APX4 3.4.8

Please use Auterion Mission Control 1.39 or newer with this version of APX4.

Major additions

General

• New VTX (Video Transmitter) driver with Tramp and SmartAudio v1/v2/v2.1 protocol support.

  • Control band, channel, frequency, power, and pit mode via parameters, RC aux channels, or CRSF MSP messages.

  • Add parameters VTX_BAND, VTX_CHANNEL, VTX_FREQUENCY, VTX_POWER, VTX_PIT_MODE, VTX_MAP_CONFIG, VTX_DEVICE.

• New RC termination switch: Irreversible flight termination trigger via RC, separate from the kill switch.

  • Parachute deployment now only triggers on termination, not on kill.

  • Fixes: Motors restarting after parachute deployment when kill switch is disengaged.

• Autotune can now be triggered as a mission item via MAV_CMD_DO_AUTOTUNE_ENABLE. Enables autonomous tuning without RC or GCS link.

• Manual Control: Add COM_RC_IN_MODE options to prioritize either RC or MAVLink Joystick input with automatic fallback to the other source when the prioritized one is lost.

• Logger: SDLOG_NO_POS_DAT only redacts position-related fields, not entire messages.

  • New value 2 redacts both global and local position.

Fixed Wing / VTOL in Cruise

• New quaternion based fixed-wing attitude controller.

  • Replaces the previous controller based on Euler angles.

  • Eliminates singularities and improves robustness at high pitch and roll angles.

State Estimation

• EKF2: Support simultaneous fusion of up to 4 Auxiliary Global Position (AGP) sources (e.g. visual navigation, pseudolites).

  • New per-instance parameters EKF2_AGP{0..3}_* replace previous EKF2_AGP_*.

  • MAVLink: Support for GLOBAL_POSITION_SENSOR message to inject auxiliary global position data into PX4 for EKF2 fusion.

• EKF2: Support simultaneous fusion of up to 2 GNSS receivers.

  • New per-instance parameters SENS_GPS{0,1}_ID, SENS_GPS{0,1}_DELAY, and SENS_GPS{0,1}_OFF{X,Y,Z} replace previous EKF2_GPS_*.

• EKF2: Add ranging beacon fusion support. Ranging beacon measurements are now parsed from MAVLink, published as a uORB message, and fused by EKF2 as a position aid source.

Sensors, Drivers

• DShot: Support Extended DShot Telemetry (EDT)

  • Decodes ESC temperature, voltage, and current directly from BDShot frames, eliminating the need for a serial telemetry wire.

  • Enable via DSHOT_BIDIR_EDT (replaces DSHOT_BIDIR_EN).

• 15+ new sensors and peripherals, including external INS/AHRS systems (Inertial Labs, SBG Systems, EULER-NAV), new IMUs, rangefinders, and ADCs. See the Sensors, Drivers section below for the full list.

What's New

General

• RC: Add support for CRSF and ELRS link statistics messages (RSSI, link quality, SNR).

• Remote prearm safety switch control via MAVLink command.

  • Allows activating/deactivating the prearm safety system remotely from a GCS or via commander safety on/off.

• RTL: Add new RTL_TYPE option (value 5) to restrict return destinations to safe points (rally points) only. Enforce at least one rally point when RTL_TYPE is 5.

• Failsafe: Add option to hold at position where the last heartbeat was received. Enable through new NAV_LTR_LAST_DL parameter. Failsafe action has to be set to Loiter (Hold) mode in NAV_DLL_ACT.

• Failsafe: Trigger RTL when the parachute system goes missing or unhealthy during flight. Gated by COM_PARACHUTE.

• Commander: New COM_ARM_ON_BOOT parameter.

  • When enabled, the vehicle automatically arms on boot once pre-flight checks pass.

  • Intended for RF-restricted areas or applications where GCS/RC arming is not possible.

• External Modes:

  • Add configuration override flag to prevent automatic home position update when an external mode executor runs land mode.

  • Add registration flag to control whether an external mode is user-selectable in the ground station. Modes intended to run only within a mode executor can now be hidden from the user.

• UAVCAN Hardpoint: Add gripper control via MAV_CMD_DO_GRIPPER command, supporting both mission waypoints and manual commands.

Multicopter / VTOL in Hover

• VOXL ESC: Add VOXL_ESC_T_ON parameter to map a MAVLink MANUAL_CONTROL button to turtle mode activation.

Fixed Wing / VTOL in Cruise

• Fixed-wing Auto Launch

  • Add option to lock selected control surfaces before and during launch via FW_LAUN_CS_LK_DY and CA_SV_CS_LAU_LK. Useful for tube launches where surfaces cannot move until clear of the tube.

  • Add option to drive up to 3 peripheral servo channels to their maximum value after a configurable delay post-launch.

    • Configure via new CA_TKO_PS{1..3}_CH (channel selection) and CA_TKO_PS{1..3}_DY (delay in seconds) parameters.

• Configurable flap slew rate via CA_SV_FLAP_SLEW. Previously hard-coded to 2 seconds.

VTOL

• ICE control module: Add option to start internal combustion engine only when in fixed-wing or transition to fixed-wing.

