_interface.md#rover-setpoints).
+- [Rover simulation](../frames_rover/index.md#simulation) updated to match the reworked rover architecture.
+  ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644))
+- Continued per-vehicle (Ackermann/differential/mecanum) restructuring with separated actuator control, position-control updates, mode-management centralization, and module split into folders.
+- New stick-input scaling parameters.
+  ([PX4-Autopilot#25427](https://github.com/PX4/PX4-Autopilot/pull/25427))
+- Improved rover hold-position logic.
+  ([PX4-Autopilot#25466](https://github.com/PX4/PX4-Autopilot/pull/25466))
+- `RX_MAX_THR_YAW_R` replaced by `RO_YAW_RATE_CORR`.
+- Manual yaw-rate input: exponential scaling.
+- Comprehensive [Rover API documentation](../flight_modes_rover/api.md).
+  ([PX4-Autopilot#25499](https://github.com/PX4/PX4-Autopilot/pull/25499))
+- MR-CANHUBK344 NXP B3RB rover platform.
+  ([PX4-Autopilot#23897](https://github.com/PX4/PX4-Autopilot/pull/23897))
+- Aion Robotics R1 Rover airframe (`50001`) marked discontinued.
 
-### ROS 2
+### Safety / Commander
 
-- TBD
+- Pilot can take over from a degraded failsafe action.
+  ([PX4-Autopilot#26269](https://github.com/PX4/PX4-Autopilot/pull/26269))
+- Offboard to Position (hold) is no longer entered without RC.
+  ([PX4-Autopilot#26391](https://github.com/PX4/PX4-Autopilot/pull/26391))
+- Motor-failure detector uses robust timeout checks.
+  ([PX4-Autopilot#25757](https://github.com/PX4/PX4-Autopilot/pull/25757))
+- Failure injection refactored into its own class; `failure motor off -i <n>` now requires `CA_FAILURE_MODE` to be set. See [motor failure injection and detection](../debug/failure_injection.md).
+  ([PX4-Autopilot#25756](https://github.com/PX4/PX4-Autopilot/pull/25756))
+- Naming for clarity: `FORCE_FAILSAFE` renamed to `TERMINATION`; `commander lockdown on` renamed to `commander termination`; `manual_lockdown` renamed to `kill`; `ACTION_TERMINATE` renamed to `ACTION_TERMINATION`.
+- New RC termination switch with PWM-input default for ATS-based flight termination.
+  ([PX4-Autopilot#25209](https://github.com/PX4/PX4-Autopilot/pull/25209))
+- Commander never overrides a user-intended termination (with unit test).
+- Remaining-flight-time failsafe disabled by default.
+- Home position is not reset if landed during an uncompleted mission.
+  ([PX4-Autopilot#24902](https://github.com/PX4/PX4-Autopilot/pull/24902))
+- Off-track mission landing fix.
+  ([PX4-Autopilot#25725](https://github.com/PX4/PX4-Autopilot/pull/25725))
+
+### Infrastructure
+
+- `parameters_injected.xml` removed from the build system.
+  ([PX4-Autopilot#25549](https://github.com/PX4/PX4-Autopilot/pull/25549))
+- [QGC Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via `SYS_BL_UPDATE` restored.
+  ([PX4-Autopilot#25032](https://github.com/PX4/PX4-Autopilot/pull/25032))
+- NuttX submodule updates: dcache fix and semaphore-holder-list fix.
+- ITCM checker added in CI; ITCM mapping updated for v6xRT and Tropic-Community.
+- Flash savings on KakuteH7 encrypted-logs variants and on selected ARK targets.
+- Spacecraft tooling for Commander and `VehicleStatus`.
+  ([PX4-Autopilot#24716](https://github.com/PX4/PX4-Autopilot/pull/24716))
diff --git a/docs/en/releases/main.md b/docs/en/releases/main.md
index 5aff2f6310..e22eb05669 100644
--- a/docs/en/releases/main.md
+++ b/docs/en/releases/main.md
@@ -96,7 +96,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 <!-- MOVED THIS TO v1.17
 
-- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
+- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fw-lateral-longitudinal-setpoint) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
 - [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
 -->
 
diff --git a/docs/en/ros2/px4_ros2_control_interface.md b/docs/en/ros2/px4_ros2_control_interface.md
index 6032e6d2d5..8a74983a6b 100644
--- a/docs/en/ros2/px4_ros2_control_interface.md
+++ b/docs/en/ros2/px4_ros2_control_interface.md
@@ -347,7 +347,7 @@ The used types also define the compatibility with different vehicle types.
 The following sections provide a list of supported setpoint types:
 
 - [MulticopterGotoSetpointType](#go-to-setpoint-multicoptergotosetpointtype): <Badge type="warning" text="MC only" /> Smooth position and (optionally) heading control
-- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="warning" text="FW only" /> <Badge type="tip" text="PX4 v1.17" /> Direct control of lateral and longitudinal fixed wing dynamics
+- [FwLateralLongitudinalSetpointType](#fw-lateral-longitudinal-setpoint): <Badge type="warning" text="FW only" /> <Badge type="tip" text="PX4 v1.17" /> Direct control of lateral and longitudinal fixed wing dynamics
 - [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
 - [Rover Setpoints](#rover-setpoints): <Badge type="tip" text="PX4 v1.17" /> Direct access to rover control setpoints (Position, Speed, Attitude, Rate, Throttle and Steering).
 
@@ -414,7 +414,7 @@ _goto_setpoint->update(
   max_heading_rate_rad_s);
 ```
 
-#### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType)
+#### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType) {#fw-lateral-longitudinal-setpoint}
 
 <Badge type="warning" text="Fixed wing only" /> <Badge type="tip" text="PX4 v1.17" />
 
@@ -597,7 +597,7 @@ An example for a rover specific drive mode using the `RoverSpeedAttitudeSetpoint
 To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:
 
 - Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`MulticopterGotoSetpointType`](#go-to-setpoint-multicoptergotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
-- Fixed-wing mode: Use the [`FwLateralLongitudinalSetpointType`](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype).
+- Fixed-wing mode: Use the [`FwLateralLongitudinalSetpointType`](#fw-lateral-longitudinal-setpoint).
 
 As long as the VTOL remains in either multicopter or fixed-wing mode throughout the external mode, no additional handling is required.