PX4-Autopilot/docs/en/releases/main.md

PX4-Autopilot Main Release Notes

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This page is on a release branch, and hence probably out of date. See the latest version.

This contains changes to PX4 main branch since the last major release (PX v1.16).

::: 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

• The SDLOG_DIRS_MAX parameter has been removed. Log storage management is now controlled entirely by SDLOG_ROTATE (disk usage percentage) and SDLOG_MAX_SIZE. If you previously relied on SDLOG_DIRS_MAX, adjust these two parameters instead. See Log Cleanup for details.
• SDLOG_MAX_SIZE default lowered from 4095 to 1024 MB. This caps individual log files at ~1 GB, which fits a typical flight in a single file and keeps cleanup behavior reasonable on typical SD cards. Users with unusually large flight data can raise this value manually.

Please continue reading for upgrade instructions.

Major Changes

• TBD

Upgrade Guide

Other changes

Hardware Support

• TBD

Common

• QGroundControl Bootloader Update via the 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).
• Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order. (PX4-Autopilot#25602: Ascending and descending manual control input priorities).

Control

• Added new flight mode(s): Altitude Cruise (MC), 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).

Estimation

• Added 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 (PX4-Autopilot#24137)
• Quick magnetometer calibration now supports specifying an arbitrary initial heading (PX4-Autopilot#24637)

Simulation

• SIH: Add option to set wind velocity (PX4-Autopilot#26467)

Debug & Logging

• Asset Tracking: Automatic tracking and logging of external device information including vendor name, firmware and hardware version, serial numbers. Currently supports DroneCAN devices. (PX4-Autopilot#25617)
• Logger: support for small flash storage (e.g. 128 MB W25N NAND on kakuteh7mini, kakuteh7v2, airbrainh743). Logs can now be written directly to an internal littlefs volume instead of requiring an SD card.
• Logger: reworked log rotation and cleanup:
  • Added SDLOG_ROTATE (default 90): maximum disk usage percentage. Cleanup guarantees (100 - SDLOG_ROTATE)% of the disk stays free at all times, even while writing a new log file. Set 0 to disable space-based cleanup, 100 to allow filling the disk completely.
  • SDLOG_MAX_SIZE default lowered from 4095 to 1024 MB. The old default caused over-aggressive cleanup on typical SD cards (e.g. an 8 GB card would only retain 1 log file at a time). Users with unusually large flight data can raise it explicitly.
  • Removed SDLOG_DIRS_MAX. Directory-count limits are now handled by the space-based cleanup alone.
• New mklittlefs systemcmd for reformatting a littlefs volume from the NSH console, analogous to mkfatfs for FAT filesystems.

Ethernet

• TBD

uXRCE-DDS / Zenoh / ROS2

• TBD

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).
• 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).

VTOL

• TBD

Fixed-wing

• TBD

Rover

• TBD

ROS 2

• TBD