  • Enable with parameter ICE_ON_SOURCE.

• New ice shedding feature: Periodically spin unused MC motors during fixed-wing flight to break off ice buildup.

  • Configured via CA_ICE_PERIOD (disabled by default).

  • Documentation.

Rover

• Rover: Add exponential and super-exponential stick input curve for yaw rate control.

  • New parameters: RO_YAW_EXPO, RO_YAW_SUPEXPO, RD_YAW_STK_GAIN, RM_YAW_STK_GAIN.

State Estimation

• EKF2: Add MAVLink-based runtime sensor fusion control via VEHICLE_CMD_SET_EKF_SENSOR_FUSION.

  • New EKF2_SENS_EN bitmask parameter enables or disables individual fusion sources, applied on disarm.

  • New ESTIMATOR_SENSOR_FUSION_STATUS MAVLink stream reports the intended and active fusion state.

• EKF2: Add low-earth-orbit (LEO) satellite systems as a supported global position source in AuxGlobalPosition and GLOBAL_POSITION_SENSOR MAVLink message.

• EKF2: Add PPS (Pulse Per Second) time correction for GNSS measurements.

  • If available, the measured delay is used rather than the parameter EKF2_GPS_DELAY.

  • Add PPS_CAP_GPS_ID parameter to select which GNSS receiver is used for PPS timestamp correlation by device ID. Enables reliable PPS in multi-GNSS setups.

  • Documentation.

• EKF2: Add GNSS jamming detection and handling to preflight and in-flight health checks, similar to existing spoofing detection.

  • Configure with new Jamming bit in EKF2_GPS_CHECK.

• EKF2: Add parameter EKF2_ENGINE_WRM to enable constant position fusion during engine warm-up (to avoid estimation issues due to vibration).

• EKF2: Add parameter EKF2_REQ_FIX parameter sets the minimum required GNSS fix type (e.g. RTK) before arming.

• EKF2: Add support for manual heading reset via MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE or commander set_heading.

Sensors, Drivers

• Multi-instance heater support for independent temperature control of multiple IMUs.

  • New parameters: HEATER{1..3}_IMU_ID, HEATER{1..3}_TEMP, HEATER{1..3}_TEMP_{P,I,FF}.

  • Remove previous single-instance parameters HEATER_IMU_ID etc.

• Battery: Add configurable low-pass filter time constants for analog battery voltage (BAT{1..3}_V_FILT) and current (BAT{1..3}_I_FILT) ADC readings to reduce noise.

• DShot: AM32 ESC EEPROM read/write support via MAVLink. Configure ESC settings directly from the ground station. Requires DSHOT_ESC_TYPE set to AM32.

• New u-blox GNSS driver features:

  • Add jamming detection sensitivity parameter GPS_UBX_JAM_DET.

  • Add configurable measurement output rate parameter GPS_UBX_RATE and autobauding support.

  • Expose parameters GPS_UBX_MIN_CNO, GPS_UBX_MIN_ELEV, and GPS_UBX_DGNSS_TO

• UAVCAN

  • Add device information tracking, publishing firmware/hardware version, serial number, and vendor/model for all attached UAVCAN devices. Logged in device_information message.

  • GNSS: Extend SENS_GPS_PRIME to support selecting a primary GNSS among UAVCAN GNSS modules by node ID.

  • Add CANNODE_NODE_ID parameter for setting a static node ID on CAN nodes.

  • Add CANNODE_PUB_BAR and CANNODE_PUB_MAG parameters to optionally disable barometer and magnetometer data publication on CAN nodes.

  • Node: Add hardpoint command support. CAN nodes can now receive and handle hardpoint commands in addition to servo and motor array commands.

  • Configurable LED light control with flexible addressing.

    • New parameters UAVCAN_LGT_NUM, UAVCAN_LGT_ID{0..15}, and UAVCAN_LGT_FN{0..15} allow controlling individual LEDs on any DroneCAN peripheral (e.g. Vertiq ESCs with LED add-ons).

    • Removes UAVCAN_LGT_STROB, UAVCAN_LGT_NAV, and UAVCAN_LGT_LAND parameters.

• Boards: Add support for ARK X20 GNSS and ARK F9P GNSS CAN nodes.

• FMU-v6s

  • Add PCA9685 I2C PWM servo driver support with configurable I2C bus selection.

  • Add support for INA226, INA228, and INA238 digital power modules. Analog battery monitoring is automatically disabled when a digital power module is enabled.

• Support new sensors and peripherals:

  • ARK DIST CAN distance sensor node (Broadcom AFBRS50)

  • ARK MAG CAN magnetometer node (RM3100)

  • ADIS16607 IMU

  • ADS7953 16-channel ADC

  • AW2023 RGB LED

  • EULER-NAV Baro-Inertial AHRS (serial, provides attitude/IMU/baro data)

  • IST8310 magnetometer: Support IST8310J variant

  • Inertial Labs INS/AHRS/IMU

  • Lightware GRF250/GRF500 distance sensors, I2C

  • Lightware GRF250/GRF500 rangefinder (serial and I2C)

  • MCP23017 I2C GPIO expander

  • MCP9808 I2C temperature sensor

  • SBG Systems INS (sbgECom, provides IMU/GNSS/EKF data)

  • TLA2528 I2C ADC

  • TMP102 temperature sensor

  • Winbond W25N01GV NAND flash (128MB, littlefs, for SD-less logging)

What Improved

General

Improvements

• Manual Control: Extend COM_RC_IN_MODE prioritization with ascending/descending instance ordering modes

  • Enables seamless failover between multiple MAVLink control sources (e.g. RC over MAVLink and C2 over LTE).

