PX4 GitHub

## What's Changed This is a pre-release for flight testing, [full release notes can be found here](https://docs.px4.io/main/en/releases/1.18). Fixes since beta2: - Estimator: correct sequential fusion and external-position reset-by-fusion (#28273, #28326, #28379), refresh range-h

## What's Changed This is a pre-release for flight testing, [full release notes can be found here](https://docs.px4.io/main/en/releases/1.18). Fixes since beta1: - Fixed-wing: NaN eas2tas from zero-airspeed division in lat/lon control (#28107), tailsitter false quadchute from wro

## What's Changed This is a pre-release for flight testing, [full release notes can be found here](https://docs.px4.io/main/en/releases/1.18). **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.17.0-alpha1...v1.18.0-beta1

## What's Changed PX4 v1.17 builds on [PX4 v1.16](https://docs.px4.io/main/en/releases/1.16), with the changes below landing since v1.16.2. This release adds [Altitude Cruise](https://docs.px4.io/main/en/flight_modes_mc/altitude_cruise) mode, improves Fixed Wing Takeoff behaviour

## What's Changed This is a pre-release for flight testing, full release notes will be available soon. **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.17.0-alpha1...v1.18.0-alpha1

## What's Changed * [Backport 1.16] fix(ekf2): allow optical flow to start when range finder is height reference by @dakejahl in https://github.com/PX4/PX4-Autopilot/pull/26961 * fix(ekf2): break unbounded recursion [BACKPORT v1.16] by @julianoes in https://github.com/PX4/PX4-Aut

## Security Fixes - CVE-2026-32705 - BST device name buffer overflow ([GHSA-79mp](https://github.com/PX4/PX4-Autopilot/security/advisories/GHSA-79mp-34pp-2f3f)) - CVE-2026-32706 - CRSF variable-length packet buffer overflow ([GHSA-mqgj](https://github.com/PX4/PX4-Autopilot/securi

## What's Changed * [BACKPORT 1.17] Include PWM Center PR by @ttechnick in https://github.com/PX4/PX4-Autopilot/pull/26317 * [Backport 1.17] Fix VTOL stuck after back-transition in Mission Fast RTL by @AkaiEurus in https://github.com/PX4/PX4-Autopilot/pull/26319 * [BACKPORT] fail

## What's Changed * [Backport 1.16] of fix: let UXRCE DDS agent IP to be set via parameter in SITL (#25231) by @sansha in https://github.com/PX4/PX4-Autopilot/pull/25299 * VOXL2 patch back port for release 1.16 by @katzfey in https://github.com/PX4/PX4-Autopilot/pull/25377 * [v1.

## What's Changed * [BACKPORT 1.17] Zenoh docs and zenoh oom fixes by @PetervdPerk-NXP in https://github.com/PX4/PX4-Autopilot/pull/26053 * [BACKPORT 1.17] imxrt related fixes and mr-tropic support by @PetervdPerk-NXP in https://github.com/PX4/PX4-Autopilot/pull/26052 * [1.17] Bu

## What's Changed * [BACKPORT 1.16] Correction of routing issue of mavlink parameter messages to CAN nodes by @dakejahl in https://github.com/PX4/PX4-Autopilot/pull/25658 * [BACKPORT 1.16] serial: nuttx: revert tcdrain back to fsync by @dakejahl in https://github.com/PX4/PX4-Auto

Preliminary Release Notes can be found here https://docs.px4.io/main/en/releases/1.17

## What's Changed * [Backport 1.16] of fix: let UXRCE DDS agent IP to be set via parameter in SITL (#25231) by @sansha in https://github.com/PX4/PX4-Autopilot/pull/25299 * VOXL2 patch back port for release 1.16 by @katzfey in https://github.com/PX4/PX4-Autopilot/pull/25377 * [v1.

