v1.7.0

# 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 flight control
- Increased smoothness of multicopter flight control
- Better performance of fixed wing flight control
- Many build system improvements (including 50% faster nuttx builds)
- New continuous integration system system (http://ci.px4.io) with significantly more build and testing capacity
- Many improvements and fixes in various subsystems, as listed below.
- Reduced CPU load and RAM usage

# Change Log

## [v1.7.0](https://github.com/PX4/Firmware/tree/v1.7.0) (2017-12-12)

[Full Changelog](https://github.com/PX4/Firmware/compare/v1.6.5...v1.7.0)

**Implemented enhancements:**

- Consider SF1xx Driver for 1.7 Release [\#8177](https://github.com/PX4/Firmware/issues/8177)
- Standard way to disable internal magnetometer? [\#8059](https://github.com/PX4/Firmware/issues/8059)
- NuttX enable CONFIG\_MEMSET\_OPTSPEED [\#7815](https://github.com/PX4/Firmware/issues/7815)
- add MAVLink FLIGHT\_INFORMATION support [\#7706](https://github.com/PX4/Firmware/issues/7706)
- FW Minimum Airspeed scaling for banked stall avoidance [\#7572](https://github.com/PX4/Firmware/issues/7572)
- Be smart about using MAVLink 2.0 [\#7246](https://github.com/PX4/Firmware/issues/7246)
- Bit-banding for atomic flag access on STM32 [\#7183](https://github.com/PX4/Firmware/issues/7183)
- HC\_SR04 driver needs cleanup [\#7168](https://github.com/PX4/Firmware/issues/7168)
- Snapdragon Flight ESC support [\#6962](https://github.com/PX4/Firmware/issues/6962)
- Create pure racer config [\#6780](https://github.com/PX4/Firmware/issues/6780)
- Gazebo HIL [\#6631](https://github.com/PX4/Firmware/issues/6631)
- listener does not work for subtopics [\#6607](https://github.com/PX4/Firmware/issues/6607)
- Reduce effect of estimator vertical velocity errors [\#8445](https://github.com/PX4/Firmware/pull/8445) ([priseborough](https://github.com/priseborough))
- ekf2: relax preflight yaw check when possible [\#8424](https://github.com/PX4/Firmware/pull/8424) ([priseborough](https://github.com/priseborough))
- cmake NuttX wrapper work around windows cygwin path issues [\#8397](https://github.com/PX4/Firmware/pull/8397) ([dagar](https://github.com/dagar))
- QuadChute monitor tecs height rate [\#8395](https://github.com/PX4/Firmware/pull/8395) ([sanderux](https://github.com/sanderux))
- vtol\_att\_control increase stack by 30 Bytes \(1200 -\> 1230\) [\#8390](https://github.com/PX4/Firmware/pull/8390) ([dagar](https://github.com/dagar))
- px4io delete old v1 battery current and voltage [\#8353](https://github.com/PX4/Firmware/pull/8353) ([dagar](https://github.com/dagar))
- fw\_pos\_control\_l1 increase stack by 100 Bytes [\#8348](https://github.com/PX4/Firmware/pull/8348) ([dagar](https://github.com/dagar))
- Update the Description of the estimator\_status Message [\#8346](https://github.com/PX4/Firmware/pull/8346) ([acfloria](https://github.com/acfloria))
- nuttx-configs remove cu and mount example [\#8344](https://github.com/PX4/Firmware/pull/8344) ([dagar](https://github.com/dagar))
- cmake nuttx build and link libnet if networking is enabled [\#8314](https://github.com/PX4/Firmware/pull/8314) ([dagar](https://github.com/dagar))
-  Scale FW cruise throttle based on baro pressure [\#8304](https://github.com/PX4/Firmware/pull/8304) ([sanderux](https://github.com/sanderux))
- Add a driver for the ADIS16448 IMU [\#8301](https://github.com/PX4/Firmware/pull/8301) ([ASM3](https://github.com/ASM3))
- add boolean parameters to enable/disable each sensor [\#8283](https://github.com/PX4/Firmware/pull/8283) ([dagar](https://github.com/dagar))
- SDP3x Airspeed Correction [\#8242](https://github.com/PX4/Firmware/pull/8242) ([acfloria](https://github.com/acfloria))
- Adaptive quadchute [\#8144](https://github.com/PX4/Firmware/pull/8144) ([sanderux](https://github.com/sanderux))
- logger: Add logging profile to support comparison of multiple sensors [\#8134](https://github.com/PX4/Firmware/pull/8134) ([priseborough](https://github.com/priseborough))
- RTPS and micro-CDR build system improvements [\#8084](https://github.com/PX4/Firmware/pull/8084) ([dagar](https://github.com/dagar))
- Positon Controller: multiple small refinements [\#8072](https://github.com/PX4/Firmware/pull/8072) ([MaEtUgR](https://github.com/MaEtUgR))
- Generate mixers from description of multicopter geometry [\#8063](https://github.com/PX4/Firmware/pull/8063) ([jlecoeur](https://github.com/jlecoeur))
- Check mag sensor for consistency before flight [\#8039](https://github.com/PX4/Firmware/pull/8039) ([priseborough](https://github.com/priseborough))
- Acro: SuperExpo Stick Input [\#8036](https://github.com/PX4/Firmware/pull/8036) ([MaEtUgR](https://github.com/MaEtUgR))
- sitl: add possibility to not run gazebo when running make [\#7965](https://github.com/PX4/Firmware/pull/7965) ([JonasVautherin](https://github.com/JonasVautherin))
- VTOL back transition: check only forward velocity [\#7948](https://github.com/PX4/Firmware/pull/7948) ([sanderux](https://github.com/sanderux))
- Factor in reverse pusher delay on mission acceptance radius [\#7915](https://github.com/PX4/Firmware/pull/7915) ([sanderux](https://github.com/sanderux))
- FW position failsafe defaults [\#7894](https://github.com/PX4/Firmware/pull/7894) ([dagar](https://github.com/dagar))
- delete control\_state and cleanup vehicle\_attitude [\#7882](https://github.com/PX4/Firmware/pull/7882) ([dagar](https://github.com/dagar))
- NuttX upgrade split UAVCAN bootloaders into separate repository [\#7878](https://github.com/PX4/Firmware/pull/7878) ([dagar](https://github.com/dagar))
- Reverse pusher delay [\#7877](https://github.com/PX4/Firmware/pull/7877) ([sanderux](https://github.com/sanderux))
- Remove thrust\_sp from pusher assist calculation [\#7865](https://github.com/PX4/Firmware/pull/7865) ([sanderux](https://github.com/sanderux))
- \[RFC\] Make NuttX drivers cross platform \(VDev -\> CDev\) and MS4525 linux driver [\#7864](https://github.com/PX4/Firmware/pull/7864) ([dagar](https://github.com/dagar))
- Allow position failsafe sensitivity to be adjusted for different platform types [\#7842](https://github.com/PX4/Firmware/pull/7842) ([priseborough](https://github.com/priseborough))
- Disable pusher assist for quadchute failsafe and while landing [\#7782](https://github.com/PX4/Firmware/pull/7782) ([sanderux](https://github.com/sanderux))
- Support thrust reversal for vtol back transition [\#7666](https://github.com/PX4/Firmware/pull/7666) ([sanderux](https://github.com/sanderux))
- commander RTL failsafe should be sticky [\#7576](https://github.com/PX4/Firmware/pull/7576) ([dagar](https://github.com/dagar))
- FW raise min airspeed based on commanded bank [\#7575](https://github.com/PX4/Firmware/pull/7575) ([dagar](https://github.com/dagar))
- FW landing abort use reposition [\#7574](https://github.com/PX4/Firmware/pull/7574) ([dagar](https://github.com/dagar))
- EKF: Enable compensation for static pressure positional error [\#7264](https://github.com/PX4/Firmware/pull/7264) ([priseborough](https://github.com/priseborough))

**Fixed bugs:**

- v1.7-rc3 'hangs' for split second after arm/disarm [\#8413](https://github.com/PX4/Firmware/issues/8413)
- MC: LowBat RTL Performed at 5m Alt instead of 50m! [\#8408](https://github.com/PX4/Firmware/issues/8408)
- ECL\_\_Lib EKF stopping navigation -\> Meaning? [\#8401](https://github.com/PX4/Firmware/issues/8401)
- MR: uncontrollable altitude gain when engaging auto or rtl [\#8400](https://github.com/PX4/Firmware/issues/8400)
- F450 with Pixhawk 1 - f63c821 crash [\#8398](https://github.com/PX4/Firmware/issues/8398)
- F450 with Pixhawk 3 Pro v1.7.0-rc3 crash [\#8392](https://github.com/PX4/Firmware/issues/8392)
- RTL issues with multiCopter [\#8389](https://github.com/PX4/Firmware/issues/8389)
- FW crash v1.7.0-rc2 [\#8380](https://github.com/PX4/Firmware/issues/8380)
- PX4 1.6.5 Stbl: Loiter switching BUG. [\#8376](https://github.com/PX4/Firmware/issues/8376)
- Potential critical NuttX alignment issue [\#8367](https://github.com/PX4/Firmware/issues/8367)
- Fixed Wing reject auto mission [\#8361](https://github.com/PX4/Firmware/issues/8361)
- \[SubmodulesClean\] error 1 [\#8333](https://github.com/PX4/Firmware/issues/8333)
- Solo PREFLIGHT FAIL: MAG SENSORS INCONSISTENT [\#8305](https://github.com/PX4/Firmware/issues/8305)
- F450 frame with Pixhawk mini crash - v1.7.0-rc1 [\#8299](https://github.com/PX4/Firmware/issues/8299)
- Error compiling v1.7.0-rc1 for eagle\_default target [\#8297](https://github.com/PX4/Firmware/issues/8297)
- krait update param failed [\#8280](https://github.com/PX4/Firmware/issues/8280)
- Protocol splitter is not sending any messages on UART [\#8262](https://github.com/PX4/Firmware/issues/8262)
- RTL issues with multiCopter [\#8257](https://github.com/PX4/Firmware/issues/8257)
- EKF2 Altitude estimation problem on Release 1.6.5 Stable [\#8256](https://github.com/PX4/Firmware/issues/8256)
- Bug: Firmware does not build if submodule [\#8255](https://github.com/PX4/Firmware/issues/8255)
- sensors voter not using SENS\_BARO\_QNH [\#8252](https://github.com/PX4/Firmware/issues/8252)
- MISSION\_ITEM\_REACHED not sent in SITL [\#8245](https://github.com/PX4/Firmware/issues/8245)
- rsync error when building the px4/firmware [\#8239](https://github.com/PX4/Firmware/issues/8239)
- Battery remaining inversed when compensating for load [\#8198](https://github.com/PX4/Firmware/issues/8198)
- Travis is not returning current master commit [\#8197](https://github.com/PX4/Firmware/issues/8197)
- VTOL crash on V4Pro [\#8186](https://github.com/PX4/Firmware/issues/8186)
- HIL: can't arm with latest versions [\#8176](https://github.com/PX4/Firmware/issues/8176)
- Possible Lidar "double-correction" bug [\#8163](https://github.com/PX4/Firmware/issues/8163)