• Parameter Reset: RC* parameters are no longer excluded from parameter resets. RC calibration values will now be reset along with other parameters.

• Commander

  • COM_RCL_EXCEPT bit 1 (Hold) now exempts all auto modes from manual control loss failsafe, not just Hold. Also unify manual control loss and data link exception parameter options.

  • Extend arm throttle safety check to all vehicle types including rovers, and unify throttle checks per vehicle type and control mode. Fixes: Rovers had no throttle safety check at arming.

  • Update COM_DLL_NAV_CTL to a bitmask supporting multiple AGP fallback modes on data-link-loss. Fully backwards compatible.

• ESC/Motor failure detection overhaul:

  • Run ESC telemetry timeout check even when disarmed.

  • Motor and ESC failures are non-latching and clear when resolved.

  • Combine FD_ESCS_EN into COM_ARM_CHK_ESCS.

  • Rename motor failure parameters from FD_ACT_* to MOTFAIL_*

• Failure Detector: Fix false motor failure reports with non-sequential ESC numbering; add overcurrent detection.

• Battery

  • Declare fault and warn user when battery/power module temperature exceeds 100 °C. Prevents potential vehicle loss from power module overheating.

  • BAT{1,2}_I_OVERWRITE parameter now applies to all battery estimation sources, not just analog.

• MAVLink: Add PARAM_ERROR message support. Parameter read/set errors are now reported to the GCS instead of silently failing.

• Gimbal: Increase GIMBAL_DEVICE_ATTITUDE_STATUS MAVLink stream rate to 50 Hz.

• Payload Board: Add joystick (MAVLink manual control) input support alongside existing RC input, via new PB_IN_AUX and PB_OUT_CHANNEL parameters.

• v5x/v6x/v6s: Switch to COMMON_RC driver, enabling bidirectional RC protocols like CRSF and GHST with telemetry support.

• v5x/v6x: Include PWM input driver for ATS-based flight termination.

• FMU-v6xRT: Add support for sensor set Rev 2 (BMM350 replacing BMM150) and Rev 3 (dual ICM45686 IMUs).

• FMU-v6s/v6x: Enable PPS capture input. FMU-v6s gains two additional PWM output channels (PWM9, PWM10).

• v6xRT: Add bootloader support for NXP i.MX RT1170B. Fixes: Bootloader failing to boot on v6xRT boards with the RT1170B silicon revision.

Bugfixes

• Commander

  • Fix PX4 freezing during gyro, accel, or mag calibration on Linux.

  • Fix incorrect mode or executor state after disarming when using external modes.

  • Fix magless setups unable to arm in modes that do not require heading (e.g. Altitude, Stabilized).

  • Fix vehicle immediately re-initiating takeoff after auto-landing, disarming, and arming again.

  • Fix home position set from raw GNSS data even when the estimator is not using GNSS, causing incorrect RTL targets.

• Navigator

  • Fixes regarding RTL_TYPE 2 (Return to mission landing if available)

    • Fix vehicle stuck hovering when no mission is present (now falls back to Home).

    • Fix not respecting RTL_LAND_DELAY.

  • Fix vehicle loitering at the wrong position after completing a mission.

  • Fix altitude setpoint dropping to zero during DELAY or DO commands in the first 120s after takeoff.

  • Fix vehicle losing its setpoint (going IDLE) during mission-based RTL when the mission contains condition gates.

  • Fix short spike of zero throttle when entering RTL with fixed-wing vehicles.

  • Fix vehicle flying to the wrong waypoint when reversing along the mission during RTL.

  • Fix mission invalidity warnings with no explanation of the cause.

• Failsafe

  • Fix vehicle terminating immediately when arming with NAV_DLL_ACT set to Terminate.

  • Fix entering Hold mode when failsafe action is set to Warn.

  • Fix action executing immediately instead of waiting for the configured delay.

  • Fix data link loss failsafe overriding an intentional flight termination command.

  • Fix RC mode switch having no effect when the configured failsafe action fell back to a different action (e.g. RTL degraded to Land).

  • Fix brief Hold mode entry during low battery flight-time warning when COM_FLTT_LOW_ACT is set to None.

  • Fix vehicle switching to Position mode on Offboard signal loss when no manual control is present.

• Mission

  • Fix vehicle pacing back and forth while waiting at a delay waypoint.

  • Fix incorrect approach behavior when the last waypoint before landing is not directly above the landing point.

• Manual Control: Fix payload power switch defaulting to ON on boot. Now defaults to OFF when RC_MAP_PAY_SW is configured, and syncs to the actual switch position on first RC connection.

• PX4IO: Fix garbled SBUS data after RC loss causing unexpected mode switches (e.g. Mission to Hold).

