v1.8.0

# Migration Guide
- The [EKF2](https://dev.px4.io/en/tutorials/tuning_the_ecl_ekf.html) estimator has been the standard for some time and supports flying with vision positioning systems indoors. Users of the LP estimator are advised to upgrade, as LPE is no longer supported/maintained.
- [Upgrading](https://docs.px4.io/en/config/firmware.html) is advised to latest stable trough QGC.

# Main features and improvements
- Fusion of Visual Inertial Odometry in EKF2 (video)
- Interface for external Obstacle Avoidance systems (video)
- Significantly improved performance on racing drones (users need to reconfigure, link)
    - Improved filtering and reduced control latency
    - Added Airmode
- Improved flight performance on VTOL (Tiltrotors, Tailsitters)
- Support for building natively on Windows (link)
- Significant EKF2 improvements
    - Hardening of the estimator for situations where GPS accuracy is limited
improved sensor selection logic enabling simultaneous use of optical flow and GPS
    - Added the EKF2_MAG_TYPE parameter for environments with high magnetic interferences
- Wind Estimator 
- Support for structure scanning
- High Latency telemetry support (Iridium)
- Precision landing framework (including IRLock driver)

# New Supported Hardware
- FMUv5: **Pixhawk 4** and **Pixhawk 4 mini** from Holybro and **Pixhack v5** from CUAV
- Crazyflie 2.0 with optical flow deck
- Omnibus F4 SD
- Snapdragon 8074 with VIO enabled (video, 820 support coming)
- IRLock sensor for precision landing
- ST LPS22HB barometer driver
- Analog devices IMUs (ADIS16477, ADIS16448)
- TeraRanger Evo 600Hz support

# Dependencies
- QGroundControl v3.3.2
- MAVLink (d8ea87b9c6173ad72a032219588e302eb8cb212a) [https://github.com/mavlink/c_library_v2](https://github.com/mavlink/c_library_v2)
- UAVCAN
- Important fixes
- Manual flight mode for VTOL
- Battery estimation fixes and improvements

# Change Log

## [v1.8.0](https://github.com/PX4/Firmware/tree/v1.8.0) (2018-06-19)

**Implemented enhancements:**

- PX4 Ping Message Protocol [\#9233](https://github.com/PX4/Firmware/issues/9233)
- IridiumSBD Debug Message + Acknowlege fix [\#9326](https://github.com/PX4/Firmware/pull/9326) ([acfloria](https://github.com/acfloria))

**Fixed bugs:**

- Error in make posix\_sitl\_default gazebo [\#9575](https://github.com/PX4/Firmware/issues/9575)
- fmu\_v5 NSH some commands force an instant reboot [\#9532](https://github.com/PX4/Firmware/issues/9532)
- 1.8.0beta does not "work" with QGC latest [\#9505](https://github.com/PX4/Firmware/issues/9505)
- Console output on Mac OS [\#9495](https://github.com/PX4/Firmware/issues/9495)
- EKF errors with Fixed Wing [\#9474](https://github.com/PX4/Firmware/issues/9474)
- PX4 1.7.3: Total crash in loiter. [\#9108](https://github.com/PX4/Firmware/issues/9108)
- set MODULE\_NAME for parameters module and update ecl [\#9536](https://github.com/PX4/Firmware/pull/9536) ([dagar](https://github.com/dagar))
- Jenkins mission tests delete old build first [\#9535](https://github.com/PX4/Firmware/pull/9535) ([dagar](https://github.com/dagar))

**Closed issues:**

- v1.8 Changelog scratchpad [\#9593](https://github.com/PX4/Firmware/issues/9593)
- Increase IMU rate in ROS on Intel Aero RTF with PX4 [\#9579](https://github.com/PX4/Firmware/issues/9579)
- arming and takeoff with mavros ! [\#9578](https://github.com/PX4/Firmware/issues/9578)
- not able to launch posix\_sitl.launch  [\#9568](https://github.com/PX4/Firmware/issues/9568)
- Commander low on stack [\#9548](https://github.com/PX4/Firmware/issues/9548)
- Wrong Voltage Divider for FMUv5 [\#9526](https://github.com/PX4/Firmware/issues/9526)
- Start logging on RTK GPS condition or postprocessing option [\#9432](https://github.com/PX4/Firmware/issues/9432)
- 1.7 Crashes, log stops in-air [\#9271](https://github.com/PX4/Firmware/issues/9271)
- Crash: Pixhawk 2.1 \(Cube\) with v1.7.4 Beta firmware [\#9260](https://github.com/PX4/Firmware/issues/9260)
- Suspectible servo broken and PX4 dead [\#9139](https://github.com/PX4/Firmware/issues/9139)