- Param generation broken [\#8122](https://github.com/PX4/Firmware/issues/8122)
- BUG on EKF2 when the PX4Flow goes invalid [\#8102](https://github.com/PX4/Firmware/issues/8102)
- PX4\_simple\_app not in Builtin App List? [\#8087](https://github.com/PX4/Firmware/issues/8087)
- Nuttx missing tag nuttx-7.21 in repo  [\#8070](https://github.com/PX4/Firmware/issues/8070)
- make: \*\*\* \[px4fmu-v2\_default\] Error 2 [\#8034](https://github.com/PX4/Firmware/issues/8034)
- sitl gazebo error DODECA\_TOP\_COX [\#7978](https://github.com/PX4/Firmware/issues/7978)
- PX4IO calling `new` off ISR from DMA [\#7971](https://github.com/PX4/Firmware/issues/7971)
- Pixhawk i2c bus lost \(after missing ACK/NAK ?\) [\#7968](https://github.com/PX4/Firmware/issues/7968)
- previous main state isn't changing [\#7947](https://github.com/PX4/Firmware/issues/7947)
- Logging fails on current master [\#7911](https://github.com/PX4/Firmware/issues/7911)
- Gazebo8 protoc version conflict on Mac [\#7872](https://github.com/PX4/Firmware/issues/7872)
- Mixer of Bormatec Maja not working in Manual Override [\#7861](https://github.com/PX4/Firmware/issues/7861)
- Remove Support for Artistic Style Version 2.05.1 \(Ubuntu 16.04\) [\#7818](https://github.com/PX4/Firmware/issues/7818)
- Land detector issues [\#7768](https://github.com/PX4/Firmware/issues/7768)
- vmount causes system freeze [\#7755](https://github.com/PX4/Firmware/issues/7755)
- Mag timeout current master [\#7746](https://github.com/PX4/Firmware/issues/7746)
- Mission takeoff almost no thrust and does not take off [\#7737](https://github.com/PX4/Firmware/issues/7737)
- Pixhawk 2.1 internal/external bus detection [\#7696](https://github.com/PX4/Firmware/issues/7696)
- make: \*\*\* \[px4fmu-v2\_default\] Error 2 [\#7612](https://github.com/PX4/Firmware/issues/7612)
- FW Land mode = crash [\#7609](https://github.com/PX4/Firmware/issues/7609)
- Battery Monitor not working on PixHawk Mini [\#7603](https://github.com/PX4/Firmware/issues/7603)
- BUG: Code dependent on the compiler [\#7597](https://github.com/PX4/Firmware/issues/7597)
- PX4 1.6.3: Strange problem with Airspeed-less transition. [\#7545](https://github.com/PX4/Firmware/issues/7545)
- \[PixHawk3\] Accel1 startup bias huge changes [\#7541](https://github.com/PX4/Firmware/issues/7541)
- Pixhawk Pro \(V4Pro\) Quad near flyaway [\#7495](https://github.com/PX4/Firmware/issues/7495)
- Out-of-tree module build is broken [\#7409](https://github.com/PX4/Firmware/issues/7409)
- Stuck during mission, if altitude higher than max height [\#7309](https://github.com/PX4/Firmware/issues/7309)
- FCU:\[lpe\] gps fault 0.00120141 0.904114 0.156308 0.10 [\#7089](https://github.com/PX4/Firmware/issues/7089)
- Setpoint raw issues Mavros ROS [\#7068](https://github.com/PX4/Firmware/issues/7068)
- tailsitter after transiton to FW,can not control, has been flying straight line [\#7063](https://github.com/PX4/Firmware/issues/7063)
- no\_sim=1 make posix\_sitl\_default gazebo not work [\#7059](https://github.com/PX4/Firmware/issues/7059)
- No RC input px4fmu-v4pro\_default  [\#7054](https://github.com/PX4/Firmware/issues/7054)
- Oscillations on actuators with full thrust and roll ~ 45 degree [\#7051](https://github.com/PX4/Firmware/issues/7051)
- LPSP.VZ jump during POSCTL  [\#7048](https://github.com/PX4/Firmware/issues/7048)
- FTP read file timeouts [\#6984](https://github.com/PX4/Firmware/issues/6984)
- Failsafe mode on while in OFFBOARD mode [\#6982](https://github.com/PX4/Firmware/issues/6982)
- Compiler is not emitting vsqrt.f32 on ARM Cortex M4F targets [\#6838](https://github.com/PX4/Firmware/issues/6838)
- FLAPS: Does not work in 1.6.0 RC1 [\#6827](https://github.com/PX4/Firmware/issues/6827)
- Preflight EKF error checking is linked to GPS [\#6797](https://github.com/PX4/Firmware/issues/6797)
- Slow optical flow drift in SITL [\#6772](https://github.com/PX4/Firmware/issues/6772)
- Pixhawk Pro lockup after mag cal [\#6712](https://github.com/PX4/Firmware/issues/6712)
- RC lost with no GPS [\#6617](https://github.com/PX4/Firmware/issues/6617)
- SITL stops with negative time [\#6602](https://github.com/PX4/Firmware/issues/6602)
- commander: Fix pre-flight delta velocity bias check level [\#8446](https://github.com/PX4/Firmware/pull/8446) ([priseborough](https://github.com/priseborough))
- NuttX update to latest 7.22+ with pipes poll fix [\#8431](https://github.com/PX4/Firmware/pull/8431) ([dagar](https://github.com/dagar))
- Fix uncontrolled height gain in hold/loiter mode [\#8418](https://github.com/PX4/Firmware/pull/8418) ([priseborough](https://github.com/priseborough))
- mc\_pos\_control: set triplets to NAN if not in auto mode [\#8412](https://github.com/PX4/Firmware/pull/8412) ([Stifael](https://github.com/Stifael))
- Update ekf2 to version with fixes for 1.7.0 release [\#8406](https://github.com/PX4/Firmware/pull/8406) ([priseborough](https://github.com/priseborough))
- IO override fix [\#8384](https://github.com/PX4/Firmware/pull/8384) ([LorenzMeier](https://github.com/LorenzMeier))
- Potential critical NuttX alignment issue in bss prophylactic fix. [\#8382](https://github.com/PX4/Firmware/pull/8382) ([davids5](https://github.com/davids5))
- Fix vulnerability in pre flight checks and failsafe [\#8374](https://github.com/PX4/Firmware/pull/8374) ([priseborough](https://github.com/priseborough))
- Increase fixed-wing l1 navigation radius limit [\#8365](https://github.com/PX4/Firmware/pull/8365) ([AndreasAntener](https://github.com/AndreasAntener))
- RTL fix RTL\_LAND\_DELAY behaviour [\#8351](https://github.com/PX4/Firmware/pull/8351) ([dagar](https://github.com/dagar))
- Removed \[cal\] references from calibration\_log\_critical\(\) routines. [\#8347](https://github.com/PX4/Firmware/pull/8347) ([dagar](https://github.com/dagar))
-  Merge FMUv3 into FMUv2 [\#8343](https://github.com/PX4/Firmware/pull/8343) ([dagar](https://github.com/dagar))
- fix MISSION\_ITEM REACHED message broadcast [\#8332](https://github.com/PX4/Firmware/pull/8332) ([lamping7](https://github.com/lamping7))
- simplify param scoping \(fix out of tree builds\) and fix qurt fc\_addon linking [\#8325](https://github.com/PX4/Firmware/pull/8325) ([dagar](https://github.com/dagar))
- cmake nuttx keep builtins generated by nuttx apps [\#8323](https://github.com/PX4/Firmware/pull/8323) ([dagar](https://github.com/dagar))
- sensors remove barometer enabled check for now [\#8291](https://github.com/PX4/Firmware/pull/8291) ([dagar](https://github.com/dagar))
- mc\_pos\_control: smooth takeoff does not require slewrate [\#8282](https://github.com/PX4/Firmware/pull/8282) ([MaEtUgR](https://github.com/MaEtUgR))
- ecl: Update ekf2 to version that addresses known vulnerabilities [\#8276](https://github.com/PX4/Firmware/pull/8276) ([priseborough](https://github.com/priseborough))
- integrationtests: fix numpy version problem \(broken Jenkins\) [\#8274](https://github.com/PX4/Firmware/pull/8274) ([korigod](https://github.com/korigod))
- RTL check alt\_max before using [\#8272](https://github.com/PX4/Firmware/pull/8272) ([dagar](https://github.com/dagar))
- Fixed version firmware type [\#8250](https://github.com/PX4/Firmware/pull/8250) ([garfieldG](https://github.com/garfieldG))
- Fix bugs introduced by PR 8199 [\#8207](https://github.com/PX4/Firmware/pull/8207) ([priseborough](https://github.com/priseborough))
- sensor priority after failure and EKF2 bias reset [\#8199](https://github.com/PX4/Firmware/pull/8199) ([dagar](https://github.com/dagar))
- circleci force make distclean before build [\#8111](https://github.com/PX4/Firmware/pull/8111) ([dagar](https://github.com/dagar))
- Navigator fix vehicle\_command\_ack \(and landing abort improvements\) [\#8076](https://github.com/PX4/Firmware/pull/8076) ([dagar](https://github.com/dagar))
- Pr altitude max fix [\#8048](https://github.com/PX4/Firmware/pull/8048) ([Stifael](https://github.com/Stifael))
- fix and enable all mavlink ftp tests [\#8012](https://github.com/PX4/Firmware/pull/8012) ([dagar](https://github.com/dagar))
- FW att ctrl - Fix vehicle\_attitude\_setpoint timestamp logging when in stabilized [\#7803](https://github.com/PX4/Firmware/pull/7803) ([bresch](https://github.com/bresch))
- land detector revert FW hysteresis constants and cleanup initialization [\#7796](https://github.com/PX4/Firmware/pull/7796) ([dagar](https://github.com/dagar))
- Fix for manual/automatic micro RTPS bridge generation [\#7724](https://github.com/PX4/Firmware/pull/7724) ([vicentemonge](https://github.com/vicentemonge))
- MPU9250 Reset reorganization \(fixes I2C functionality\) [\#7653](https://github.com/PX4/Firmware/pull/7653) ([dennisss](https://github.com/dennisss))

**Closed issues:**

- px4fmu-v3\_default binary naming [\#8436](https://github.com/PX4/Firmware/issues/8436)
- Anyone use PC with wifi router to control snapdragon drone with wifi receiver? Without use of a RC? [\#8429](https://github.com/PX4/Firmware/issues/8429)
- px4io causing inner loop latency [\#8414](https://github.com/PX4/Firmware/issues/8414)
- Issue with "make posix jmavsim" [\#8388](https://github.com/PX4/Firmware/issues/8388)
- OFFBOARD mode not accessible with RC or ROS [\#8387](https://github.com/PX4/Firmware/issues/8387)
- Multi-vehicle\(Swarm UAV\) Simulation Error  [\#8368](https://github.com/PX4/Firmware/issues/8368)
- merge FMUv2 and FMUv3 board support [\#8342](https://github.com/PX4/Firmware/issues/8342)
- Feature request [\#8306](https://github.com/PX4/Firmware/issues/8306)
- LPE with External Vision Position crash into ceiling while in Altitude Control [\#8295](https://github.com/PX4/Firmware/issues/8295)
- How yaw control in fixed-wing mode works [\#8248](https://github.com/PX4/Firmware/issues/8248)