• ADS-B collision avoidance: Fix incorrect detection zone when horizontal and vertical separation thresholds differ.

• Control Allocator: Fix ESCs receiving disarmed PWM without respecting the configured slew rate, caused by brief zero-thrust setpoints.

• Gimbal: Fix servo updating too slowly when the vehicle rotates.

• SIH: Fix actuator outputs locked down during Software-In-Hardware simulation, preventing actuator testing.

• ICE: Fix internal combustion engine stopping when RC is switched off.

• Battery: Fix negative discharged capacity values when current sensing is unavailable.

• Payload Board: Fix AUX channel numbering mismatch in RC channel provider.

• MAVLink

  • Fix ground station not receiving available modes over low bandwidth radio links.

  • FTP: Fix Actuator configuration and system health views not loading correctly when multiple GCS components are connected.

  • Fix USB MAVLink connection hanging when reconnecting.

  • Fix hardfault/crash when disconnecting USB comms link.

  • Fix mission failing to sync due to dropped MAVLink messages during upload.

• UAVCAN bootloader: Fix watchdog timeout when flashing firmware larger than 500kB.

• UAVCAN: Fix SD card corruption when migrating firmware files on STM32H7.

• Skynode S

  • Update LittleFS to 2.11.3 to fix sporadic FRAM filesystem corruption.

    • Fixes: Parameters and airframe data could be silently corrupted.

    • Note: downgrading to an older APX4 version after this update will erase FRAM data (parameters) on Skynode S.

  • Add support for hardware revision 1.7.1, which uses EEPROM instead of FRAM for parameter storage.

• Skynode v6n: Battery measurement now defaults to the CAN power module for improved accuracy.

• Skynode N: External voltage and current monitoring is now supported.

• ARK boards: Fix spurious motor activation when only some outputs are configured as DShot.

• Fix camera capture not working on FMU-v6x and other boards.

• Median Filter: Handle NaN values correctly in comparator. Fixes nondeterminism and instability in rangefinder fog detection, gyroscope calibration, GyroFFT notch selection, and RPM estimation.

Multicopter / VTOL in Hover

Bugfixes

• Multicopter Position Control

  • Fix setpoint jump when switching from GoTo into another position mode.

  • Fix abrupt velocity zeroing when flying fast and a failsafe triggers.

  • Fix unexpected climb or drop when switching out and back into position controlled mode.

• FlightTaskAuto

  • Disable MPC_LAND_RADIUS by default (value -1). Fixes unintended landing radius constraint of 1000m interfering with nudging.

  • Fix unexpected sudden direction changes during autonomous flight when far from the planned path.

• Position Slow Mode

  • Fix gimbal yaw lock persisting incorrectly after switching between Position and Position Slow mode.

  • Fix velocity not correctly limited via knob input.

• StickYaw: Fix potential large yaw jump during yaw lock in position-controlled flight modes.

• GotoControl: Fix jerky movement when switching between mission and GoTo control.

• Precision Landing: Fix incorrect search altitude when local position reference differs from home position.

• Multicopter Attitude Control: Fix heading lock in Stabilized mode when absolute heading is not yet available.

Fixed Wing / VTOL in Cruise

Improvements

• Airspeed Selector

  • Fix ground-minus-wind airspeed estimate being almost never valid by increasing default ASPD_WERR_THR.

  • Persist estimated airspeed scale (ASPD_SCALE) across reboots. The scale is saved on disarm when it changes by more than 3%, allowing transfer between vehicles of the same airframe model.

• Fixed-wing Autotune

  • Fix excessively high angular rates during autotune leading to non-linear behavior and poor system identification. Maneuver amplitude is now limited automatically.

  • Continue to next axis on convergence timeout instead of aborting the entire run.

• Wind estimator: Estimate airspeed scale faster at beginning of flight, if the scale was not already estimated or provided in the airframe file. Documentation.

• TECS: Increase default FW_T_HRATE_FF from 0.3 to 0.5 for tighter altitude rate tracking, especially during landing approach.

Bugfixes

• Fixed-wing Autotune

  • Fix immediate failure on first activation.

  • Fix misbehavior due to incorrect timing of state transitions.

• Fixed-wing Rate Control

  • Fix jittery servo commands caused by noisy airspeed measurements.

  • Robustify gain compression against transient NaN inputs.

  • Fix yaw rate setpoints from Offboard mode being discarded unless FW_ACRO_YAW_EN was enabled.

• Fixed-wing Landing

  • Fix vehicle pitching down at flare initiation when descending faster than the nominal sink rate.

  • Fix circular landing not working when flying with airspeed sensor but without global position.

• RTL time estimator: Fix overly pessimistic return time estimate causing premature RTL when flying in strong headwinds.

• RTL Mission: Fix fixed-wing landing pattern veering off the expected course during RTL.

• Fix loiter direction not correctly applied when NAV_LOITER_RAD is set negative for counter-clockwise loiter.

• Fixed-wing Takeoff: Fix mode never transitioning to Hold after reaching the takeoff altitude.

• Fixed-wing Launch Detection: Fix detection failing for lateral releases, drops, or imperfect hand/catapult launches.

