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v1.16.0 - Stable Release source code.tar.gz (272.4 MB)
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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 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.
Major Changes
- Bidirectional DShot - [Sponsored by ARK] (PX4-Autopilot#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 to translate PX4 messages from one definition version to another dynamically. (PX4-Autopilot#24113)
- Log Encryption 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.
Release Notes
- Click here to view the full Release Notes.
- Full Changelog: https://github.com/PX4/PX4-Autopilot/compare/v1.15.4...v1.16.0
New Contributors
- @oravla5 made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23043
- @NXPBenjaminK made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23095
- @matteodelseppia made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23170
- @rowandempster made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23209
- @clalancette made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23230
- @joaomariolago made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23232
- @asifpatankar made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23203
- @ryrobotics made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23243
- @jonas-eschmann made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23119
- @n-snyder made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23312
- @bluedisk made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23330
- @zhangteng0526 made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23355
- @BorisSlabev made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23404
- @stocktonslack made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23372
- @sbtjagu made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23445
- @mirusu400 made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23515
- @Viliuks made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23362
- @ZeroOne-Aero made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23594
- @jfbblue0922 made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23585
- @shadowcpy made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23613
- @lucascheuer made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23616
- @tassalor1 made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23691
- @LCaiJie made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23694
- @vertiq-jordan made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/22892
- @TompsonTan made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23697
- @Dani3L9H made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23684
- @vertiq-luca made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23802
- @myxxmikeyxx made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23859
- @plichard made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23638
- @dronesalot made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23957
- @Perrrewi made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23943
- @riccardo-mengoli made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24085
- @mahimayoga made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24107
- @PavloZMN made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23266
- @bdilman made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24249
- @gillamkid made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24269
- @TedObrien made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/23961
- @co63oc made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24474
- @pbreuer-ff made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24576
- @AWheats made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24434
- @biednick made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24742
- @HB-SP-P made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24687
- @TomasTwardzik made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24719
- @holydust made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/24769
- @drfenixion made their first contribution in https://github.com/PX4/PX4-Autopilot/pull/25346