- Sky Does not display in jMAVSim [\#8229](https://github.com/PX4/Firmware/issues/8229)
- "No Local Position" error on takeoff with plane \(SITL Gazebo\) \(log attached\) [\#8227](https://github.com/PX4/Firmware/issues/8227)
- Logging custom topics in SITL with gazebo [\#8224](https://github.com/PX4/Firmware/issues/8224)
- position lock [\#8204](https://github.com/PX4/Firmware/issues/8204)
- Possible to simulate motor failure with Pixhawk in Gazebo?? [\#8174](https://github.com/PX4/Firmware/issues/8174)
- things to check before v1.7.0 [\#8171](https://github.com/PX4/Firmware/issues/8171)
- make px4fmu-v2\_default fail [\#8169](https://github.com/PX4/Firmware/issues/8169)
- Posctrl Z position hold with LIDAR and PX4Flow [\#8151](https://github.com/PX4/Firmware/issues/8151)
- contents of extras.txt not executed upon boot-up of pixhawk mini [\#8147](https://github.com/PX4/Firmware/issues/8147)
- Documentation of the SDP3X model [\#8140](https://github.com/PX4/Firmware/issues/8140)
- Rpi: Position flight mode seems not functioning well [\#8130](https://github.com/PX4/Firmware/issues/8130)
- \*\*Feature Request\*\* Bring back gimbal stabilisation feature for servo gimbals [\#8120](https://github.com/PX4/Firmware/issues/8120)
- Quadrotor having vertical Z up velocity in Altitude hold mode [\#8109](https://github.com/PX4/Firmware/issues/8109)
- With respect to the Unit tests and testing the coverage or functionality -- Can i get some basic info regarding as to how to approach and accomplish testing of the entire software firmware built ? [\#8086](https://github.com/PX4/Firmware/issues/8086)
- SITL with gazebo and px4 [\#8068](https://github.com/PX4/Firmware/issues/8068)
- MC: PWM goes into Saturation in PosCTL [\#8056](https://github.com/PX4/Firmware/issues/8056)
- PX4 version on Pixhawk [\#8025](https://github.com/PX4/Firmware/issues/8025)
- FMUV5 need to align with SPEKTRUM\_POWER API [\#8024](https://github.com/PX4/Firmware/issues/8024)
- Documentation of offboard mode [\#8021](https://github.com/PX4/Firmware/issues/8021)
- LPE GPS initialization fault when FUSE VISION\_POSITION checkbox is enaled  [\#8018](https://github.com/PX4/Firmware/issues/8018)
- Servo doesn't move [\#8016](https://github.com/PX4/Firmware/issues/8016)
- Helicopter Mixer BUG! [\#8013](https://github.com/PX4/Firmware/issues/8013)
- The local\_position/pose topic's refresh rate is too low [\#8004](https://github.com/PX4/Firmware/issues/8004)
- \[Bug\] mc\_pos\_control, LAND not to it's current position [\#7990](https://github.com/PX4/Firmware/issues/7990)
- Full Parameter Load fails [\#7961](https://github.com/PX4/Firmware/issues/7961)
- Single Direction Drift With Optical Flow On LPE  [\#7959](https://github.com/PX4/Firmware/issues/7959)
- pixhawk i2c deadlock in v1.6.5 [\#7951](https://github.com/PX4/Firmware/issues/7951)
- MC: Estimator divergence? [\#7941](https://github.com/PX4/Firmware/issues/7941)
- no setting of status-\>failsafe  [\#7934](https://github.com/PX4/Firmware/issues/7934)
- Pixhawk X2.1 : No Voltage, nor Amp reading in the QGC. [\#7931](https://github.com/PX4/Firmware/issues/7931)
- HMC5883 report x, y doesn't match direction of x\_raw, y\_raw nor x, y direction of chip [\#7929](https://github.com/PX4/Firmware/issues/7929)
- Possibility of dataman database corruption [\#7927](https://github.com/PX4/Firmware/issues/7927)
- MC: Add Lightware SF/LW 20 Support [\#7899](https://github.com/PX4/Firmware/issues/7899)
- Even though it is normal, dataman worker thread can not be created [\#7898](https://github.com/PX4/Firmware/issues/7898)
- modules to consider retiring [\#7895](https://github.com/PX4/Firmware/issues/7895)
- make posix gazebo\_typhoon\_h480 bug， ekf2: exceeded maximum number of file descriptors [\#7892](https://github.com/PX4/Firmware/issues/7892)
- Pixhawk default PWM when safety switch is "off" \(blinking once\) [\#7887](https://github.com/PX4/Firmware/issues/7887)
- multi uav simulation using mavros [\#7886](https://github.com/PX4/Firmware/issues/7886)
- pixhawk-pi connection [\#7880](https://github.com/PX4/Firmware/issues/7880)
- GPS Failure parameters not used [\#7879](https://github.com/PX4/Firmware/issues/7879)
- Failed to flash board through terminal and QT  [\#7869](https://github.com/PX4/Firmware/issues/7869)
- Actuator control doens't work with in mavros [\#7854](https://github.com/PX4/Firmware/issues/7854)
- Nuttx Upgrade for 1.8 Release [\#7852](https://github.com/PX4/Firmware/issues/7852)
- Assisted and Mission Mode with sudden roll and pitch actuation blowing past limits [\#7846](https://github.com/PX4/Firmware/issues/7846)
- PX4 1.6.5 Does not hold heading on Position mode. [\#7843](https://github.com/PX4/Firmware/issues/7843)
- I want to try the EKF2\_replay function without gps data. What should I do? [\#7832](https://github.com/PX4/Firmware/issues/7832)
- Quite different outputs between actuator 0,1 and 2,3 [\#7823](https://github.com/PX4/Firmware/issues/7823)
- Rename VDev to CDev [\#7817](https://github.com/PX4/Firmware/issues/7817)
- Flight Performance issue with Intel Aero on master [\#7811](https://github.com/PX4/Firmware/issues/7811)
- Look at the problem and find the problem. Please. [\#7807](https://github.com/PX4/Firmware/issues/7807)
- vmount still causes board freeze-ups [\#7801](https://github.com/PX4/Firmware/issues/7801)
- pixhawk 2.1 firmware px4fmu-v3\_default  has motor\_test command problem [\#7800](https://github.com/PX4/Firmware/issues/7800)
- Px4flow initial value wrong and does not change in flight [\#7797](https://github.com/PX4/Firmware/issues/7797)
- Why did you choose C++ nor C/lua [\#7793](https://github.com/PX4/Firmware/issues/7793)
- FastRTPS: Example from http://dev.px4.io stalls after around one second [\#7780](https://github.com/PX4/Firmware/issues/7780)
- No PPM when connected to RC IN [\#7761](https://github.com/PX4/Firmware/issues/7761)
- motor\_test not part of the nsh commands ? [\#7760](https://github.com/PX4/Firmware/issues/7760)
- FMUv1 Deprecation Notice and removal from source tree. [\#7758](https://github.com/PX4/Firmware/issues/7758)
- Add pyulog to ubuntu\_sim\_nuttx.sh [\#7730](https://github.com/PX4/Firmware/issues/7730)
- ignore me [\#7726](https://github.com/PX4/Firmware/issues/7726)
- suddenly drone was fall ... [\#7719](https://github.com/PX4/Firmware/issues/7719)
- qgroundcontrol log file. Look at the graph and let me know the problem. [\#7712](https://github.com/PX4/Firmware/issues/7712)
- SF1XX driver: sf1xx doesn't appear in /dev [\#7695](https://github.com/PX4/Firmware/issues/7695)
- Add SDP3x sensor compensation [\#7684](https://github.com/PX4/Firmware/issues/7684)
- MISSION\_ITEM\_REACHED is not sent [\#7679](https://github.com/PX4/Firmware/issues/7679)
- Some questions about  “mc\_att\_control” hope to get help [\#7675](https://github.com/PX4/Firmware/issues/7675)
- QML Performance: MissionItemEditor creation expensive [\#7674](https://github.com/PX4/Firmware/issues/7674)
- Maxbotix sonar sensor not working [\#7664](https://github.com/PX4/Firmware/issues/7664)
- Compilation Error  [\#7661](https://github.com/PX4/Firmware/issues/7661)
- Is End-To-End Ethernet \(Ad Hoc\) Control of Pixhawk controller over Wifi possible? [\#7652](https://github.com/PX4/Firmware/issues/7652)
- Change of MAV\_SYS\_ID sends status\_text message [\#7642](https://github.com/PX4/Firmware/issues/7642)
- The problem in pixhawk stay altitude. [\#7635](https://github.com/PX4/Firmware/issues/7635)
- Pixhawk does not connect to QGC \[when using XBee link\] [\#7633](https://github.com/PX4/Firmware/issues/7633)
- Multiple-Vehicles Gazebo Simulation Local Position Estimation \(LPE\) error [\#7631](https://github.com/PX4/Firmware/issues/7631)
- Laser Altimeter and terrain follow. [\#7630](https://github.com/PX4/Firmware/issues/7630)
- I want to know code means in ecl\_l1\_pos\_controller.cpp [\#7629](https://github.com/PX4/Firmware/issues/7629)
- Flash PX4 onto Crazyflie 2 problem [\#7624](https://github.com/PX4/Firmware/issues/7624)
- Potential bug: Unreliable setting of home altitude leading to crash [\#7623](https://github.com/PX4/Firmware/issues/7623)
- ROS launch scripts refer to overdefined executables [\#7619](https://github.com/PX4/Firmware/issues/7619)
- Snapdragon flight spektrum not receiving [\#7615](https://github.com/PX4/Firmware/issues/7615)
- Pixracer external compass not detected [\#7607](https://github.com/PX4/Firmware/issues/7607)
- Multi-Vehicle Simulation Error [\#7596](https://github.com/PX4/Firmware/issues/7596)
- 1.6.4 Stable reported as 1.6.4dev  [\#7592](https://github.com/PX4/Firmware/issues/7592)
- Position Mode for VTOL in MC Tuning. [\#7591](https://github.com/PX4/Firmware/issues/7591)
- Severe horizontal overshots [\#7566](https://github.com/PX4/Firmware/issues/7566)
- Run CI with gcc 7 [\#7539](https://github.com/PX4/Firmware/issues/7539)
- How to get global yaw with vision heading estimation enabled [\#7527](https://github.com/PX4/Firmware/issues/7527)
- HIL broken in 1.6 for multi rotors [\#7516](https://github.com/PX4/Firmware/issues/7516)
- \[EKF2/Vision\] huge local position drift after vision interrupt [\#7491](https://github.com/PX4/Firmware/issues/7491)
- Create a new Custom MAVLink Messages , but can not receive it [\#7448](https://github.com/PX4/Firmware/issues/7448)
- MC: YAW Mission WP Setting ignored / defaulting to 0° [\#7437](https://github.com/PX4/Firmware/issues/7437)
- Listing many Logfiles causes Data Link Lost Message [\#7436](https://github.com/PX4/Firmware/issues/7436)
- Issues found with Pixhawk 3 Pro [\#7431](https://github.com/PX4/Firmware/issues/7431)
- Inspect SITL on Mac OS [\#7419](https://github.com/PX4/Firmware/issues/7419)
- GPS\_STATUS message support [\#7392](https://github.com/PX4/Firmware/issues/7392)