• Fixed-wing Mode Manager: Fix vehicle not holding altitude when entering the initial loiter before DESCEND.

• Fixed-wing Attitude Control: Fix incorrect yaw/pitch-rate response during coordinated turns.

• Fixed-wing Attitude Control: Fix stabilized mode roll setpoint exceeding FW_MAN_R_MAX.

• Fixed-wing Land Detector: Fix unwanted control surface deflections caused by premature takeoff detection during runway roll.

• EKF2: Fix heading drifting during motor ramp-up before catapult launch.

• Airspeed calibration: Only save differential pressure offset after all checks pass. Fixes sensor status appearing green even when airspeed calibration failed.

• Airspeed selector: Fix manually changing the airspeed scale parameter during flight having no immediate effect.

• Control Allocator: Fix flaperons and spoilerons deflecting without any input, making them unusable.

• Actuators: Fix flaps not assignable to AUX input channels.

• TECS: Fix throttle not recovering after zero-throttle flight phases (e.g. on gliders).

VTOL

Improvements

• VTOL Backtransition: Several improvements leading to smoother and more predictable backtransitions.

• EKF2: Fix VTOL oscillating between Land and Descend modes when hovering in strong headwinds without GNSS.

• VTOL Takeoff: Support specifying transition heading via MAV_CMD_NAV_VTOL_TAKEOFF param2/param4, per the MAVLink VTOL_TRANSITION_HEADING specification.

Bugfixes

• Pusher Assist: Fix discontinuous forward thrust when minimum pitch is set below zero.

• VTOL: Fix spurious fixed-wing hold at dangerously low altitude when terrain drops during GPS-denied front transition with optical flow.

• RTL Mission Fast: Fix VTOL getting stuck after back-transition.

• Navigator: Fix vehicle abandoning its horizontal trajectory (e.g. orbit) and braking to hover when changing altitude.

Rover

Improvements

• Separate speed and attitude control in rover setpoint hierarchy. Speed and attitude setpoints are now independent, removing ambiguity when accessing rover setpoints through API (e.g. offboard control).

• Rover: Fix rover unexpectedly moving again at the final waypoint due to GNSS drift or position estimate resets.

Bugfixes

• Rover

  • Fix large setpoint jumps and erratic movement on first update after arming.

  • Fix noticeable delay in rate control for acro, stabilized, and position modes.

  • Fix motors not responding in position mode, offboard, or GoTo with default parameters.

• Mecanum Rover: Fix yaw field in offboard position commands being ignored.

State Estimation

Improvements

• EKF2

  • Add EKF2_AGP_MODE to control auxiliary global position reset behavior on fusion timeout. Also allow manual position override via VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE when horizontal aiding is active.

  • Introduce dead-reckoning GNSS mode (EKF2_GPS_MODE) to avoid position jumps with spoofed or faulty GPS.

    • Pervents resetting to GNSS height when other height source is available,

    • Disables GNSS position fusion when a GNSS altitude fault is deteted.

  • Always use strict GNSS quality checks while on the ground. Previously, strict checks only had to pass once and could degrade before takeoff. Now the checks are enforced continuously until airborne.

  • Improve manual position resets

    • Reset-by-fusion: properly update wind-velocity correlation with realistic uncertainty.

    • Hard reset: Reset wind estimate to zero, with high uncertainty to allow for faster re-estimation

Bugfixes

• EKF2

  • Fix biased velocity estimate after airspeed fusion resumes following a long dead-reckoning period.

  • Fix magnetometer permanently disabled for the rest of the flight after a temporary magnetic disturbance.

  • Fix heading over-corrections during acceleration phases, especially in magless operation.

  • Fix arming allowed in position mode without valid heading when magnetometer fusion fails and no other heading source is present.

  • Fix heading drift contaminating position and velocity estimates when no heading sensor is active.

  • Fix wrong height estimates when using external vision in NED frame without heading.

  • Fix spurious yaw emergency reset shortly after GNSS position fusion begins after takeoff.

  • Fix yaw spikes in attitude output during EKF yaw resets.

  • Fix height reference update in conditional range aid mode. Skip unhealthy range finder samples while respecting timeout before stopping range height fusion.

  • Fix heading drift in magless operation caused by spurious corrections from gravity vector fusion.

  • Fix terrain altitude estimate getting stuck at an unrealistic value with optical flow and low sensor noise settings.

  • Fix false airspeed failures and erratic velocity estimates after heading corrections on fixed-wing aircraft.

  • Fix incorrect velocity and height data being fused during GNSS dead-reckoning mode.

  • Fix external heading reset command acknowledged but not applied when the EKF has no active yaw source.

Sensors, Drivers

Improvements

• AUAV Airspeed Sensor: Fix incorrect airspeed readings when wrong pressure range is configured. The range is now read automatically from sensor EEPROM.

• Murata SCH16T IMU: Add support for new B10 and B13 modules with updated gyro range (up to 5000 °/sec) and scale.

• INA2xx power monitor: Fix spurious critical low battery warnings from a single I2C read failure.

• Auterion Power Module: Automatic shunt and max current detection via onboard EEPROM, replacing manual probing.

