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docs: v1.16 stable release notes

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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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Ramon Roche 2025-08-06 10:21:55 -07:00 committed by Hamish Willee
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- [Licenses](contribute/licenses.md)
- [Releases](releases/index.md)
- [main (alpha)](releases/main.md)
- [1.16 (release candidate)](releases/1.16.md)
- [1.15 (stable)](releases/1.15.md)
- [1.16 (stable)](releases/1.16.md)
- [1.15](releases/1.15.md)
- [1.14](releases/1.14.md)
- [1.13](releases/1.13.md)
- [1.12](releases/1.12.md)

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- [Licenses](/contribute/licenses.md)
- [Releases](/releases/index.md)
- [main (alpha)](/releases/main.md)
- [1.16 (release candidate)](/releases/1.16.md)
- [1.15 (stable)](/releases/1.15.md)
- [1.16 (stable)](/releases/1.16.md)
- [1.15](/releases/1.15.md)
- [1.14](/releases/1.14.md)
- [1.13](/releases/1.13.md)
- [1.12](/releases/1.12.md)

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# PX4-Autopilot v1.15 Release Notes
<Badge type="tip" text="Stable"/>
The v1.15 release brings lots of new upgrades and fixes, thanks in part to the tremendous community response to the 1.14 release.
In particular, PX4 v1.15 brings significant improvements for developers and integrators using PX4 as a target through [ROS 2](../ros2/index.md) and the [uXRCE-DDS middleware](../middleware/uxrce_dds.md).
In addition to networking and middleware updates, the new [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) allows flight modes written as ROS 2 applications to be peers of PX4 flight modes.