## What's Changed 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

PX4 stable v1.16.0 RC 2 WIP Release Notes --> https://docs.px4.io/main/en/releases/1.16.html

PX4 stable v1.16.0 release candidate WIP Release Notes --> https://docs.px4.io/main/en/releases/main.html

## What's Changed * Backport: ARK FPV 1.15 by @AlexKlimaj in https://github.com/PX4/PX4-Autopilot/pull/23948 * [Backport v1.15] [Sponsored by Holybro] Add Goermicro/Goertek SPA06 baro driver by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/24091 * [BACKPORT v1.15] gps:

## What's Changed * [v1.15] boards: add Septentrio GNSS drivers to 6C, 6X, 6X-RT by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/23827 * Navigator: land: fix when flying without global position estimate by @sfuhrer in https://github.com/PX4/PX4-Autopilot/pull/23853 * A

## What's Changed * [RELEASE/1.15] Septentrio: disable default assignment of GPS1 by @bresch in https://github.com/PX4/PX4-Autopilot/pull/23722 * backport: commander: ignore REQUEST_CAMERA_INFORMATION by @AlexKlimaj in https://github.com/PX4/PX4-Autopilot/pull/23748 * backport: f

## What's Changed * [BACKPORT] Corrections to mRo Control Zero Classic by @TOTON95 in https://github.com/PX4/PX4-Autopilot/pull/22971 **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.14.3...v1.14.4

## Major Changes - Major improvements to navigation - New and updated hardware support - Dynamic Modes API - <Badge type="warning" text="Experimental"/>[PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) that simplifies controlling PX4 from ROS 2. ## Release Notes *

## What's Changed * [New] [fmu-v6x: add crossfire UART driver](https://github.com/PX4/PX4-Autopilot/commit/beb834af2b489941409f39599a98970339f8917c) **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.14.1...v1.14.2

**Release Notes can be found on**: https://docs.px4.io/main/en/releases/1.15.html **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.15.0-rc1...v1.15.0-rc2

**Release Notes can be found on**: https://docs.px4.io/main/en/releases/1.15.html **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.14.3...v1.15.0-rc1

**Release Notes can be found on**: https://docs.px4.io/main/en/releases/1.15.html **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.15.0-beta1...v1.15.0-beta2

## What's Changed * 1.14 backport: boards: arkv6x fix wrong pwm output values by @AlexKlimaj in https://github.com/PX4/PX4-Autopilot/pull/22271 * [BACKPORT v1.4] mavlink: properly set mission_type by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/22309 * [BACKPORT v1.4]

**Release Notes can be found on**: https://docs.px4.io/main/en/releases/1.15.html **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.14.0...v1.15.0-beta1

## Major Changes * Dynamic Control Allocation * Improved Preflight Failure Check Reporting * Failsafe Simplification and Simulation * Default Simulation is now New Gazebo * Improved ROS 2 Interface thanks to uXRCE-DDS ## Read Before Upgrading The v1.14 release includes a few brea

Release Candidate v1.14.0 ## What's Changed * [New] Dynamic Control Allocation * [New] Default simulation is now New Gazebo * [New] Improved ROS 2 Interface thanks to uXRCE-DDS ## Read Before Upgrading The v1.14 release includes a few breaking changes for users upgrading from pre

Stable Release v1.13.3 ## What's Changed * [New] CUAV Pixhawk V6X https://github.com/PX4/PX4-Autopilot/pull/21221 * [New] Holybro Pixhawk 6C Mini https://github.com/PX4/PX4-Autopilot/pull/21227 * [New] ARK PAB Carrier https://github.com/PX4/PX4-Autopilot/pull/21104 * [Fix] Cube O

## What's Changed * Navigator: fix init of _mission_item by @sfuhrer in https://github.com/PX4/PX4-Autopilot/pull/20496 * Holybro PX4Vision: Don't use IO by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/20534 * px4_fmu-v6: Add Revision 1 to manifest to note I2C4 is only