• GPS: Fix RTCM injection with frame-aligned parsing. Add GPS_UBX_PPK parameter to enable MSM7 output for PPK workflows.

• Rangefinder: Add quaternion orientation support in distance_sensor messages, enabling oriented rangefinder data for collision prevention.

• Lightware Laser I2C: Add binary protocol support for SF30/d and fix SF20/c initialization. Fixes: ~1s measurement delay with SF30/d using the legacy protocol.

• Lightware SF1XX: Use SF1XX_ROT parameter as the single source of truth for sensor rotation, removing the -R CLI option. Update supported model list to include SF30/d, GRF250, and GRF500.

• VOXL ESC: Add open-loop PWM command mode. The UART-based ESC can now receive raw power level commands instead of only closed-loop RPM matching.

• PCA9685

  • Add configurable I2C address via PCA9685_I2C_ADDR parameter. Enable on additional boards (FMU-v6x, fpv, pi6x).

• DShot

  • BDShot is now selected per-timer in the actuator configuration UI. Multi-timer sequential capture enables BDShot on any DMA-capable timer, with support for up to 16 channels.

  • Per-motor pole count via DSHOT_MOT_POL{1..12} replaces the global MOT_POLE_COUNT parameter.

• UAVCAN ESC: Improve ESC health monitoring with extended status messages, motor temperature reporting, and vendor-specific error parsing (IQ Motion). Update node status monitoring for better reliability.

• Magnetometer Calibration: Suppress critical warnings for sensors that are disabled.

Bugfixes

• Accelerometer Calibration: Rotate offsets and scales back into sensor frame before saving to fix incorrect calibration results.

• Magnetometer Calibration: Fix calibration failing in locations with stronger earth field.

• BMM350 magnetometer: Fix value offset at low temperatures.

• QMC5883P Magnetometer: Fix excessive noise causing unstable heading.

• BMP581: Fix invalid barometer samples being published when I2C data corruption occurs.

• Barometer

  • Fix incorrect temperature compensation, particularly affecting the MS5837 driver.

  • Fix offset calibration incorrectly running while in air.

• Barometer calibration: Fix commander calibrate baro hanging indefinitely.

• Temperature compensation: Fix calibration starting the wrong sensor (baro started gyro, mag started baro).

• DShot

  • Fix incorrect UNSUPPORTED response when configuring DShot motors with MAV_CMD_CONFIGURE_ACTUATOR.

  • Fix incorrect current values reported via ESC telemetry.

  • Fix bidirectional ESC telemetry not working on FMU-v6xRT.

  • Fix high error rates with bidirectional DShot on AM32 ESCs on FMU-v6xRT.

• DroneCAN ESC

  • Fix motors not spinning during actuator test in AMC.

  • Fix compatibility issue with some ESCs (e.g. T-Motor, Vertiq).

• UAVCAN GNSS: Fix dual-antenna GNSS receivers (e.g. Septentrio Mosaic G5) not providing heading without RTK fix.

• CRSF RC: Fix RC input processing permanently stalling until reboot on malformed frames.

• Serial

  • Fix serial port settings (byte size, flow control, parity, stop bits) not being applied on NuttX.

  • Fix RTCM injection bursts blocking GNSS read processing, causing GNSS failures.

• GPS

  • Fix RTK dropouts on ARK X20.

  • Fix GNSS timestamp always reported as 0.

  • Report jamming detection as a Warning instead of Critical.

• SF45 Lidar: Fix all distance bins reporting invalid values instead of actual measurements.

• VectorNav: Fix global position data from VectorNav INS not being used.

• ESC: Fix false motor failure detection with ESC drivers that have longer polling intervals (e.g., VOXL, UAVCAN).

What got removed

• MAVLink 1 is no longer the default protocol version. MAVLink 2 is now used by default on all channels. MAVLink 1 is still available as opt-in.

• Remove the 1% deadzone and RC{1..18}_DZ parameters for RC channels 1-8.

• Remove CM8JL65 and TeraRanger distance sensor drivers from common builds to save flash. These sensors are end-of-life.