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# PX4-Autopilot v1.16.0 Release Notes
<Badge type="info" text="Candidate Release" />
<Badge type="info" text="Stable" />
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence possibly out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
</div>
</div>
This document covers all changes in PX4 v1.16.0 since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)).
::: info
These notes include only changes merged in 2023 and later — commits before 2023 are not listed.
:::
PX4 v1.16 builds on the momentum of v1.15 with significant new features and expanded hardware support thanks to our community contributions.
This release introduces bidirectional DShot support sponsored by ARK, a full rover rework with dedicated firmware builds and modular control modes for Ackermann, differential and mecanum rovers, and a switch to Gazebo Harmonic LTS for more reliable simulation.
Developers will benefit from the new ROS 2 Message Translation Node for dynamic message versioning and integrated log encryption that embeds decryption keys directly in logs.
We also added fresh sensor drivers and board support across our partner ecosystem alongside dozens of improvements in control, estimation and safety.
PX4 v1.16 raises the bar for performance and usability. Upgrade today and let us know your feedback on GitHub.
## Read Before Upgrading
@ -25,39 +14,43 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
## Major Changes
- Bidirectional DShot - [Sponsored by ARK] ([PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863))
- **Rover support rework**
- New dedicated firmware build for rovers (airframe IDs 50000–52000)
- Separate modules for Ackermann, differential and mecanum rovers, each with manual, acro, stabilized, position and auto modes
- Shared pure-pursuit guidance library for all rover modules
- Legacy rover position control module deprecated in favor of the new modules
- Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
- [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#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
## Upgrade Guide
- [PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648): Added setting default for EKF2_EV_CTRL to 15 for VOXL 2 boards
- [PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517): Change default ethernet IP
- [PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602): remove serial port default from sf45 module
- VOXL 2 boards now explicitly set EKF2_EV_CTRL=15 (it had fallen back to 0 globally), so event-based optical flow keeps running ([PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648))
- Ethernet static IP changed from 192.168.0.3 to 10.41.10.2 to avoid common network conflicts ([PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517))
- SF45 lidar no longer auto-starts on TELEM2—add serial_port: TELEM2 (or your preferred port) in its module config if you still want it there ([PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602))
## Other changes
### Hardware Support
- **[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#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1
- **[New Hardware]** [PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018): boards: bluerobotics: navigator: Add initial support
- **[New Hardware]** [PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147): boards: add new board micoair743-v2
- **[New Hardware]** [PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218): boards: add new board micoair h743
- **[New Hardware]** [PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512): boards: Add FMUv6s target
- **[New Hardware]** [PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927): manifest: Add Skynode S baseboard
- **[New Hardware]** [PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257): Add Tropic VMU board support (Baseboard for Teensy 4.1)
- **[New Hardware]** [PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697): boards: add new board X-MAV AP-H743v2
- **[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]** Boards: ARK FPV FC ([PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830))
- **[New Hardware]** board: add cuav 7-nano ([PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414))
- **[New Hardware]** add new board corvon743v1 ([PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769))
- **[New Hardware]** boards: bluerobotics: navigator: Add initial support ([PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018))
- **[New Hardware]** boards: add new board micoair743-v2 ([PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147))
- **[New Hardware]** boards: add new board micoair h743 ([PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218))
- **[New Hardware]** boards: Add FMUv6s target ([PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512))
- **[New Hardware]** manifest: Add Skynode S baseboard ([PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927))
- **[New Hardware]** Add Tropic VMU board support (Baseboard for Teensy 4.1) ([PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257))
- **[New Hardware]** boards: add new board X-MAV AP-H743v2 ([PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697))
- **[New Hardware]** 3DR boards: Support for 3DR Control Zero H7 OEM Rev G ([PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551))
- **[New Hardware]** new board support ZeroOne x6 ([PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623))
### Common
- [Optical flow scaling factor - SENS_FLOW_SCALE](../sensor/optical_flow.md#scale-factor). ([PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936)).
- [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers
- Reintroduce optional parameter versioning mechanism for airframe maintainers ([PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813))
- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
- [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
@ -78,37 +71,37 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Control
- [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#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator
- [Sponsored by ARK] Bidirectional DShot ([PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863))
- Make control allocation and actuator effectiveness a non-module-specific library ([PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196))
- Spacecraft Build and Bare Control Allocator ([PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221))
- 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))
### Estimation
- [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#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init
- [PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436): ekf2: Optical flow enabled by default
- EKF2: ellipsoidal earth navigation ([PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854))
- EKF2: Terrain state ([PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263))
- ekf2: add mag type init ([PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185))
- ekf2: Optical flow enabled by default ([PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436))
- Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
### Sensors
- [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#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B
- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Mag cal: automatically disable internal mags if external ones are available
- [PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064): BMP581: Add Bosch BMP581 barometer
- [PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914): Murata SCH16T IMU driver
- [PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023): ST IIS2MDC Magnetometer driver
- [PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121): Include distance sensor in dds topics
- [PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925): drivers: magnetometer: mmc5983ma: Add SPI support
- [PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909): drivers/magnetometer/ak09916: Add support to AK09915
- [PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362): Add Bosch BMM350 magnetometer
- Implemented AUAV absolute/differential pressure sensor support ([PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656))
- Implemented temperature sensor support for INA228 / INA238 ([PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639))
- Add Ublox ZED-F9P-15B ([PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744))
- Mag cal: automatically disable internal mags if external ones are available ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316))
- BMP581: Add Bosch BMP581 barometer ([PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064))
- Murata SCH16T IMU driver ([PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914))
- ST IIS2MDC Magnetometer driver ([PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023))
- Include distance sensor in dds topics ([PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121))
- drivers: magnetometer: mmc5983ma: Add SPI support ([PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925))
- drivers/magnetometer/ak09916: Add support to AK09915 ([PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909))
- Add Bosch BMM350 magnetometer ([PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362))
- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Compass calibration now disables internal compass when external unit present, reducing false warnings
- Compass calibration now disables internal compass when external unit present, reducing false warnings ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316))
### Simulation
@ -135,31 +128,34 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### 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
- [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#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
- dds_topics: add vtol_vehicle_status ([PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
- dds_topics: add home_position ([PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583))
### MAVLink
- TBD
- mavlink_ftp: handle relative paths correctly. ([PX4-Autopilot#22980](https://github.com/PX4/PX4-Autopilot/pull/22980))
- Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234))
- Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
- mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
### Multi-Rotor
- [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
- [Multirotor] add yaw torque low pass filter ([PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173))
- Add gz model for quadtailsitter ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943))
- [PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358): Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD)
- [PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507): Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE).
- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
### VTOL
- TBD
- vtol_type: Added position feedback to VTOL backward transition. ([PX4-Autopilo#23731](https://github.com/PX4/PX4-Autopilot/pull/23731))
- dds_topics: add vtol_vehicle_status. ([PX4-Autopilo#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
- vtol: reduce schedule frequency, which causes DSHOT150 problems. ([PX4-Autopilo#24727](https://github.com/PX4/PX4-Autopilot/pull/24727))
### Fixed-wing
- [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
- Fixedwing: fix wheel controller ([PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167))
- FixedWing: allow position control without valid global position ([PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520))
- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
### Rover
@ -187,10 +183,10 @@ This release contains a major rework for the rover support in PX4:
### Infrastructure
- [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#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container
- [PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937): ci: workflow for ubuntu 24
- [PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869): ci: add test for Ubuntu 22.04
- [PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574): ci: try runs-on Dronecode Infra
- [PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550): ci: replace build workflows
- standard_modes: add vehicle-type specific standard modes. ([PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011))
- ci: build all upload to releases. ([PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020))
- ci: px4-dev container. ([PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002))
- ci: workflow for ubuntu 24.04. ([PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937))
- ci: add test for Ubuntu 22.04. ([PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869))
- ci: try runs-on Dronecode Infra (AWS). ([PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574))
- ci: replace build workflows. ([PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550))