## What's Changed * [BACKPORT v1.13] drivers/imu/invensense/icm42670p: cleanup and small fixes by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/20165 * [BACKPORT v1.13] px4_fmu-v6x:HB Mini add Ver 3, Ver 4 init by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/

This is the v1.13 stable release, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.13.html ### Common - Control Allocation Beta ([PR#18776](https://github.com/PX4/PX4-Autopilot/pull/18776)) - Autot

PX4 stable v1.13.0 first release candidate

- Enable Cube Orange built in ADS-B receiver by default: https://github.com/PX4/PX4-Autopilot/pull/18188 - fixed flash overflow on px4_fmu-v2_default and px4_fmu-v5_optimized

- Holybro V5X Rev 2 full support (https://github.com/PX4/PX4-Autopilot/pull/18069) - flight_mode_manager: ManualAcceleration support weathervane yaw handler (https://github.com/PX4/PX4-Autopilot/pull/18038) - mavlink: receiver fix HIL_STATE_QUATERNION map projection init (https:/

This point release fixes a number of small issues discovered after the v1.12.0 release. - fix Kinetis K66 serial DMA (https://github.com/PX4/PX4-Autopilot/pull/17907) - mavlink: fix offboard velocity input (https://github.com/PX4/PX4-Autopilot/pull/17958) - sensors: populate sens

This is the v1.12 stable release, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html * Multi-EKF enabled by default * Safety (switch) defaults to off (motors are disarmed, but servos / flaps

This is the sixt beta of v1.12, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html * Multi-EKF enabled by default * Safety (switch) defaults to off (motors are disarmed, but servos / flaps ca

This is the fifth beta of v1.12, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html * Multi-EKF enabled by default * Safety (switch) defaults to off (motors are disarmed, but servos / flaps c

This is the fourth beta of v1.12, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html * Multi-EKF enabled by default * Safety (switch) defaults to off (motors are disarmed, but servos / flaps

This is the third beta of v1.12, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html * Multi-EKF enabled by default * Safety (switch) defaults to off (motors are disarmed, but servos / flaps c

This is the second beta of v1.12, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html * Multi-EKF enabled by default * Safety (switch) defaults to off (motors are disarmed, but servos / flaps

This is the first beta of v1.12, which brings a number of significant improvements to PX4: * Multi-EKF enabled by default * Safety (switch) defaults to off (motors are disarmed, but servos / flaps can move) * Safety switch is latching: Once it is disabled, it will stay disabled *

This is a minor, not safety related fix release which ensures that all DSM RC receivers are detected again.

This is a relatively minor bug fix release. - ekf2: update to latest ecl #16174 - EKF: Improve robustness of yaw reset to bad inertial data (PX4/PX4-ECL#914) - EKF: Use strength in Gauss (bug fix) (PX4/PX4-ECL#933) - disable secondary power source by default, fix battery param mi

This point release fixes a number of small issues discovered after the v1.11.0 release. - fix thermal calibration if a sensor does not have temperature sensor https://github.com/PX4/Firmware/pull/15671 - CubeOrange and CubeYellow IMU heating fix https://github.com/PX4/Firmware/pu

# Release Notes ## Highlights * Multicopter hover thrust estimator (https://github.com/PX4/Firmware/pull/13981) * Backup yaw estimator for emergency recovery (https://github.com/PX4/ecl/pull/766) * new Invensense and Bosch IMU drivers enabled everywhere * completely rewritten dri

# v1.11 Release Notes ### Highlights * New significantly improved Invensense IMU drivers that provide all raw data up to 8 kHz using SPI DMA. * rate controller can run up to 2 kHz (>= 4 kHz coming soon) by setting`IMU_GYRO_RATEMAX` * New multicopter hover thrust estimator (PR #13

This point release reduces the CPU load on FMUv2/v3 targets by setting the default rate control loop executing speed to 400 Hz. The v1.10 release increases the default rate control speed from 250 Hz (v1.9 and before) to 1000 Hz (v1.10), which not all boards can sustain in terms o

## Release Notes ### Highlights * Multicopter 1 kHz rate loop (param IMU_GYRO_RATEMAX) * DShot ESC Support with Telemetry (PR [#12854](https://github.com/PX4/Firmware/pull/12854), [Docs](https://docs.px4.io/master/en/peripherals/dshot.html)) * Cone-based RTL ([Docs](https://docs.

