# PX4-Autopilot Main Release Notes

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This contains changes to PX4 `main` branch since the last major release ([PX v1.16](../releases/1.16.md)).

::: 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

- TBD …

Please continue reading for [upgrade instructions](#upgrade-guide).

## Major Changes

- TBD

## Upgrade Guide

## Other changes

### Hardware Support

- TBD

### 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)).
- [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)).

### 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)).

### Estimation

- Added [EKF2_POS_LOCK](../advanced_config/parameter_reference.md#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](../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))

### Simulation

- SIH: Add option to set wind velocity ([PX4-Autopilot#26467](https://github.com/PX4-Autopilot/pull/26467))

<!-- MOVED THIS TO v1.17

- 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)

-->

### Debug & Logging

- [Asset Tracking](../debug/asset_tracking.md): Automatic tracking and logging of external device information including vendor name, firmware and hardware version, serial numbers. Currently supports DroneCAN devices. ([PX4-Autopilot#25617](https://github.com/PX4/PX4-Autopilot/pull/25617))

### Ethernet

- TBD

### uXRCE-DDS / Zenoh / ROS2

- TBD

<!-- 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 [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
-->

### MAVLink

- TBD

### RC

- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.

### 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)).

### VTOL

- TBD

### Fixed-wing

- TBD

<!-- MOVED THIS TO v1.17
- [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))
-->

### Rover

- TBD

<!-- MOVED THIS TO v1.17

- 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) ([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).

-->

### ROS 2

- TBD