**Merged pull requests:**

- Remove extra newline in omnibus-f4sd/usb.c to quiet git warning. [\#9592](https://github.com/PX4/Firmware/pull/9592) ([mcsauder](https://github.com/mcsauder))
- various getopt & argc index check fixes [\#9589](https://github.com/PX4/Firmware/pull/9589) ([bkueng](https://github.com/bkueng))
- mavlink\_messages: fill in all 16 servo channels [\#9586](https://github.com/PX4/Firmware/pull/9586) ([bkueng](https://github.com/bkueng))
- Remove whitespace from the top-level CMakeLists.txt. [\#9581](https://github.com/PX4/Firmware/pull/9581) ([mcsauder](https://github.com/mcsauder))
- logger: fix SD card space computation [\#9580](https://github.com/PX4/Firmware/pull/9580) ([bkueng](https://github.com/bkueng))
- Update submodule sitl\_gazebo to latest Thu May 31 01:26:50 UTC 2018 [\#9571](https://github.com/PX4/Firmware/pull/9571) ([dagar](https://github.com/dagar))
- Jenkins archive nuttx bin file [\#9570](https://github.com/PX4/Firmware/pull/9570) ([dagar](https://github.com/dagar))
- Commander: complete thread cycle before emergency shutdown [\#9563](https://github.com/PX4/Firmware/pull/9563) ([potaito](https://github.com/potaito))
- Jenkins temporarily disable address sanitizer mission tests [\#9559](https://github.com/PX4/Firmware/pull/9559) ([dagar](https://github.com/dagar))
- ecl-ekf log analysis tool: fix missing filter\_fault\_status and one-off index bug [\#9552](https://github.com/PX4/Firmware/pull/9552) ([JohannesBrand](https://github.com/JohannesBrand))
- ROMFS: fix SYS\_USE\_IO==0 [\#9551](https://github.com/PX4/Firmware/pull/9551) ([bkueng](https://github.com/bkueng))
- px4fmu-v5/board\_config.h: update BOARD\_BATTERY1\_V\_DIV [\#9550](https://github.com/PX4/Firmware/pull/9550) ([bkueng](https://github.com/bkueng))
- mavlink mission: send an ack on duplicated last uploaded mission item [\#9547](https://github.com/PX4/Firmware/pull/9547) ([bkueng](https://github.com/bkueng))
- IridiumSBD: Fix for multiple MT messages [\#9546](https://github.com/PX4/Firmware/pull/9546) ([acfloria](https://github.com/acfloria))
- ADC support for Omnibus F4 SD [\#9545](https://github.com/PX4/Firmware/pull/9545) ([bkueng](https://github.com/bkueng))
- Add param to adjust motor ordering [\#9544](https://github.com/PX4/Firmware/pull/9544) ([bkueng](https://github.com/bkueng))
- Delete old issue template [\#9543](https://github.com/PX4/Firmware/pull/9543) ([hamishwillee](https://github.com/hamishwillee))
- Fix link to slack \(Broken\) [\#9542](https://github.com/PX4/Firmware/pull/9542) ([hamishwillee](https://github.com/hamishwillee))
- Fix link to flight reporting page [\#9541](https://github.com/PX4/Firmware/pull/9541) ([hamishwillee](https://github.com/hamishwillee))
- Jenkins tests code coverage build + SIGSEGV handler [\#9419](https://github.com/PX4/Firmware/pull/9419) ([dagar](https://github.com/dagar))

## [v1.8.0-beta2](https://github.com/PX4/Firmware/tree/v1.8.0-beta2) (2018-05-27)

[Full Changelog](https://github.com/PX4/Firmware/compare/v1.8.0-beta1...v1.8.0-beta2)

**Implemented enhancements:**

- Replay does not publish second GPS [\#9422](https://github.com/PX4/Firmware/issues/9422)
- Use Nuttx defconfig defines to determine arch [\#9516](https://github.com/PX4/Firmware/pull/9516) ([joshuawhitehead](https://github.com/joshuawhitehead))
- Cygwin: Enable ARM NuttX Upload within Cygwin Environment [\#9442](https://github.com/PX4/Firmware/pull/9442) ([MaEtUgR](https://github.com/MaEtUgR))
- Add baro temperature to sensor voter observation [\#9411](https://github.com/PX4/Firmware/pull/9411) ([potaito](https://github.com/potaito))
- adis16477 driver [\#9408](https://github.com/PX4/Firmware/pull/9408) ([dagar](https://github.com/dagar))
- Logger: add watchdog to boost its priority in case of a busy-looping task [\#9404](https://github.com/PX4/Firmware/pull/9404) ([bkueng](https://github.com/bkueng))
- Mavlink Ping Protocol Implementation [\#9399](https://github.com/PX4/Firmware/pull/9399) ([mhkabir](https://github.com/mhkabir))
- cmake px4 + sitl package [\#9309](https://github.com/PX4/Firmware/pull/9309) ([dagar](https://github.com/dagar))
- WIP: doxygen [\#9234](https://github.com/PX4/Firmware/pull/9234) ([dagar](https://github.com/dagar))