### Changelog Follow the link for full changelog https://gist.github.com/mrpollo/3af778f7f6cdbad1f0433ba18b4b7204

This is a minor bug fix release. - Multicopter position controller: fix conversion to radians in AutoMapper and AutoMapper2 (https://github.com/PX4/Firmware/pull/12324) - MAVLink: Add all IMUs as default outputs over USB (https://github.com/PX4/Firmware/pull/12333) - Multicopter

This is a minor bug fix release following [PX4 stable v1.9.0](https://github.com/PX4/Firmware/releases/tag/v1.9.0). - MC takeoff position fix https://github.com/PX4/Firmware/pull/12032 - VTOL takeoff bug fix https://github.com/PX4/Firmware/pull/12250 - CUAV v5+ and v5 nano suppor

# High-Level PX4 v1.9 Release Notes Release link: https://github.com/PX4/Firmware/releases/tag/v1.9.0 Devguide documentation: https://dev.px4.io/v1.9.0/en/ Full Changelog: https://gist.github.com/mrpollo/999253f9bdddf8a9d5f08141a1a9f364 ## Highlights * ARM M7 silicon errata fix *

This release candidate has no known issues or open to-do's and is ready for wide testing.

## [v1.9.0-beta3](https://github.com/PX4/Firmware/tree/v1.9.0-beta3) (2019-04-22) [Full Changelog](https://github.com/PX4/Firmware/compare/v1.8.2...v1.9.0-beta3)

This is a minor bug fix release on top of PX4 Stable v1.8.1 * mc_att_control: copy sensor_correction topic once initially https://github.com/PX4/Firmware/pull/10830

This is a minor bug fix release on top of PX4 Stable v1.8.0 - mavlink properly wrap heading fields #9905 - Navigator: Fix fixed-wing first order altitude hold #9850 - fmu fix MAIN/AUX parameters #9925 - cmake fix BUILD_URI #9941 - tap_esc increase stack 1100 -> 1180 bytes #10041

# Migration Guide - The [EKF2](https://dev.px4.io/en/tutorials/tuning_the_ecl_ekf.html) estimator has been the standard for some time and supports flying with vision positioning systems indoors. Users of the LP estimator are advised to upgrade, as LPE is no longer supported/maint

This includes a number of stability and performance improvements for all vehicle types.

This is a maintenance release for v1.7 * Fixed board support for boards electrically departing from FMUv2 schematic from several manufacturers * Cascaded EKF2 error messages so they do not trigger when calibration is missing on the sensors * Disabled some text / speech outputs wh

This release is based on the new CI system and configuration and addresses a number of usability issues on vehicle setup: * Cascaded EKF2 error messages so they do not trigger when calibration is missing on the sensors * Disabled some text / speech outputs when disarmed * Ensured

Fixes boot issues with some boards that deviate from the reference design.

# Release Notes - First-generation experimental support for ROS2-like setups with FastRTPS - Support for many new sensors (LIDAR, airspeed, IMU, etc) - Significant robustness improvements and new features in default estimation system (EKF2) - Significant improvements to VTOL flig

This RC correctly builds FMUv3 targets and includes fixes to RTL behaviour and when GPS lock is acquired mid-flight.

Maintenance release: This release includes a number of fixes * Pixhawk Mini: Improve mag boot stability * Pixhawk 3 Pro: Improve mag boot stability * GCC7 compile fixes * Sensirion SDP3x driver * Measurement Specialties MS5525 driver * Add hard fault logs to .ulg flight log files

Ensures pausing a mission pauses on-spot and not only at the next waypoint.