Parameter Changelog

Removed Parameters

Parameter	Group	Reason
BAT{1..2}_I_CHANNEL, BAT_ADC_CHANNEL	Battery Calibration	Removed due to being unused
COM_FLT_PROFILE	Commander	Removed due to being unused
COM_HLDL_REG_T	Commander	Removed due to being unused
COM_KILL_DISARM	Commander	Removed, now hardcoded to previous default of 5s
COM_MOT_TEST_EN	Commander	Removed due to being unused. Actuator testing now always enabled
COM_POSCTL_NAVL	Commander	Not needed anymore as the Descend fallback provides nudging
COM_RC_ARM_HYST	Commander	Removed, now hardcoded to previous default of 1s
DSHOT_BIDIR_EN	DShot	Replaced by DSHOT_BIDIR_EDT
EKF2_AGP_*	EKF2	Replaced by EKF2_AGP{0..3}_*
EKF2_AGP_DELAY	EKF2	Replaced by EKF2_AGP{0..3}_DELAY
EKF2_AGP_GATE	EKF2	Replaced by EKF2_AGP{0..3}_GATE
EKF2_AGP_MODE	EKF2	Replaced by EKF2_AGP{0..3}_MODE
EKF2_AGP_NOISE	EKF2	Replaced by EKF2_AGP{0..3}_NOISE
EKF2_GPS_DELAY	EKF2	Replaced by SENS_GPS{0,1}_DELAY
EKF2_GPS_POS_X	EKF2	Replaced by SENS_GPS{0,1}_OFFX
EKF2_GPS_POS_Y	EKF2	Replaced by SENS_GPS{0,1}_OFFY
EKF2_GPS_POS_Z	EKF2	Replaced by SENS_GPS{0,1}_OFFZ
FD_ACT_MOT_C2T	Failure Detector	Renamed to MOTFAIL_C2T
FD_ACT_MOT_THR	Failure Detector	Renamed to MOTFAIL_THR
FD_ACT_MOT_TOUT	Failure Detector	Renamed to MOTFAIL_TIME
FD_ESCS_EN	Failure Detector	Included in COM_ARM_CHK_ESCS
FW_AT_START, MC_AT_START	Autotune	Autotune now started with MAV_CMD_DO_AUTOTUNE_ENABLE or AUX switch
LNDMC_TRIG_TIME	Land Detector	Removed due to being unused
MOT_POLE_COUNT	DShot	Replaced by per-channel DSHOT_MOT_POL{1..12}
MPC_USE_HTE	Multicopter Position Control	Removed, hover thrust estimator always enabled
PD_GRIPPER_EN	Payload Deliverer	Removed, Module now starts automatically if in build
RC{1..18}_DZ	RC	Removed due to being unused
SENS_IMU_TEMP	Sensors	Replaced by HEATER{1..3}_TEMP
SENS_IMU_TEMP_FF	Sensors	Replaced by HEATER{1..3}_TEMP_FF
SENS_IMU_TEMP_I	Sensors	Replaced by HEATER{1..3}_TEMP_I
SENS_IMU_TEMP_P	Sensors	Replaced by HEATER{1..3}_TEMP_P
SENS_TEMP_ID	Sensors	Replaced by HEATER{1..3}_IMU_ID
UAVCAN_LGT_ANTCL, UAVCAN_LGT_LAND, UAVCAN_LGT_NAV, UAVCAN_LGT_STROB	UAVCAN	Now included in UAVCAN_LGT_MODE

