v1.6.2

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: Drotek) 
  * FMUv5 (Prototype donation and manufacturing: Team Blacksheep)

# New Features
  * New .ulg [uLog logging format](https://dev.px4.io/en/log/ulog_file_format.html) which directly logs uORB topics and offers more accurate time stamping. Supported in FlightPlot. @bkueng 
  * New web-graphing engine for .ulg: http://review.px4.io @bkueng 
  * Easier to use camera triggering @mhkabir 
  * Basic support for real-time camera triggering feedback @mhkabir 
  * Support for survey flights (multicopter and fixed wing) with intuitive UI
  * Temperature calibration and compensation (gyro, accel, mag, baro)
  * Support for MAVLink and PWM controlled gimbals @bkueng 
  * Support for generic helicopters and Blade 130 mixer @bartslinger
  * Fixedwing acro and rattitude flight modes

# Major Upgrades
  * EKF2 Robustness @priseborough @tumbili 
  * Tremendously better user experience on Snapdragon Flight @ChristophTobler 
  * Better user experience on Aero @lucasdemarchi 
  * Hardening against marginal GPS reception @priseborough 
  * Hardening against mag observability issues @priseborough 
  * NuttX Update to a recent release @davids5
  * STM32F7 support @davids5
  * Change default to use the new ULog logging format supporting http://review.px4.io zoomable graphing
  * Significant reduction in RAM usage on STM32 @bkueng 

# Bugfixes and Improvements
  * Critical bugfixes in magnetometer calibration routine preventing a race condition @mhkabir
  * Improvements for FMUv3 / Pixhawk 2.1 HW support @mhkabir
  * Improvements for UAVCAN motor control and parameter transfer @eyeam3 
  * Cleanup of PWM output driver, easier user-configuration of OneShot
  * More reliable reboot of Pixracer boards
  * Log tasks low on stack @AndreasAntener
  * Prevent overshooting of landing waypoints on VTOLS by calculating the acceptance radius based on ground speed @sanderux
  * Prevent takeoff in loiter mode when vehicle is on the ground and wait on transition to mission mode @julianoes
  * Improved robustness and reliability of land detector
  * Fix offboard attitude setpoint overwrite from RC channels @aivian
  * Add ground truth tests to SITL Gazebo CI @jgoppert
  * Disable the safety switch by default on Pixracer @LorenzMeier
  * Use ellipsoid instead of sphere fitting in magnetometer calibration @bugobliterator
  * Introduction of the event module @bkueng
  * Temperature calibration for IMU and barometric sensors @bugobliterator @priseborough
  * Don’t allow arming in low battery condition @LorenzMeier
  * Enable takeoff and landing with just local position (e.g. flow) @ChristophTobler
  * Add fixed-wing acro mode @AndreasAntener
  * Trigger quadchute on maximum roll and pitch angles to prevent stalling or actuation problems like reversed ailerons/elevons @sanderux
  * Add fast EKF2 replay for new ulog format @bkueng
  * UAVCAN performance audit @pavel-kirienko
  * Add preflight, postflight perf counters and process usage to ULog @bkueng
  * Improve VTOL standard transition improvements
  * Fix PX4 build on Windows platforms @MaEtUgR
  * Improve multicopter takeoff and landing in altitude controlled flight modes
  * Support for multiple UAVs in SITL simulation @mzahana
  * Fixedwing offboard control mode improvements
  * Fixedwing throttle scaling with battery voltage @Sander
  * VTOL land improved back transition waypoint accuracy
  * TECS height rate feed forward fixed
  * Fixedwing loiter to altitude landing improved predictibility @NatorGator
  * Fixedwing limits fix : The `FW_PSP_OFF` parameter no longer breaches the pitch min/max limits. @sanderux 
  * Improved the mixer clipping performance on yaw saturation @bresch
  * BMI055 driver fixes for device IDs (from 1.6.0)
  * Fixes for mag rotation (from 1.6.0 and 1.6.1) @mhkabir

# R&D

  * Iridium SBD @dagar
  * ICM20602 and ICM20689 @davids5
  * BMI055 and BMM150 @scheiermanns