PX4 v1.6.3 requires a recent version of QGroundControl for the best user experience, currently available as “daily build” [here](https://docs.qgroundcontrol.com/en/releases/daily_builds.html). * Enables correct calibration of 4th magnetometer * Fixes VTOL back transition on RTL

PX4 v1.6.2 requires a recent version of QGroundControl for the best user experience, currently available as “daily build” [here](https://docs.qgroundcontrol.com/en/releases/daily_builds.html). # New Hardware Support * Crazyflie v2 * FMUv4 PRO (Prototype donation and manufacturing

Improvements on mag calibration on FMUv4 hardware

* Improvements on EKF2 stability * General improvements of stability and usability

Second release candidate for v1.6.0. Release notes TBC

This is a release candidate for the current beta branch, nominally tagged as 1.6.0. We will likely conclude to skip 1.6-1.9 in favour of releasing a 2.0.0 in a couple weeks, so consider this release candidate a reasonably well tested snapshot (hence the RC naming) of the current

Minor bugfixes and improvements over v1.5.4.

Geofence fix and re-labeled from v1.5.3 to v1.5.4 to fix version indication in QGC.

Improves the calibration handling on Pixhawk 2.1 boards.

This release changes the estimator to EKF2 for all vehicles as it is the most tested in typical outdoor scenarios. Indoor scenarios and general R&D applications continue to benefit greatly from the LPE estimator. To switch back to the previous default, set SYS_MC_EST_GROUP to 1.

Final release candidate. This release changes the estimator to EKF2 for all vehicles as it is the most tested in typical outdoor scenarios. Indoor scenarios and general development continue to benefit greatly from the LPE estimator. To switch back to the previous default, set SYS

Minor improvements over RC1 and RC2: - Better differential pressure / airspeed preflight check - Better default gains for Intel Aero RTF drone

Minor fixes and improvements since RC1

First release candidate for 1.5.1. This release changes the estimator to EKF2 for all vehicles as it is the most tested in typical outdoor scenarios. Indoor scenarios and general development continue to benefit greatly from the LPE estimator. To switch back to the previous defaul

This release improves the overall stability of the system, in particular on Pixracer and USB.

This is a preview for the 1.5.0 release with general improvements.

This release improves the ICM20608 filter performance and fixes a USB connectivity issue on the NuttX OS which is visible on all operating systems but most severe on Mac OS X.

This release reduces the memory footprint of EKF2 for VTOL use cases.

This release enables the use of three different estimators and switches the default estimators for multicopters, fixed wing and VTOL to more modern variants. - Default estimator for multicopters is attitude_estimator_q and LPE (new). Better position and alt hold. - Default estima

This release candidate increases the baro sampling rate and improves altitude hold.

This is the third release candidate for the 1.4.1 release with various bugfixes and stability improvements. There are still a number of changes / fixes to come into 1.4.1: https://github.com/PX4/Firmware/milestone/12

This introduces a fix for the MAVLink stream rate handling which increases the telemetry bandwidth significantly for all links.

This is a maintenance release with stability improvements.

This release candidate fixes the version reporting and defaults battery params to unconfigured.

This release introduces proper version control in lockstep with QGroundControl to ensure that users get critical bugfixes.

This RC introduces improvements to the LPE estimator and switches fixed wing setups to EKF2. It will need significant testing.

This fixes an issue with the EKF1 estimator leading to excessive param updates.