New Parameters

Parameter	Group	Description
ADC_ADS7953_EN	ADC	Enable ADS7953
ADC_ADS7953_REFV	ADC	Applied reference Voltage
ADC_TLA2528_EN	ADC	Enable TLA2528
ADC_TLA2528_REFV	ADC	Applied reference Voltage
BAT{1,2}_I_FILT	Battery Calibration	Battery {1,2} current filter time constant
BAT{1,2}_V_FILT	Battery Calibration	Battery {1,2} voltage filter time constant
CANNODE_NODE_ID	UAVCAN	UAVCAN CAN node ID (0 for dynamic allocation)
CANNODE_PUB_BAR	UAVCAN	Enable barometer publication
CANNODE_PUB_MAG	UAVCAN	Enable magnetometer publication
CA_ICE_PERIOD	Geometry	Ice shedding cycle period
CA_SV_FLAP_SLEW	Geometry	Control Surface slew rate for normalized flaps setpoint
CA_TKO_PS{0..3}_CH	Geometry	Surface lock during fixed-wing takeoff: servo {1..3} channel
CA_TKO_PS{1..3}_DY	Geometry	Surface lock during fixed-wing takeoff: servo {1..3} unlock delay after takeoff
COM_ARM_ON_BOOT	Commander	Arm automatically on boot
COM_ARM_TRAFF	Commander	Enable Traffic Avoidance system detection check
DSHOT_BIDIR_EDT	DShot	Enable Extended DShot Telemetry
DSHOT_ESC_TYPE	DShot	ESC Type
DSHOT_MOT_POL{1..12}	DShot	Number of magnetic poles of motor {1..12}
EKF2_AGP{0..3}_CTRL	EKF2	Auxiliary global position sensor aiding
EKF2_AGP{0..3}_DELAY	EKF2	Auxiliary global position sensor delay (to IMU)
EKF2_AGP{0..3}_GATE	EKF2	Gate size for auxiliary global position sensor fusion
EKF2_AGP{0..3}_ID	EKF2	Auxiliary global position sensor ID
EKF2_AGP{0..3}_MODE	EKF2	Fusion reset mode for sensor
EKF2_AGP{0..3}_NOISE	EKF2	Measurement noise for auxiliary global position sensor
EKF2_REQ_FIX	EKF2	Minimum GNSS Fix type required for GNSS usage
EKF2_RNGBC_CTRL	EKF2	Ranging beacon fusion control
EKF2_RNGBC_DELAY	EKF2	Ranging beacon measurement delay relative to IMU measurements
EKF2_RNGBC_GATE	EKF2	Gate size for ranging beacon fusion
EKF2_RNGBC_NOISE	EKF2	Measurement noise for ranging beacon fusion
EKF2_SENS_EN	EKF2	Sensor fusion enable bitmask
GPS_UBX_DGNSS_TO	GNSS	u-blox GNSS DGNSS timeout
GPS_UBX_JAM_DET	GNSS	u-blox GNSS jamming detection high sensitivity mode
GPS_UBX_MIN_CNO	GNSS	u-blox GNSS minimum satellite signal level for navigation
GPS_UBX_MIN_ELEV	GNSS	u-blox GNSS minimum elevation for a GNSS satellite to be used in navigation
GPS_UBX_PPK	GNSS	Enable MSM7 message output for PPK workflow
GPS_UBX_RATE	GNSS	u-blox GNSS output rate
GRF_RATE_CFG	Sensors	Lightware GRF lidar update rate
GRF_SENS_MODEL	Sensors	GRF Sensor model
HEATER{1..3}_IMU_ID	Sensors	The ID of the IMU controlled by heater {1..3}
HEATER{1..3}_TEMP	Sensors	Target temperature for heater {1..3}
HEATER{1..3}_TEMP_FF	Sensors	IMU heater controller {1..3} feedforward value
HEATER{1..3}_TEMP_I	Sensors	IMU heater controller {1..3} integrator gain value
HEATER{1..3}_TEMP_P	Sensors	IMU heater controller {1..3} proportional gain value
ILABS_MODE	Sensors	InertialLabs INS sensor mode configuration
MOTFAIL_C2T	Motor Failure	Motor Failure Current/Throttle Scale
MOTFAIL_HIGH_OFF	Motor Failure	Overcurrent motor failure limit offset
MOTFAIL_LOW_OFF	Motor Failure	Undercurrent motor failure limit offset
MOTFAIL_TIME	Motor Failure	Motor Failure Hysteresis Time
NAV_LTR_LAST_DL	Mission	Loiter at last GCS heartbeat position on data link loss
PCA9685_I2C_ADDR	Actuator Outputs	I2C address of PCA9685
PPS_CAP_GPS_ID	GNSS	PPS capture GNSS receiver device ID
SBG_BAUDRATE	Sensors	sbgECom driver baudrate
SBG_CONFIGURE_EN	Sensors	sbgECom driver INS configuration enable
SBG_MODE	Sensors	sbgECom driver mode
SENS_BAHRS_CFG	Sensors	Serial Configuration for EULER-NAV BAHRS
SENS_EN_GRF_CFG	Sensors	Serial Configuration for Lightware GRF Rangefinder (serial)
SENS_EN_MCP9808	Sensors	Enable MCP9808 temperature sensor (external I2C)
SENS_EN_TMP102	Sensors	Enable TMP102
SENS_GPS{0,1}_DELAY	Sensors	GNSS measurement delay
SENS_GPS{0,1}_ID	Sensors	GNSS device ID
SENS_GPS{0,1}_OFFX	Sensors	GNSS antenna X position
SENS_GPS{0,1}_OFFY	Sensors	GNSS antenna Y position
SENS_GPS{0,1}_OFFZ	Sensors	GNSS antenna Z position
SENS_ILABS_CFG	Sensors	Serial Configuration for InertialLabs
SENS_SBG_CFG	Sensors	Serial Configuration for sbgECom
SF1XX_ROT	Sensors	Lightware laser rangefinder Rotation
UAVCAN_LGT_FN{0..15}	UAVCAN	UAVCAN Light function
UAVCAN_LGT_ID{0..15}	UAVCAN	UAVCAN Light ID
UAVCAN_LGT_MODE	UAVCAN	UAVCAN Navigation light operating mode
UAVCAN_LGT_NUM	UAVCAN	Number of UAVCAN lights to configure
UAVCAN_SUB_MBD	UAVCAN	subscription MovingBaselineData
UXRCE_DDS_FLCTRL	UXRCE-DDS Client	Enable serial flow control for UXRCE interface
UXRCE_DDS_NS_IDX	UXRCE-DDS Client	Define an index-based message namespace
VOXL_ESC_CMD	VOXL ESC	UART ESC command type
VOXL_ESC_PWR_MIN	VOXL ESC	UART ESC Minimum motor power
VOXL_ESC_T_ON	VOXL ESC	UART ESC Turtle Mode button index for MAVLink manual control

Changed Default values

Parameter	Group	Old	New
EKF2_MIN_RNG	EKF2	0.1	0.01
FD_ACT_EN	Motor Failure	1	0
FW_GC_EN	FW Rate Control	0	1
MAV_PROTO_VER	MAVLink	0	2
MPC_LAND_RADIUS	Multicopter Position Control	1000.0	-1.0
PD_GRIPPER_TO	Payload Deliverer	3.0	1.0
RBCLW_DIS1	Actuator Outputs	128	127
RBCLW_DIS2	Actuator Outputs	128	127
RBCLW_MAX1	Actuator Outputs	256	254
RBCLW_MAX2	Actuator Outputs	256	254
RBCLW_MIN1	Actuator Outputs	1	0
RBCLW_MIN2	Actuator Outputs	1	0
VT_LND_PITCH_MIN	VTOL Attitude Control	-5.0	0.0
VT_PITCH_MIN	VTOL Attitude Control	-5.0	0.0