- Creating new mixer geometry - documentation required [\#7382](https://github.com/PX4/Firmware/issues/7382)
- Mission takeoff with rotary wing rejected due to \(horizontal\) acceptance radius [\#7379](https://github.com/PX4/Firmware/issues/7379)
- FW Flashing Stable: wrong reporting. [\#7378](https://github.com/PX4/Firmware/issues/7378)
- Unclear firmware version \<=\> hardware correspondance in documentation [\#7324](https://github.com/PX4/Firmware/issues/7324)
- SITL low acceleration for distant waypoints [\#7317](https://github.com/PX4/Firmware/issues/7317)
- Syslink parameter acks broken Crazyflie 2 [\#7282](https://github.com/PX4/Firmware/issues/7282)
- Emild reach RTK GPS support [\#7275](https://github.com/PX4/Firmware/issues/7275)
- Quad using flow lands, when enabling GPS and being in takeoff \(auto\) [\#7251](https://github.com/PX4/Firmware/issues/7251)
- Access denied to connect to PX4flow in Comm Links. What is the output? [\#7222](https://github.com/PX4/Firmware/issues/7222)
- Please have a look at my px4flow test logs [\#7207](https://github.com/PX4/Firmware/issues/7207)
- LPE Auto.Takeoff w/o GPS works in Gazebo, but not in real life [\#7128](https://github.com/PX4/Firmware/issues/7128)
- Confusions about topics in gazebo\_mavlink\_interface.cpp. [\#6909](https://github.com/PX4/Firmware/issues/6909)
- Revisit Nuttx Build [\#6881](https://github.com/PX4/Firmware/issues/6881)
- Land detected after VTOL back transition [\#6730](https://github.com/PX4/Firmware/issues/6730)
- Ensure system is not leaking FDs [\#6606](https://github.com/PX4/Firmware/issues/6606)

**Merged pull requests:**

- mavlink delete unimplemented [\#8452](https://github.com/PX4/Firmware/pull/8452) ([dagar](https://github.com/dagar))
- Force submodules to update in CI [\#8450](https://github.com/PX4/Firmware/pull/8450) ([dagar](https://github.com/dagar))
- Jenkins remove fast fail [\#8448](https://github.com/PX4/Firmware/pull/8448) ([dagar](https://github.com/dagar))
- submodule improvements [\#8444](https://github.com/PX4/Firmware/pull/8444) ([dagar](https://github.com/dagar))
- Jenkins correctly archive artifacts and print sizes [\#8443](https://github.com/PX4/Firmware/pull/8443) ([dagar](https://github.com/dagar))
- Jenkins add eagle\_default build with docker credentials [\#8442](https://github.com/PX4/Firmware/pull/8442) ([dagar](https://github.com/dagar))
- Jenkinsfile small optimizations [\#8441](https://github.com/PX4/Firmware/pull/8441) ([dagar](https://github.com/dagar))
- Mavlink only stream HOME\_POSITION if valid [\#8440](https://github.com/PX4/Firmware/pull/8440) ([dagar](https://github.com/dagar))
- cmake nuttx base .px4 file naming on binary [\#8439](https://github.com/PX4/Firmware/pull/8439) ([dagar](https://github.com/dagar))
- px4fmu-v3\_default name binary appropriately [\#8438](https://github.com/PX4/Firmware/pull/8438) ([dagar](https://github.com/dagar))
- Jenkins fetch git tags [\#8435](https://github.com/PX4/Firmware/pull/8435) ([dagar](https://github.com/dagar))
- Add forwarding on telem2 normal telemetry option [\#8434](https://github.com/PX4/Firmware/pull/8434) ([sanderux](https://github.com/sanderux))
- cmake add git submodule replace . in target name [\#8433](https://github.com/PX4/Firmware/pull/8433) ([dagar](https://github.com/dagar))
- load\_mon: remove usage of CONFIG\_RAM\_SIZE [\#8432](https://github.com/PX4/Firmware/pull/8432) ([bkueng](https://github.com/bkueng))
- FMUv5: correct detection of internal mag [\#8430](https://github.com/PX4/Firmware/pull/8430) ([bkueng](https://github.com/bkueng))
- Param Save Improvements [\#8428](https://github.com/PX4/Firmware/pull/8428) ([bkueng](https://github.com/bkueng))
- cmake improve git submodule dependencies [\#8426](https://github.com/PX4/Firmware/pull/8426) ([dagar](https://github.com/dagar))
- Jenkins clear ccache stats before each build [\#8425](https://github.com/PX4/Firmware/pull/8425) ([dagar](https://github.com/dagar))
- delete old configs [\#8423](https://github.com/PX4/Firmware/pull/8423) ([dagar](https://github.com/dagar))
- Jenkins temporarily disable coverage and clang-tidy [\#8422](https://github.com/PX4/Firmware/pull/8422) ([dagar](https://github.com/dagar))
- \[WIP\] Jenkins: build posix\_sitl\_default and nuttx\_px4fmu-v5\_default under Archlinux \(GCC7\) [\#8420](https://github.com/PX4/Firmware/pull/8420) ([jlecoeur](https://github.com/jlecoeur))
- Fix gcc7 warnings [\#8417](https://github.com/PX4/Firmware/pull/8417) ([jlecoeur](https://github.com/jlecoeur))
- mc\_att\_control set timestamp\_sample from gyro [\#8415](https://github.com/PX4/Firmware/pull/8415) ([dagar](https://github.com/dagar))
- micrortps\_bridge: add optical\_flow to the set of received topics [\#8411](https://github.com/PX4/Firmware/pull/8411) ([bkueng](https://github.com/bkueng))
- QC improvements [\#8402](https://github.com/PX4/Firmware/pull/8402) ([sanderux](https://github.com/sanderux))
- Fix typo error in micrortps\_client module [\#8399](https://github.com/PX4/Firmware/pull/8399) ([avinash-palleti](https://github.com/avinash-palleti))
- tap\_esc: changes needed to run on qurt [\#8394](https://github.com/PX4/Firmware/pull/8394) ([ChristophTobler](https://github.com/ChristophTobler))
- Jenkins increase test timeout [\#8386](https://github.com/PX4/Firmware/pull/8386) ([dagar](https://github.com/dagar))
- Jenkins shared ccache for build slaves [\#8385](https://github.com/PX4/Firmware/pull/8385) ([dagar](https://github.com/dagar))
- travis-ci remove tests, coverage, clang-tidy [\#8383](https://github.com/PX4/Firmware/pull/8383) ([dagar](https://github.com/dagar))
- jenkins add all builds [\#8381](https://github.com/PX4/Firmware/pull/8381) ([dagar](https://github.com/dagar))
- delete unused RC\_RL1\_DSM\_VCC [\#8379](https://github.com/PX4/Firmware/pull/8379) ([dagar](https://github.com/dagar))
- vehicle command ROI: do not erroneously report command unsupported [\#8377](https://github.com/PX4/Firmware/pull/8377) ([ndepal](https://github.com/ndepal))
- Stop parameter names from wrapping in markdown table [\#8375](https://github.com/PX4/Firmware/pull/8375) ([hamishwillee](https://github.com/hamishwillee))
- sensors delete disabled ATT\_VIBE\_THRESH [\#8372](https://github.com/PX4/Firmware/pull/8372) ([dagar](https://github.com/dagar))
- delete old modules in examples [\#8371](https://github.com/PX4/Firmware/pull/8371) ([dagar](https://github.com/dagar))
- delete more unused uORB messages [\#8370](https://github.com/PX4/Firmware/pull/8370) ([dagar](https://github.com/dagar))
- FW enable EKF2 synthetic sideslip fusion by default [\#8360](https://github.com/PX4/Firmware/pull/8360) ([dagar](https://github.com/dagar))
- uORB msg delete unused hil\_sensor [\#8356](https://github.com/PX4/Firmware/pull/8356) ([dagar](https://github.com/dagar))
- Jenkins clean before building [\#8352](https://github.com/PX4/Firmware/pull/8352) ([dagar](https://github.com/dagar))
- add killswitch \(manual\_lockdown\) to Snapdragon uart ESC [\#8340](https://github.com/PX4/Firmware/pull/8340) ([ChristophTobler](https://github.com/ChristophTobler))
- wrap yaw attitude setpoint for offboard mode [\#8339](https://github.com/PX4/Firmware/pull/8339) ([mrivi](https://github.com/mrivi))
- Python import error: Recommend pip over apt-get [\#8338](https://github.com/PX4/Firmware/pull/8338) ([jlecoeur](https://github.com/jlecoeur))
- parameters.xml sort parameters by name, sort enums by value [\#8337](https://github.com/PX4/Firmware/pull/8337) ([dagar](https://github.com/dagar))
- travis-ci fix coverity build [\#8335](https://github.com/PX4/Firmware/pull/8335) ([dagar](https://github.com/dagar))
- submodule fixes and improvements [\#8334](https://github.com/PX4/Firmware/pull/8334) ([dagar](https://github.com/dagar))
- Add RTPS cmake config for AeroFC [\#8328](https://github.com/PX4/Firmware/pull/8328) ([avinash-palleti](https://github.com/avinash-palleti))
- travis-ci coverity build install python-toml python-numpy [\#8324](https://github.com/PX4/Firmware/pull/8324) ([dagar](https://github.com/dagar))
- only update baro periodically [\#8322](https://github.com/PX4/Firmware/pull/8322) ([sanderux](https://github.com/sanderux))
- Change the "mpu9250 test" command output units [\#8313](https://github.com/PX4/Firmware/pull/8313) ([fanchuannangang1503](https://github.com/fanchuannangang1503))
- Change the name of sdlog file in case of differential gps [\#8311](https://github.com/PX4/Firmware/pull/8311) ([fanchuannangang1503](https://github.com/fanchuannangang1503))
- DQ: Better scaling for reverse mixer [\#8309](https://github.com/PX4/Firmware/pull/8309) ([sanderux](https://github.com/sanderux))
- Detect external buses on FMU variants correctly and clean up driver implementation [\#8300](https://github.com/PX4/Firmware/pull/8300) ([dagar](https://github.com/dagar))
- fix mc\_att\_control: re-add dropped acro parameters [\#8293](https://github.com/PX4/Firmware/pull/8293) ([bkueng](https://github.com/bkueng))
- ekf2: Update parameter descriptions [\#8292](https://github.com/PX4/Firmware/pull/8292) ([priseborough](https://github.com/priseborough))
- Jenkins: update docker image [\#8286](https://github.com/PX4/Firmware/pull/8286) ([jlecoeur](https://github.com/jlecoeur))
- navigator: reset triplets if navigation mode changes [\#8285](https://github.com/PX4/Firmware/pull/8285) ([Stifael](https://github.com/Stifael))
- cmake nuttx improvements \(windows build + builtins\) [\#8284](https://github.com/PX4/Firmware/pull/8284) ([dagar](https://github.com/dagar))
- navigator: make FollowTarget::\_follow\_position\_matricies constexpr [\#8281](https://github.com/PX4/Firmware/pull/8281) ([bkueng](https://github.com/bkueng))
- use int32\_t instead of int [\#8279](https://github.com/PX4/Firmware/pull/8279) ([ChristophTobler](https://github.com/ChristophTobler))