This is a first early release candidate for v1.4.0

This is a maintenance release including a number of bugfixes that were back ported from master to stable.

v1.4 beta release

- Matching QGroundControl release [v2.9.6+](https://github.com/mavlink/qgroundcontrol/releases) - Better support for full missions for VTOL airframes - Pure tablet controlled flight by direct map interaction (in addition to normal missions, by just clicking points on the map) - B

This fixes a wrong lowpass filter constant for battery charge level estimation. This version is also currently available on the beta branch and can be flashed by selecting the advanced options in the flash dialog and then beta. Correct QGC version: https://github.com/mavlink/qgro

This release introduces substantial improvements of the VTOL control and autonomy code, the estimation & control library, an initial version of EKF2 and dozens of general fixes and improvements.

This release does add some new functionality for Pixracer, but mostly addresses issues found by users: - RTL: If the copter was facing away from home it would first drift off until it yawed towards home before flying back to home properly - Yaw handling on multicopter: The multic

This release includes minor fixes: - FMUv2: Start baro on correct bus. This is a regression of the Pixracer integration and could lead to aborted boots - All board: Ensure that UAVCAN_ENABLE param is always loaded.

This release defaults MAVLink to on via USB and only offers the NSH shell via USB when the microSD card is not plugged into the autopilot. A second huge addition is the support for log downloads through the specialised log protocol and QGroundControl (USB on any flight controller

- Switch to CMake build system - Significant improvements in the user model / interaction (requires QGroundControl v2.8.0 or newer, using a daily build is recommended) - Full VTOL support for all three major VTOL design types enabled (Tailsitters, tiltrotors, plane + quad combina

This is the third v1.1.0 beta release with zero open issues for the release. This is purely for validation and will become the release unless major issues are discovered.

This RC2 fixes a boot issue with VTOL configurations and contains a number of other fixes and improvements

This release adds: - CMake / Ninja build system - Full UAVCAN support, including Firmware upgrades on the CAN nodes - SITL for copters and VTOL - Integration on the sensor level - Separates the controller input state estimates from the true state estimates (which is important for

The v1.0.1 release adds an additional re-initialization routine to the fixed wing altitude controller ensuring it does not climb or loose altitude on the first switch to altitude control mode.

This release includes the last missing changes: - Full UAVCAN support for the current release - Fixed an issue in TECS where a missing reset could lead to an initial increase or decrease in altitude before the current / desired altitude was held - Fixed low memory issues on FMUv1

Initial release of the PX4 Flight Stack.

The 2nd beta release addresses a few things addressed during testing: - Fixed wing ALT / POS CTL: Fixed climb-out mode so that full pitch down doesn't resolve in a dive and full pitch up pulls up with max. throttle

UPGRADE TO LATEST QGROUNDCONTROL STABLE FOR CALIBRATING SENSORS - Fixed wing improvements in altitude control and takeoff - Improved magnetometer calibration - General usability improvements This release candidate is the first version suitable for wider beta testing.

- System does not set a home position any more when already armed and gaining GPS lock - Missions containing relative altitude waypoints are verboten when no home is set (the system will complain and loiter) - Fixes for the manual trim capability in manual override mode - Improve

- Fix multicopter full throttle yaw control issue - Make L1 controller distance dependent on current velocity and L1 distance - HIL fixes for fixed wing, improving HIL reliability greatly - Improved default config for TBS Caipirinha - New ALTCTL and POSCTL flight modes for fixed

Release candidate with a number of improvements and bug fixes: - Optional attitude_estimator_q from Anton Babushkin (@DrTon, lightweight, elegant, estimates gyro offsets) - New mixer: Modifies collective throttle to keep system stable when motors saturate (by @tumbili) - Prefligh

- Fix a param indexing issue which made param retransmission over radio links unstable.

Fixed microSD on FMUv1

- This release candidate changes the default attitude and position estimator for all platforms to ekf_att_pos_estimator. From @Zefz. - EKF offset fixes. From @sverling. - Landing detector. From @Zefz. - NuttX/ROS multi-platform improvements. From @thomasgubler. - RAM optimization

Complete release, including multicopter, fixed wing and VTOL support.

Complete release, including multicopter, fixed wing and VTOL support.