**Fixed bugs:**

- PX4 SITL catkin build failing [\#9447](https://github.com/PX4/Firmware/issues/9447)
- posix\_eagle broken on recent master \(Snapdragon flight\) [\#9444](https://github.com/PX4/Firmware/issues/9444)
- EKF2 with optical flow drifts without flow data [\#9414](https://github.com/PX4/Firmware/issues/9414)
- Internal HMC5883 not \(always\) starting on FMUv2 \(Original 3DR Pixhawk\) [\#9151](https://github.com/PX4/Firmware/issues/9151)
- Fix astyle Display Language Dependency & Makefile Colored Output [\#9441](https://github.com/PX4/Firmware/pull/9441) ([MaEtUgR](https://github.com/MaEtUgR))
- Jenkins run tests under address sanitizer and fix issues [\#9421](https://github.com/PX4/Firmware/pull/9421) ([dagar](https://github.com/dagar))
- Avionics power check type error \(int to float\) [\#9412](https://github.com/PX4/Firmware/pull/9412) ([dakejahl](https://github.com/dakejahl))

**Closed issues:**

- Bug Report: Multi-Vehicle Interference in the storage and execution of the mission [\#9500](https://github.com/PX4/Firmware/issues/9500)
- Battery Parameters Visualisation not working in simulation  [\#9486](https://github.com/PX4/Firmware/issues/9486)
- Detected 0 radio channels. To operate PX4, you need at least 5 channels [\#9480](https://github.com/PX4/Firmware/issues/9480)
- Bug Report: Aberrant Yaw and Loss of Altitude causing Crash [\#9475](https://github.com/PX4/Firmware/issues/9475)
- "make posix\_sitl\_default gazebo" error [\#9466](https://github.com/PX4/Firmware/issues/9466)
- GPS here+ plus rover is not getting detected [\#9463](https://github.com/PX4/Firmware/issues/9463)
- Tone to start rotation for magnetometer calibration not functioning [\#9451](https://github.com/PX4/Firmware/issues/9451)
- GPS driver debugging best method [\#9446](https://github.com/PX4/Firmware/issues/9446)
- Latest px4 build issue on ubuntu18 [\#9443](https://github.com/PX4/Firmware/issues/9443)
- SITL multi-vehicle data link issue [\#9439](https://github.com/PX4/Firmware/issues/9439)
- MC output not started after back-transition [\#9437](https://github.com/PX4/Firmware/issues/9437)
- when plane disarmed , motor is disarmed ,but rudders are not disarmed [\#9426](https://github.com/PX4/Firmware/issues/9426)
- mavlink\_command\_sender doesn't transmit messages [\#9415](https://github.com/PX4/Firmware/issues/9415)
- ERROR: ld.so: object 'libgtk3-nocsd.so.0' from LD\_PRELOAD cannot be preloaded \(cannot open shared object file\): ignored. [\#9409](https://github.com/PX4/Firmware/issues/9409)
- Frequent large Log Dropouts - Cause? [\#9403](https://github.com/PX4/Firmware/issues/9403)
- Logged local position z setpoint not as expected [\#9401](https://github.com/PX4/Firmware/issues/9401)
- Flow not working anymore with default parameters [\#9398](https://github.com/PX4/Firmware/issues/9398)
- make px3fmu-v2\_default failed [\#9390](https://github.com/PX4/Firmware/issues/9390)
- PX4 / QGC Sync on Tuning Sliders [\#9379](https://github.com/PX4/Firmware/issues/9379)
- What will happen if GPS + RC fails? [\#9336](https://github.com/PX4/Firmware/issues/9336)
- MAC: can not SITL SUCCESSFUL [\#9311](https://github.com/PX4/Firmware/issues/9311)
- Error "Mag 0 fail: STALE!" in Pixhawk2.1 + Here GNSS with PX4 v1.7.3 [\#9184](https://github.com/PX4/Firmware/issues/9184)