- vtol\_att\_control: ack transition commands [\#8264](https://github.com/PX4/Firmware/pull/8264) ([julianoes](https://github.com/julianoes))
- bmm150 has noting to do with spi bus [\#8261](https://github.com/PX4/Firmware/pull/8261) ([fanchuannangang1503](https://github.com/fanchuannangang1503))
- jMAVSim: update submodule to include fix for VMware driver [\#8254](https://github.com/PX4/Firmware/pull/8254) ([bkueng](https://github.com/bkueng))
- Topic\_listener: allow multi-topic messages [\#8241](https://github.com/PX4/Firmware/pull/8241) ([jlecoeur](https://github.com/jlecoeur))
- Jenkins track test results [\#8236](https://github.com/PX4/Firmware/pull/8236) ([dagar](https://github.com/dagar))
- EKF2 always publish status message [\#8234](https://github.com/PX4/Firmware/pull/8234) ([dagar](https://github.com/dagar))
- Fix protocol\_splitter compilation issues [\#8230](https://github.com/PX4/Firmware/pull/8230) ([avinash-palleti](https://github.com/avinash-palleti))
- modules: lpe: small updates and fixes [\#8226](https://github.com/PX4/Firmware/pull/8226) ([TSC21](https://github.com/TSC21))
- fix NAV\_TRAFF\_AVOID param definition: needs a ; [\#8220](https://github.com/PX4/Firmware/pull/8220) ([bkueng](https://github.com/bkueng))
- esc\_calib properly cleanup on failure [\#8219](https://github.com/PX4/Firmware/pull/8219) ([dagar](https://github.com/dagar))
- mavlink parameters initialize struct [\#8218](https://github.com/PX4/Firmware/pull/8218) ([dagar](https://github.com/dagar))
- travis ci update [\#8217](https://github.com/PX4/Firmware/pull/8217) ([dagar](https://github.com/dagar))
- vmount initialize params [\#8216](https://github.com/PX4/Firmware/pull/8216) ([dagar](https://github.com/dagar))
- sensors ignore invalid failover index [\#8215](https://github.com/PX4/Firmware/pull/8215) ([dagar](https://github.com/dagar))
- Navigator: Add the ability to do a low-altitude RTL to avoid traffic [\#8214](https://github.com/PX4/Firmware/pull/8214) ([LorenzMeier](https://github.com/LorenzMeier))
- jenkins don't update devguide and user guide from pipeline [\#8212](https://github.com/PX4/Firmware/pull/8212) ([dagar](https://github.com/dagar))
- Use linux\_sbus driver on OcPoC [\#8211](https://github.com/PX4/Firmware/pull/8211) ([davidaroyer](https://github.com/davidaroyer))
- JenkinsFile updates [\#8210](https://github.com/PX4/Firmware/pull/8210) ([dagar](https://github.com/dagar))
- mavlink\_receiver: disable ulog streaming via Telemetry links [\#8209](https://github.com/PX4/Firmware/pull/8209) ([bkueng](https://github.com/bkueng))
- commander: fix 'commander arm' not working in HIL mode [\#8208](https://github.com/PX4/Firmware/pull/8208) ([bkueng](https://github.com/bkueng))
- PX4IO Firmware: Fix usage of new operator in IRQ [\#8206](https://github.com/PX4/Firmware/pull/8206) ([LorenzMeier](https://github.com/LorenzMeier))
- Fix follow me position setpoint [\#8203](https://github.com/PX4/Firmware/pull/8203) ([julianoes](https://github.com/julianoes))
- circleci fix build reconfigure loop [\#8202](https://github.com/PX4/Firmware/pull/8202) ([dagar](https://github.com/dagar))
- initial Jenkinsfile [\#8201](https://github.com/PX4/Firmware/pull/8201) ([dagar](https://github.com/dagar))
- New Look for jMAVSim [\#8194](https://github.com/PX4/Firmware/pull/8194) ([bkueng](https://github.com/bkueng))
- SDP3X: fix comment [\#8189](https://github.com/PX4/Firmware/pull/8189) ([mirkix](https://github.com/mirkix))
- modules: lpe: fix double correction on lidar [\#8188](https://github.com/PX4/Firmware/pull/8188) ([TSC21](https://github.com/TSC21))
- move bottle\_drop to examples [\#8187](https://github.com/PX4/Firmware/pull/8187) ([dagar](https://github.com/dagar))
- px4fmu-v2\_default add sf1xx driver [\#8185](https://github.com/PX4/Firmware/pull/8185) ([dagar](https://github.com/dagar))
- reset setpoint to current position [\#8183](https://github.com/PX4/Firmware/pull/8183) ([ChristophTobler](https://github.com/ChristophTobler))
- Fix type of MNT\_OB\_LOCK\_MODE and MNT\_OB\_NORM\_MODE parameters [\#8180](https://github.com/PX4/Firmware/pull/8180) ([mdailey](https://github.com/mdailey))
- Type-safety for param\_get\(\) [\#8179](https://github.com/PX4/Firmware/pull/8179) ([bkueng](https://github.com/bkueng))
- add subscriber handler and status displays [\#8172](https://github.com/PX4/Firmware/pull/8172) ([ChristophTobler](https://github.com/ChristophTobler))
- Fix bad meta data which is making QGC angry [\#8166](https://github.com/PX4/Firmware/pull/8166) ([DonLakeFlyer](https://github.com/DonLakeFlyer))
- Replace TECS controller with a new version from ECL library [\#8165](https://github.com/PX4/Firmware/pull/8165) ([LorenzMeier](https://github.com/LorenzMeier))
- travis-ci fix coverity scan, px4\_metadata upload, enable UBSAN build [\#8156](https://github.com/PX4/Firmware/pull/8156) ([dagar](https://github.com/dagar))
- stable: AeroFC important backports [\#8155](https://github.com/PX4/Firmware/pull/8155) ([zehortigoza](https://github.com/zehortigoza))
- Servo gimbal [\#8149](https://github.com/PX4/Firmware/pull/8149) ([mje-nz](https://github.com/mje-nz))
- navigator: check distances between waypoints [\#8146](https://github.com/PX4/Firmware/pull/8146) ([julianoes](https://github.com/julianoes))
- travis-ci allow coverage failures [\#8145](https://github.com/PX4/Firmware/pull/8145) ([dagar](https://github.com/dagar))
- airframe 4040\_reaper: fix type to quad h [\#8143](https://github.com/PX4/Firmware/pull/8143) ([bkueng](https://github.com/bkueng))
- dataman: Prevent database corruption [\#8137](https://github.com/PX4/Firmware/pull/8137) ([zehortigoza](https://github.com/zehortigoza))
- Mavlink: fix flight information [\#8136](https://github.com/PX4/Firmware/pull/8136) ([bkueng](https://github.com/bkueng))
- orb\_exists: change semantics from \(is published or subscribed\) to \(is published\) [\#8135](https://github.com/PX4/Firmware/pull/8135) ([bkueng](https://github.com/bkueng))
- Adding Sugnan as maintainer for Intel Aero [\#8133](https://github.com/PX4/Firmware/pull/8133) ([lfelipe](https://github.com/lfelipe))
- Add ICM20602 to AUAV-x21 sensor startup [\#8129](https://github.com/PX4/Firmware/pull/8129) ([nkhoit](https://github.com/nkhoit))
- Logger: add high-rate profile & change profile param into a bitset [\#8128](https://github.com/PX4/Firmware/pull/8128) ([bkueng](https://github.com/bkueng))
- Add a few mavlink messages to Typhoon H480 SITL [\#8125](https://github.com/PX4/Firmware/pull/8125) ([julianoes](https://github.com/julianoes))
- update ekf [\#8123](https://github.com/PX4/Firmware/pull/8123) ([ChristophTobler](https://github.com/ChristophTobler))
- When switching to land in VTOL, update land target during back trans [\#8119](https://github.com/PX4/Firmware/pull/8119) ([sanderux](https://github.com/sanderux))
- Build fixes [\#8115](https://github.com/PX4/Firmware/pull/8115) ([lucasdemarchi](https://github.com/lucasdemarchi))
- IO Mixer Fix [\#8114](https://github.com/PX4/Firmware/pull/8114) ([acfloria](https://github.com/acfloria))
- move RTPS to dedicated px4fmu-v{3,4,4pro,5}, posix, sdflight builds [\#8113](https://github.com/PX4/Firmware/pull/8113) ([dagar](https://github.com/dagar))
- cmake fix ctest output on failure for coverage [\#8112](https://github.com/PX4/Firmware/pull/8112) ([dagar](https://github.com/dagar))
- fmu: minor refactoring & fixes [\#8110](https://github.com/PX4/Firmware/pull/8110) ([bkueng](https://github.com/bkueng))
- Add include guard in headers files [\#8108](https://github.com/PX4/Firmware/pull/8108) ([sugnanprabhu](https://github.com/sugnanprabhu))
- Reduce CPU load on Pixracer [\#8107](https://github.com/PX4/Firmware/pull/8107) ([bkueng](https://github.com/bkueng))
- attitude\_estimator\_q remove unused [\#8106](https://github.com/PX4/Firmware/pull/8106) ([dagar](https://github.com/dagar))
- circleci fix homebrew by updating first [\#8104](https://github.com/PX4/Firmware/pull/8104) ([dagar](https://github.com/dagar))
- SDP3X : correct scales [\#8103](https://github.com/PX4/Firmware/pull/8103) ([rde-mato](https://github.com/rde-mato))
- Decode state for Yuneec ST24 [\#8097](https://github.com/PX4/Firmware/pull/8097) ([mrivi](https://github.com/mrivi))
- set cruising speed for reposition [\#8096](https://github.com/PX4/Firmware/pull/8096) ([Stifael](https://github.com/Stifael))
- travis-ci enable tests under address sanitizier [\#8095](https://github.com/PX4/Firmware/pull/8095) ([dagar](https://github.com/dagar))
- landdetector: remove outdated comment [\#8094](https://github.com/PX4/Firmware/pull/8094) ([Stifael](https://github.com/Stifael))
- travis-ci codecov label unittests [\#8092](https://github.com/PX4/Firmware/pull/8092) ([dagar](https://github.com/dagar))
- Makefile fix scan-build path [\#8091](https://github.com/PX4/Firmware/pull/8091) ([dagar](https://github.com/dagar))
- travis-ci enable codecov [\#8090](https://github.com/PX4/Firmware/pull/8090) ([dagar](https://github.com/dagar))
- IST8310 driver: Fix startup / calibration order [\#8083](https://github.com/PX4/Firmware/pull/8083) ([LorenzMeier](https://github.com/LorenzMeier))
- Devices: Update submodule to include GPS driver improvements [\#8082](https://github.com/PX4/Firmware/pull/8082) ([LorenzMeier](https://github.com/LorenzMeier))
- Fix MAVLink app startup race during boot [\#8081](https://github.com/PX4/Firmware/pull/8081) ([LorenzMeier](https://github.com/LorenzMeier))
- df\_hmc5883\_wrapper: set mag device path from input argument [\#8079](https://github.com/PX4/Firmware/pull/8079) ([davidaroyer](https://github.com/davidaroyer))
- hardfault\_log:Not having a ulog file to append to is not an error [\#8077](https://github.com/PX4/Firmware/pull/8077) ([davids5](https://github.com/davids5))
