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: v1.15.4...v1.16.0

New Contributors

• @oravla5 made their first contribution in #23043
• @NXPBenjaminK made their first contribution in #23095
• @matteodelseppia made their first contribution in #23170
• @rowandempster made their first contribution in #23209
• @clalancette made their first contribution in #23230
• @joaomariolago made their first contribution in #23232
• @asifpatankar made their first contribution in #23203
• @ryrobotics made their first contribution in #23243
• @jonas-eschmann made their first contribution in #23119
• @n-snyder made their first contribution in #23312
• @bluedisk made their first contribution in #23330
• @zhangteng0526 made their first contribution in #23355
• @BorisSlabev made their first contribution in #23404
• @stocktonslack made their first contribution in #23372
• @sbtjagu made their first contribution in #23445
• @mirusu400 made their first contribution in #23515
• @Viliuks made their first contribution in #23362
• @ZeroOne-Aero made their first contribution in #23594
• @jfbblue0922 made their first contribution in #23585
• @shadowcpy made their first contribution in #23613
• @lucascheuer made their first contribution in #23616
• @tassalor1 made their first contribution in #23691
• @LCaiJie made their first contribution in #23694
• @vertiq-jordan made their first contribution in #22892
• @TompsonTan made their first contribution in #23697
• @Dani3L9H made their first contribution in #23684
• @vertiq-luca made their first contribution in #23802
• @myxxmikeyxx made their first contribution in #23859
• @plichard made their first contribution in #23638
• @dronesalot made their first contribution in #23957
• @Perrrewi made their first contribution in #23943
• @riccardo-mengoli made their first contribution in #24085
• @mahimayoga made their first contribution in #24107
• @PavloZMN made their first contribution in #23266
• @bdilman made their first contribution in #24249
• @gillamkid made their first contribution in #24269
• @TedObrien made their first contribution in #23961
• @co63oc made their first contribution in #24474
• @pbreuer-ff made their first contribution in #24576
• @AWheats made their first contribution in #24434
• @biednick made their first contribution in #24742
• @HB-SP-P made their first contribution in #24687
• @TomasTwardzik made their first contribution in #24719
• @holydust made their first contribution in #24769
• @drfenixion made their first contribution in #25346

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 #23948
• [Backport v1.15] [Sponsored by Holybro] Add Goermicro/Goertek SPA06 baro driver by @julianoes in #24091
• [BACKPORT v1.15] gps: heading fixes for NMEA/Unicore by @julianoes in #24092
• [RELEASE/1.15] Fixedwing: fix wheel controller by @bresch in #24169
• [v1.15] gps: revert ubx changes, point to 1.15 branch by @julianoes in #24303

Full Changelog: v1.15.2...v1.15.4

v1.15.2 Release Notes

What's Changed

• [v1.15] boards: add Septentrio GNSS drivers to 6C, 6X, 6X-RT by @julianoes in #23827
• Navigator: land: fix when flying without global position estimate by @sfuhrer in #23853
• Add airspeed message to uxrce dds topics by @qtweng in #23847
• [BACKPORT] mRo boards: Fix for USART clock selection (#23524) by @TOTON95 in #23532

New Contributors

• @qtweng made their first contribution in #23847

Full Changelog: v1.15.1...v1.15.2

v1.15.0 Release Notes

https://docs.px4.io/main/en/releases/1.15.html

What's Changed

• [RELEASE/1.15] Septentrio: disable default assignment of GPS1 by @bresch in #23722
• backport: commander: ignore REQUEST_CAMERA_INFORMATION by @AlexKlimaj in #23748
• backport: failure detector use per index esc current by @AlexKlimaj in #23750
• [backport][cdcacm] set file descriptor to -1 after close() by @dakejahl in #23752

Full Changelog: v1.15.0...v1.15.1