- tap\_esc: some cleanup [\#8075](https://github.com/PX4/Firmware/pull/8075) ([bkueng](https://github.com/bkueng))
- commander battery failsafe only error if TRANSITION\_DENIED [\#8074](https://github.com/PX4/Firmware/pull/8074) ([dagar](https://github.com/dagar))
- cmake minor fixes [\#8067](https://github.com/PX4/Firmware/pull/8067) ([dagar](https://github.com/dagar))
- Move throttle check from land detector to posctrl [\#8064](https://github.com/PX4/Firmware/pull/8064) ([julianoes](https://github.com/julianoes))
- LED: add MODE\_FLASH [\#8061](https://github.com/PX4/Firmware/pull/8061) ([bkueng](https://github.com/bkueng))
- version: add support for vendor version  [\#8060](https://github.com/PX4/Firmware/pull/8060) ([darioxz](https://github.com/darioxz))
- SDlog2 log format fix [\#8058](https://github.com/PX4/Firmware/pull/8058) ([acfloria](https://github.com/acfloria))
- Add ocpoc target to CI [\#8055](https://github.com/PX4/Firmware/pull/8055) ([davidaroyer](https://github.com/davidaroyer))
- kinetis:adc fix typo vailid-\>valid [\#8054](https://github.com/PX4/Firmware/pull/8054) ([davids5](https://github.com/davids5))
- ver hwcmp: allow to specify multiple hardware identifiers [\#8052](https://github.com/PX4/Firmware/pull/8052) ([bkueng](https://github.com/bkueng))
- temperature\_calibration: check if no sensor is found [\#8051](https://github.com/PX4/Firmware/pull/8051) ([bkueng](https://github.com/bkueng))
- Fix check\_stack target [\#8050](https://github.com/PX4/Firmware/pull/8050) ([jlecoeur](https://github.com/jlecoeur))
- ekf2 update [\#8049](https://github.com/PX4/Firmware/pull/8049) ([ChristophTobler](https://github.com/ChristophTobler))
- ekf2: add some comments [\#8047](https://github.com/PX4/Firmware/pull/8047) ([ChristophTobler](https://github.com/ChristophTobler))
- AeroFC: Disable UART8 [\#8046](https://github.com/PX4/Firmware/pull/8046) ([zehortigoza](https://github.com/zehortigoza))
- add possibility to change params in gpssim [\#8044](https://github.com/PX4/Firmware/pull/8044) ([ChristophTobler](https://github.com/ChristophTobler))
- mavlink\_log\_handler: set current\_log\_filep to NULL after closing the file [\#8042](https://github.com/PX4/Firmware/pull/8042) ([bkueng](https://github.com/bkueng))
- commander: ignore internal commands during calibration [\#8041](https://github.com/PX4/Firmware/pull/8041) ([bkueng](https://github.com/bkueng))
- Helicopter mixer scale throttle to -1 .. +1 [\#8038](https://github.com/PX4/Firmware/pull/8038) ([bartslinger](https://github.com/bartslinger))
- build: get rid of annoying CMake warning [\#8033](https://github.com/PX4/Firmware/pull/8033) ([lucasdemarchi](https://github.com/lucasdemarchi))
- driver: ll40ls: Correctly instantiate with the right parameters [\#8032](https://github.com/PX4/Firmware/pull/8032) ([zehortigoza](https://github.com/zehortigoza))
- Fixed typo usb\_vaild -\>  usb\_valid [\#8031](https://github.com/PX4/Firmware/pull/8031) ([davids5](https://github.com/davids5))
- Work in Progress Nxphlite-v3 [\#8030](https://github.com/PX4/Firmware/pull/8030) ([davids5](https://github.com/davids5))
- NuttX board build not needed [\#8029](https://github.com/PX4/Firmware/pull/8029) ([dagar](https://github.com/dagar))
- navigator delete unused attitude setpoint [\#8028](https://github.com/PX4/Firmware/pull/8028) ([dagar](https://github.com/dagar))
- enable simple posix tests [\#8019](https://github.com/PX4/Firmware/pull/8019) ([dagar](https://github.com/dagar))
- update submodule sitl\_gazebo to include new range orientation [\#8011](https://github.com/PX4/Firmware/pull/8011) ([ChristophTobler](https://github.com/ChristophTobler))
- airframe metadata sort by SYS\_AUTOSTART and minor cleanup [\#8009](https://github.com/PX4/Firmware/pull/8009) ([dagar](https://github.com/dagar))
- mavlink receiver fix PREFLIGHT\_REBOOT\_SHUTDOWN [\#8008](https://github.com/PX4/Firmware/pull/8008) ([dagar](https://github.com/dagar))
- drivers remove device \_debug\_enabled [\#8007](https://github.com/PX4/Firmware/pull/8007) ([dagar](https://github.com/dagar))
- Sensors: Clean up boot output [\#8005](https://github.com/PX4/Firmware/pull/8005) ([LorenzMeier](https://github.com/LorenzMeier))
- mavlink receiver sync COMMAND\_INT/COMMAND\_LONG [\#8002](https://github.com/PX4/Firmware/pull/8002) ([dagar](https://github.com/dagar))
- Handle reboot and shutdown commands. [\#8000](https://github.com/PX4/Firmware/pull/8000) ([jgoppert](https://github.com/jgoppert))
- MC attitude controller: fixes for yaw control [\#7997](https://github.com/PX4/Firmware/pull/7997) ([bkueng](https://github.com/bkueng))
- fix bug of landing not to the current location [\#7994](https://github.com/PX4/Firmware/pull/7994) ([whyscience](https://github.com/whyscience))
- cmake: AeroFC: Remove unused apps and libs [\#7993](https://github.com/PX4/Firmware/pull/7993) ([zehortigoza](https://github.com/zehortigoza))
- MindPX config update [\#7988](https://github.com/PX4/Firmware/pull/7988) ([iZhangHui](https://github.com/iZhangHui))
- commander: removed CONFIG\_ARCH\_BOARD\_xxx usage [\#7987](https://github.com/PX4/Firmware/pull/7987) ([iZhangHui](https://github.com/iZhangHui))
- Pr update dist orientation [\#7984](https://github.com/PX4/Firmware/pull/7984) ([ChristophTobler](https://github.com/ChristophTobler))
- mc\_pos\_control: Fix bug causing flyaway when GPS gained after takeoff [\#7983](https://github.com/PX4/Firmware/pull/7983) ([ChristophTobler](https://github.com/ChristophTobler))
- delete sdlog2 EKF2 replay [\#7982](https://github.com/PX4/Firmware/pull/7982) ([dagar](https://github.com/dagar))
- more px4fmu-v1 cleanup [\#7981](https://github.com/PX4/Firmware/pull/7981) ([dagar](https://github.com/dagar))
- Make FTP more robust [\#7979](https://github.com/PX4/Firmware/pull/7979) ([bkueng](https://github.com/bkueng))
- BMP280 fix /dev/baroX unregister [\#7977](https://github.com/PX4/Firmware/pull/7977) ([dagar](https://github.com/dagar))
- coverity fixes [\#7976](https://github.com/PX4/Firmware/pull/7976) ([dagar](https://github.com/dagar))
- add -Wmissing-field-initializers, -Wlogical-op, -Wunknown-pragmas, -Wdisabled-optimization [\#7975](https://github.com/PX4/Firmware/pull/7975) ([dagar](https://github.com/dagar))
- px4io remove unused printf arg [\#7974](https://github.com/PX4/Firmware/pull/7974) ([dagar](https://github.com/dagar))
- motor\_ramp remove unreachable code [\#7973](https://github.com/PX4/Firmware/pull/7973) ([dagar](https://github.com/dagar))
- vmount: accept mavlink input from \[0..360\] degrees [\#7969](https://github.com/PX4/Firmware/pull/7969) ([julianoes](https://github.com/julianoes))
- update ecl submodule to include flow fixes [\#7966](https://github.com/PX4/Firmware/pull/7966) ([ChristophTobler](https://github.com/ChristophTobler))
- Bugfix: corrects the ARR calculation for the LED PWM timer [\#7964](https://github.com/PX4/Firmware/pull/7964) ([ksschwabe](https://github.com/ksschwabe))
- Makefile:distclean should not delete an local eclipse .settings [\#7963](https://github.com/PX4/Firmware/pull/7963) ([davids5](https://github.com/davids5))
- drivers: add support for TeraRanger Evo [\#7962](https://github.com/PX4/Firmware/pull/7962) ([msadowski](https://github.com/msadowski))
- mc\_pos\_control: smooth positon control from stick input [\#7960](https://github.com/PX4/Firmware/pull/7960) ([Stifael](https://github.com/Stifael))
- commander: require local position for home [\#7958](https://github.com/PX4/Firmware/pull/7958) ([julianoes](https://github.com/julianoes))
- \[BACKPORT\] stm32:stm32f40xxx I2C ensure proper error handling. [\#7957](https://github.com/PX4/Firmware/pull/7957) ([davids5](https://github.com/davids5))
- msg: Fix documentation of filter\_fault\_flag in estimator status msg [\#7956](https://github.com/PX4/Firmware/pull/7956) ([CarlOlsson](https://github.com/CarlOlsson))
- Bugfix: corrects orientation of magnetometer raw values [\#7954](https://github.com/PX4/Firmware/pull/7954) ([ksschwabe](https://github.com/ksschwabe))
- Update LPE SITL init script. [\#7953](https://github.com/PX4/Firmware/pull/7953) ([jgoppert](https://github.com/jgoppert))
- Bugfix: corrects the ARR calculation for the PWM timer [\#7952](https://github.com/PX4/Firmware/pull/7952) ([ksschwabe](https://github.com/ksschwabe))
- param: use separate param save lock [\#7950](https://github.com/PX4/Firmware/pull/7950) ([bkueng](https://github.com/bkueng))
- multirotor\_motor\_limits only publish if used [\#7944](https://github.com/PX4/Firmware/pull/7944) ([dagar](https://github.com/dagar))
- delete unused RC\_DSM\_BIND param [\#7943](https://github.com/PX4/Firmware/pull/7943) ([dagar](https://github.com/dagar))
- MC: improve manual stick input handling [\#7940](https://github.com/PX4/Firmware/pull/7940) ([bkueng](https://github.com/bkueng))
- ROI - move handling to Navigator [\#7939](https://github.com/PX4/Firmware/pull/7939) ([dagar](https://github.com/dagar))
- docker\_run.sh add default port \(14556 udp\) and remove X11 setup [\#7936](https://github.com/PX4/Firmware/pull/7936) ([dagar](https://github.com/dagar))
- navigator move parameters out of MissionBlock interface [\#7932](https://github.com/PX4/Firmware/pull/7932) ([dagar](https://github.com/dagar))
- vehicle\_command commands are uint16, not uint32 [\#7930](https://github.com/PX4/Firmware/pull/7930) ([dagar](https://github.com/dagar))
- Update mavlink\_messages.cpp [\#7928](https://github.com/PX4/Firmware/pull/7928) ([elton-choi](https://github.com/elton-choi))
- logger add manual\_control\_setpoint [\#7926](https://github.com/PX4/Firmware/pull/7926) ([dagar](https://github.com/dagar))
- logger update topics [\#7914](https://github.com/PX4/Firmware/pull/7914) ([dagar](https://github.com/dagar))
- SF20/LW20 Support [\#7913](https://github.com/PX4/Firmware/pull/7913) ([tops4u](https://github.com/tops4u))
- dataman: fix test for return value of px4\_task\_spawn\_cmd [\#7909](https://github.com/PX4/Firmware/pull/7909) ([bkueng](https://github.com/bkueng))
- Hamilton Quaternion Multiplication Order [\#7908](https://github.com/PX4/Firmware/pull/7908) ([MaEtUgR](https://github.com/MaEtUgR))
- driver: vdev\_posix, increase PX4\_MAX\_FD [\#7905](https://github.com/PX4/Firmware/pull/7905) ([whyscience](https://github.com/whyscience))
- minor airspeed sensor startup improvements [\#7903](https://github.com/PX4/Firmware/pull/7903) ([dagar](https://github.com/dagar))
- EKF2 limit map reprojection [\#7900](https://github.com/PX4/Firmware/pull/7900) ([dagar](https://github.com/dagar))
- ulanding delete VDev usage [\#7893](https://github.com/PX4/Firmware/pull/7893) ([dagar](https://github.com/dagar))
- AUV simulation: Enable start without ROS wrappers [\#7888](https://github.com/PX4/Firmware/pull/7888) ([NRottmann](https://github.com/NRottmann))
- aerofc: Use baud of 921600 for Aero [\#7885](https://github.com/PX4/Firmware/pull/7885) ([lucasdemarchi](https://github.com/lucasdemarchi))
- \[WIP\] worst case analysis of stack usage [\#7883](https://github.com/PX4/Firmware/pull/7883) ([jlecoeur](https://github.com/jlecoeur))
- mavlink: implement MAV\_CMD\_REQUEST\_FLIGHT\_INFORMATION [\#7881](https://github.com/PX4/Firmware/pull/7881) ([sugnanprabhu](https://github.com/sugnanprabhu))
- NuttX upgrade cmake wrapper  [\#7873](https://github.com/PX4/Firmware/pull/7873) ([dagar](https://github.com/dagar))
- listener: Fix array print [\#7868](https://github.com/PX4/Firmware/pull/7868) ([CarlOlsson](https://github.com/CarlOlsson))
- fmu v5 features - against PX4 older nuttx.  [\#7867](https://github.com/PX4/Firmware/pull/7867) ([davids5](https://github.com/davids5))
- NuttX upgrade for V1.7 Release  [\#7866](https://github.com/PX4/Firmware/pull/7866) ([davids5](https://github.com/davids5))
- ROMFS: Remove flaperons from AAERTWF mixer. [\#7862](https://github.com/PX4/Firmware/pull/7862) ([acfloria](https://github.com/acfloria))
- mavlink: fix use of -x flag [\#7859](https://github.com/PX4/Firmware/pull/7859) ([bkueng](https://github.com/bkueng))
- uavcan start enforcing code style [\#7856](https://github.com/PX4/Firmware/pull/7856) ([dagar](https://github.com/dagar))
- delete dummy tone alarm [\#7850](https://github.com/PX4/Firmware/pull/7850) ([dagar](https://github.com/dagar))
- cmake simplify uavcan linking [\#7849](https://github.com/PX4/Firmware/pull/7849) ([dagar](https://github.com/dagar))
- unit\_test doesn't need to be a module [\#7848](https://github.com/PX4/Firmware/pull/7848) ([dagar](https://github.com/dagar))
- move all astyle scripting to Tools/astyle [\#7847](https://github.com/PX4/Firmware/pull/7847) ([dagar](https://github.com/dagar))
- vmount run at default priority [\#7844](https://github.com/PX4/Firmware/pull/7844) ([dagar](https://github.com/dagar))
- vtol tailsitter attitude control [\#7841](https://github.com/PX4/Firmware/pull/7841) ([jingego](https://github.com/jingego))
- top: add a column for the number of used file descriptors [\#7840](https://github.com/PX4/Firmware/pull/7840) ([bkueng](https://github.com/bkueng))
- Use updated micro-CDR with memory leak fix [\#7838](https://github.com/PX4/Firmware/pull/7838) ([PeterDuerr](https://github.com/PeterDuerr))
- run px4flow for v4 pro [\#7836](https://github.com/PX4/Firmware/pull/7836) ([ChristophTobler](https://github.com/ChristophTobler))
- Changed the default behavior for the client launching as a infinite loop [\#7835](https://github.com/PX4/Firmware/pull/7835) ([vicentemonge](https://github.com/vicentemonge))
- Perf improvements for SITL [\#7834](https://github.com/PX4/Firmware/pull/7834) ([bkueng](https://github.com/bkueng))
- landdetector groundcontact: adjust climbrate if landing speed is low [\#7831](https://github.com/PX4/Firmware/pull/7831) ([Stifael](https://github.com/Stifael))
- orb\_exists slow, remove usage [\#7830](https://github.com/PX4/Firmware/pull/7830) ([dagar](https://github.com/dagar))
- mavlink main return main loop delay proper size [\#7829](https://github.com/PX4/Firmware/pull/7829) ([dagar](https://github.com/dagar))
- Enable Simulation of the Hippocampus \(AUV from TUHH\) [\#7828](https://github.com/PX4/Firmware/pull/7828) ([LorenzMeier](https://github.com/LorenzMeier))
- Pause camera triggering when entering and exiting missions [\#7827](https://github.com/PX4/Firmware/pull/7827) ([LorenzMeier](https://github.com/LorenzMeier))
- Simulator: Make battery discharging configurable. [\#7826](https://github.com/PX4/Firmware/pull/7826) ([LorenzMeier](https://github.com/LorenzMeier))
- Fix: disable power valid checks [\#7822](https://github.com/PX4/Firmware/pull/7822) ([andresR8](https://github.com/andresR8))
- Add support to new fields in command\_ack [\#7821](https://github.com/PX4/Firmware/pull/7821) ([zehortigoza](https://github.com/zehortigoza))
- Removed support for astyle 2.05.1 [\#7819](https://github.com/PX4/Firmware/pull/7819) ([mcharleb](https://github.com/mcharleb))
- bugfix:px4fmu-v5 \(STM32F7\) random sd write failures [\#7813](https://github.com/PX4/Firmware/pull/7813) ([davids5](https://github.com/davids5))
- uORB Subscription/Publication c++ wrapper improve error messages and minor cleanup [\#7809](https://github.com/PX4/Firmware/pull/7809) ([dagar](https://github.com/dagar))
- Add sbus driver for Linux based autopilot and fix errors of linux\_pwm\_out [\#7808](https://github.com/PX4/Firmware/pull/7808) ([crossa](https://github.com/crossa))
- vmount mavlink input: fix polling for position\_setpoint\_triplet [\#7805](https://github.com/PX4/Firmware/pull/7805) ([bkueng](https://github.com/bkueng))
- delete unused tones [\#7804](https://github.com/PX4/Firmware/pull/7804) ([dagar](https://github.com/dagar))
- clean code [\#7802](https://github.com/PX4/Firmware/pull/7802) ([oneWayOut](https://github.com/oneWayOut))
- updated to use rc driver from PX4, instead of from FC addons [\#7798](https://github.com/PX4/Firmware/pull/7798) ([wangxdflight](https://github.com/wangxdflight))
- Command sender printfs improvements [\#7791](https://github.com/PX4/Firmware/pull/7791) ([julianoes](https://github.com/julianoes))
- Add POSIX support for Aerotenna ulanding radar [\#7788](https://github.com/PX4/Firmware/pull/7788) ([jgs2185](https://github.com/jgs2185))
- Fix conflict in OcPoC Ubuntu configuration [\#7787](https://github.com/PX4/Firmware/pull/7787) ([davidaroyer](https://github.com/davidaroyer))
- travis-ci force git to use git:// [\#7786](https://github.com/PX4/Firmware/pull/7786) ([dagar](https://github.com/dagar))
- Logging fixes [\#7783](https://github.com/PX4/Firmware/pull/7783) ([bkueng](https://github.com/bkueng))
- Improve system and sensor scheduling [\#7776](https://github.com/PX4/Firmware/pull/7776) ([LorenzMeier](https://github.com/LorenzMeier))
- Support for FMUv5 RC00 test HW [\#7774](https://github.com/PX4/Firmware/pull/7774) ([davids5](https://github.com/davids5))
- \[wip\] landdetector mc: widen acceptance threshold after landing  [\#7772](https://github.com/PX4/Firmware/pull/7772) ([Stifael](https://github.com/Stifael))
- 30 Day notice:Deprecation of FMUv1 and PX4IOv1 - Merge on Sept. 10th [\#7769](https://github.com/PX4/Firmware/pull/7769) ([davids5](https://github.com/davids5))
- vmount: multiple fixes [\#7767](https://github.com/PX4/Firmware/pull/7767) ([ndepal](https://github.com/ndepal))
- commander preflight ekf2 check estimator\_status [\#7764](https://github.com/PX4/Firmware/pull/7764) ([dagar](https://github.com/dagar))
- multi differential pressure sensor publication and logging [\#7763](https://github.com/PX4/Firmware/pull/7763) ([dagar](https://github.com/dagar))
- Navigator resurrect FW GPS failure navigation [\#7762](https://github.com/PX4/Firmware/pull/7762) ([dagar](https://github.com/dagar))
- land\_detector add missing header and init all vtol fields [\#7754](https://github.com/PX4/Firmware/pull/7754) ([dagar](https://github.com/dagar))
- Param updates [\#7751](https://github.com/PX4/Firmware/pull/7751) ([sanderux](https://github.com/sanderux))
- Land detector vtol fix [\#7749](https://github.com/PX4/Firmware/pull/7749) ([sanderux](https://github.com/sanderux))
- Define default BOARD\_NUMBER\_I2C\_BUSES and BOARD\_I2C\_BUS\_CLOCK\_INIT [\#7748](https://github.com/PX4/Firmware/pull/7748) ([davids5](https://github.com/davids5))
- Cppcheck fixes [\#7745](https://github.com/PX4/Firmware/pull/7745) ([PeterDuerr](https://github.com/PeterDuerr))
- Auto logic refactor [\#7744](https://github.com/PX4/Firmware/pull/7744) ([Stifael](https://github.com/Stifael))
- Fix va\_arg calls \(always call va\_end\) [\#7742](https://github.com/PX4/Firmware/pull/7742) ([PeterDuerr](https://github.com/PeterDuerr))
- Sensor startup: Simplify and fix Pixhawk 2.1 [\#7741](https://github.com/PX4/Firmware/pull/7741) ([LorenzMeier](https://github.com/LorenzMeier))
- Sensors: Use temperature for airspeed validation to avoid false posit… [\#7740](https://github.com/PX4/Firmware/pull/7740) ([LorenzMeier](https://github.com/LorenzMeier))
- Maybe-landed state for VTOL [\#7738](https://github.com/PX4/Firmware/pull/7738) ([sanderux](https://github.com/sanderux))
- msg: Fix build in python3 [\#7735](https://github.com/PX4/Firmware/pull/7735) ([zehortigoza](https://github.com/zehortigoza))
- AeroFC: backport patches to bring additional I2C [\#7734](https://github.com/PX4/Firmware/pull/7734) ([zehortigoza](https://github.com/zehortigoza))
- Backport f7 pinmap changes affecting I2C, FMC and patch cleanup  [\#7733](https://github.com/PX4/Firmware/pull/7733) ([davids5](https://github.com/davids5))
- Fix send receive command [\#7732](https://github.com/PX4/Firmware/pull/7732) ([LorenzMeier](https://github.com/LorenzMeier))
- Added link to documentation and suppress local one [\#7731](https://github.com/PX4/Firmware/pull/7731) ([vicentemonge](https://github.com/vicentemonge))
- Task priority cleanup [\#7722](https://github.com/PX4/Firmware/pull/7722) ([LorenzMeier](https://github.com/LorenzMeier))
- GPS simulation: Manage delays correctly [\#7720](https://github.com/PX4/Firmware/pull/7720) ([LorenzMeier](https://github.com/LorenzMeier))
- Some RTPS updates [\#7718](https://github.com/PX4/Firmware/pull/7718) ([bkueng](https://github.com/bkueng))
- Enable slower-than-realtime drift setups to achieve full accuracy in SITL [\#7716](https://github.com/PX4/Firmware/pull/7716) ([LorenzMeier](https://github.com/LorenzMeier))
- Back to the original micro CDR repo [\#7715](https://github.com/PX4/Firmware/pull/7715) ([vicentemonge](https://github.com/vicentemonge))
- Some fixes [\#7714](https://github.com/PX4/Firmware/pull/7714) ([vicentemonge](https://github.com/vicentemonge))
- delete vtol\_quad\_x \(replaced with quad\_x\) [\#7711](https://github.com/PX4/Firmware/pull/7711) ([dagar](https://github.com/dagar))
- FrSky telemetry updates [\#7708](https://github.com/PX4/Firmware/pull/7708) ([bkueng](https://github.com/bkueng))
- range finder: reject if min/max value [\#7707](https://github.com/PX4/Firmware/pull/7707) ([ChristophTobler](https://github.com/ChristophTobler))
- Tools/upload\_log.py: use https [\#7704](https://github.com/PX4/Firmware/pull/7704) ([bkueng](https://github.com/bkueng))
- Commander: Handle HITL state in all places consistently [\#7703](https://github.com/PX4/Firmware/pull/7703) ([LorenzMeier](https://github.com/LorenzMeier))
- Airspeed measurement: Add accurate models for dynamic pressure [\#7702](https://github.com/PX4/Firmware/pull/7702) ([LorenzMeier](https://github.com/LorenzMeier))
- WIP: github issue template [\#7701](https://github.com/PX4/Firmware/pull/7701) ([dagar](https://github.com/dagar))
- stop ignoring -Wsign-compare globally and incrementally fix [\#7700](https://github.com/PX4/Firmware/pull/7700) ([dagar](https://github.com/dagar))
- Simplify HIL setup [\#7697](https://github.com/PX4/Firmware/pull/7697) ([LorenzMeier](https://github.com/LorenzMeier))
- fix the bug for posix\_sitl\_inav [\#7694](https://github.com/PX4/Firmware/pull/7694) ([stmoon](https://github.com/stmoon))
- update sitl gazebo to include tranformation fix [\#7692](https://github.com/PX4/Firmware/pull/7692) ([ChristophTobler](https://github.com/ChristophTobler))
- Control disarmed PWM values per channel through params  [\#7690](https://github.com/PX4/Firmware/pull/7690) ([sanderux](https://github.com/sanderux))
- Guard against reboots during param saving [\#7689](https://github.com/PX4/Firmware/pull/7689) ([bkueng](https://github.com/bkueng))
- update sitl\_gazebo to use the vision position estimate [\#7686](https://github.com/PX4/Firmware/pull/7686) ([ChristophTobler](https://github.com/ChristophTobler))
- Add FastRTPS bridge [\#7685](https://github.com/PX4/Firmware/pull/7685) ([LorenzMeier](https://github.com/LorenzMeier))
- aerofc: Reboot board when force bootloader pin is set [\#7682](https://github.com/PX4/Firmware/pull/7682) ([zehortigoza](https://github.com/zehortigoza))
- disable uavcan build to make space for other modules [\#7681](https://github.com/PX4/Firmware/pull/7681) ([stmoon](https://github.com/stmoon))
- logger: avoid logging the UUID if the system does not provide it [\#7673](https://github.com/PX4/Firmware/pull/7673) ([bkueng](https://github.com/bkueng))
- MAVLink: Improve message handling / tracking [\#7671](https://github.com/PX4/Firmware/pull/7671) ([LorenzMeier](https://github.com/LorenzMeier))
- MAVlink forwarding [\#7670](https://github.com/PX4/Firmware/pull/7670) ([LorenzMeier](https://github.com/LorenzMeier))
- MAVLink GPS accuracy [\#7668](https://github.com/PX4/Firmware/pull/7668) ([LorenzMeier](https://github.com/LorenzMeier))
- EKF: Let the EKF know if the vehicle is operating as a fixed wing type. [\#7667](https://github.com/PX4/Firmware/pull/7667) ([priseborough](https://github.com/priseborough))
- Fixes for FTP [\#7665](https://github.com/PX4/Firmware/pull/7665) ([bkueng](https://github.com/bkueng))
- add constraint to ground distance to avoid values below rng\_gnd\_clear… [\#7662](https://github.com/PX4/Firmware/pull/7662) ([ChristophTobler](https://github.com/ChristophTobler))
- Add Ubuntu-armhf Build for OcPoC-Zynq-mini [\#7660](https://github.com/PX4/Firmware/pull/7660) ([davidaroyer](https://github.com/davidaroyer))
- param import: don't fail on type mismatch [\#7659](https://github.com/PX4/Firmware/pull/7659) ([bkueng](https://github.com/bkueng))
- Support platforms like CF2 without capture ioctl [\#7658](https://github.com/PX4/Firmware/pull/7658) ([dennisss](https://github.com/dennisss))
- ekf2: Update documentation for compatibility with Doxygen [\#7657](https://github.com/PX4/Firmware/pull/7657) ([priseborough](https://github.com/priseborough))
- MAVLink: Queue transponder reports and send them at full data rate [\#7654](https://github.com/PX4/Firmware/pull/7654) ([LorenzMeier](https://github.com/LorenzMeier))
- sensors: check battery array bounds [\#7646](https://github.com/PX4/Firmware/pull/7646) ([jlecoeur](https://github.com/jlecoeur))
- travis-ci add GCC7 SITL build and tests [\#7644](https://github.com/PX4/Firmware/pull/7644) ([dagar](https://github.com/dagar))
- Partial Revert "MAVLink: Add capture command to command queue" [\#7643](https://github.com/PX4/Firmware/pull/7643) ([dagar](https://github.com/dagar))
- Fix fmu running as task [\#7640](https://github.com/PX4/Firmware/pull/7640) ([bkueng](https://github.com/bkueng))
- Fix uninitialized variables [\#7637](https://github.com/PX4/Firmware/pull/7637) ([bkueng](https://github.com/bkueng))
- ecl: miscellaneous fixes  [\#7627](https://github.com/PX4/Firmware/pull/7627) ([priseborough](https://github.com/priseborough))
- Enable the validation of survey missions in SITL [\#7626](https://github.com/PX4/Firmware/pull/7626) ([LorenzMeier](https://github.com/LorenzMeier))
- Create 3037\_parrot\_disco\_mod [\#7621](https://github.com/PX4/Firmware/pull/7621) ([jliphard](https://github.com/jliphard))
- FMUv2 Hardware identification some mpu9250 fixes, mpu9250 deprecated on PXMini [\#7618](https://github.com/PX4/Firmware/pull/7618) ([davids5](https://github.com/davids5))
- FW landing optionally disable heading hold [\#7617](https://github.com/PX4/Firmware/pull/7617) ([dagar](https://github.com/dagar))
- Common module base class and module documentation \#2 [\#7616](https://github.com/PX4/Firmware/pull/7616) ([bkueng](https://github.com/bkueng))
- ver all Nuttx reported incorrectly [\#7608](https://github.com/PX4/Firmware/pull/7608) ([davids5](https://github.com/davids5))
- Imu filter [\#7606](https://github.com/PX4/Firmware/pull/7606) ([jgoppert](https://github.com/jgoppert))
- ekf: change gyro & accel dt from float to uint64. [\#7602](https://github.com/PX4/Firmware/pull/7602) ([nicolaerosia](https://github.com/nicolaerosia))
- Join us on Slack README badge [\#7598](https://github.com/PX4/Firmware/pull/7598) ([mrpollo](https://github.com/mrpollo))
- barosim: revamp driver [\#7588](https://github.com/PX4/Firmware/pull/7588) ([nicolaerosia](https://github.com/nicolaerosia))
- update ecl and add param for innovation consistency checks for range … [\#7585](https://github.com/PX4/Firmware/pull/7585) ([ChristophTobler](https://github.com/ChristophTobler))
- EKF2, FW, VTOL modules don't poll parameter\_update [\#7570](https://github.com/PX4/Firmware/pull/7570) ([dagar](https://github.com/dagar))
- ekf2: remove unused function [\#7529](https://github.com/PX4/Firmware/pull/7529) ([CarlOlsson](https://github.com/CarlOlsson))
- Fix compilation errors with arm-none-eabi-gcc 7 [\#7502](https://github.com/PX4/Firmware/pull/7502) ([jlecoeur](https://github.com/jlecoeur))
- PX4 System:Expunge the nuttx adc structure from the system [\#7494](https://github.com/PX4/Firmware/pull/7494) ([davids5](https://github.com/davids5))
- PX4Flow: Add command line options for address and sampling rate [\#7425](https://github.com/PX4/Firmware/pull/7425) ([jlecoeur](https://github.com/jlecoeur))
- Backports of upstream NuttX fixes. [\#7420](https://github.com/PX4/Firmware/pull/7420) ([davids5](https://github.com/davids5))
- use NAV\_MC\_ALT\_RAD for MC takeoff check [\#7380](https://github.com/PX4/Firmware/pull/7380) ([Finwood](https://github.com/Finwood))
- Arm authorization [\#7377](https://github.com/PX4/Firmware/pull/7377) ([zehortigoza](https://github.com/zehortigoza))
- Add support for mavlink debug messages [\#7373](https://github.com/PX4/Firmware/pull/7373) ([jlecoeur](https://github.com/jlecoeur))
- Landdetector additional state [\#7314](https://github.com/PX4/Firmware/pull/7314) ([Stifael](https://github.com/Stifael))
- Mavlink Geofence [\#7238](https://github.com/PX4/Firmware/pull/7238) ([LorenzMeier](https://github.com/LorenzMeier))
- fmu-v5: Updated board config to RC01 of FMUv5 Spec [\#7219](https://github.com/PX4/Firmware/pull/7219) ([simonegu](https://github.com/simonegu))
- PR \#6619 continued [\#7200](https://github.com/PX4/Firmware/pull/7200) ([bkueng](https://github.com/bkueng))
- aerofc: Add and use a new I2C bus [\#7070](https://github.com/PX4/Firmware/pull/7070) ([zehortigoza](https://github.com/zehortigoza))
- modules: dataman: Optimize memory usage [\#6809](https://github.com/PX4/Firmware/pull/6809) ([zehortigoza](https://github.com/zehortigoza))



\* *This Change Log was automatically generated by [github_changelog_generator](https://github.com/skywinder/Github-Changelog-Generator)*