**Merged pull requests:**

- Alphabetize the mavlink stream lists in mavlink\_main.cpp. [\#9531](https://github.com/PX4/Firmware/pull/9531) ([mcsauder](https://github.com/mcsauder))
- Update issue templates [\#9529](https://github.com/PX4/Firmware/pull/9529) ([dagar](https://github.com/dagar))
- Jenkins remove address sanitizer mission test [\#9524](https://github.com/PX4/Firmware/pull/9524) ([dagar](https://github.com/dagar))
- simple mixer: make output scalers O: optional and use default values instead [\#9522](https://github.com/PX4/Firmware/pull/9522) ([bkueng](https://github.com/bkueng))
- Only apply acceptance radius calculation for FW part of back transition [\#9519](https://github.com/PX4/Firmware/pull/9519) ([sanderux](https://github.com/sanderux))
- Alphabetize \#include list in mavlink\_receiver.h [\#9517](https://github.com/PX4/Firmware/pull/9517) ([mcsauder](https://github.com/mcsauder))
- Pr crazyflie optflow fix [\#9514](https://github.com/PX4/Firmware/pull/9514) ([DanielePettenuzzo](https://github.com/DanielePettenuzzo))
- Update submodule sitl\_gazebo to latest Wed May 23 01:26:42 UTC 2018 [\#9512](https://github.com/PX4/Firmware/pull/9512) ([dagar](https://github.com/dagar))
- Update submodule DriverFramework to latest Wed May 23 01:26:47 UTC 2018 [\#9511](https://github.com/PX4/Firmware/pull/9511) ([dagar](https://github.com/dagar))
- Update submodule ecl to latest Wed May 23 01:26:53 UTC 2018 [\#9510](https://github.com/PX4/Firmware/pull/9510) ([dagar](https://github.com/dagar))
- initial probot stale configuration [\#9508](https://github.com/PX4/Firmware/pull/9508) ([dagar](https://github.com/dagar))
- NuttX build use 'all' target within each lib [\#9506](https://github.com/PX4/Firmware/pull/9506) ([dagar](https://github.com/dagar))
- Pr snapdragon follow up [\#9503](https://github.com/PX4/Firmware/pull/9503) ([RomanBapst](https://github.com/RomanBapst))
- Updated mavlink submodule [\#9497](https://github.com/PX4/Firmware/pull/9497) ([julianoes](https://github.com/julianoes))
- add library dependencies for modules [\#9492](https://github.com/PX4/Firmware/pull/9492) ([dagar](https://github.com/dagar))
- Nathantsoi omnibusf4sd [\#9491](https://github.com/PX4/Firmware/pull/9491) ([LorenzMeier](https://github.com/LorenzMeier))
- ecl-ekf-tools: fix a bug related to time index calculation [\#9489](https://github.com/PX4/Firmware/pull/9489) ([JohannesBrand](https://github.com/JohannesBrand))
- clang-tidy modernize-use-equals-default [\#9485](https://github.com/PX4/Firmware/pull/9485) ([dagar](https://github.com/dagar))
- Update submodule ecl to latest Fri May 18 01:26:47 UTC 2018 [\#9484](https://github.com/PX4/Firmware/pull/9484) ([dagar](https://github.com/dagar))
- Jenkins run VTOL standard mission test under ASAN [\#9483](https://github.com/PX4/Firmware/pull/9483) ([dagar](https://github.com/dagar))
- cmake add bloaty helpers for nuttx and use in Jenkins [\#9481](https://github.com/PX4/Firmware/pull/9481) ([dagar](https://github.com/dagar))
- auav-x21 sync with px4fmu-v3 module list [\#9476](https://github.com/PX4/Firmware/pull/9476) ([dagar](https://github.com/dagar))
- fix commander: initialize tune\_durations [\#9468](https://github.com/PX4/Firmware/pull/9468) ([bkueng](https://github.com/bkueng))
- Update submodule ecl to latest Mon May 14 20:26:35 CDT 2018 [\#9465](https://github.com/PX4/Firmware/pull/9465) ([dagar](https://github.com/dagar))
- Allow astyle version 3.1 [\#9464](https://github.com/PX4/Firmware/pull/9464) ([jlecoeur](https://github.com/jlecoeur))
- Crazyflie drivers [\#9462](https://github.com/PX4/Firmware/pull/9462) ([DanielePettenuzzo](https://github.com/DanielePettenuzzo))
- px\_romfs\_pruner: reduce multiple consecutive spaces into a single space for mixers [\#9457](https://github.com/PX4/Firmware/pull/9457) ([bkueng](https://github.com/bkueng))
- fw\_att\_control set default yaw rate max and update parameter descriptions [\#9454](https://github.com/PX4/Firmware/pull/9454) ([dagar](https://github.com/dagar))
- Update submodule sitl\_gazebo to latest Fri May 11 2018 [\#9450](https://github.com/PX4/Firmware/pull/9450) ([TSC21](https://github.com/TSC21))
- lis3mdl driver refactor [\#9448](https://github.com/PX4/Firmware/pull/9448) ([dakejahl](https://github.com/dakejahl))
- Locked down the RTPS UART configuration [\#9438](https://github.com/PX4/Firmware/pull/9438) ([drisebor](https://github.com/drisebor))
- ekf2 replay: handle multi multiple GPS instances [\#9433](https://github.com/PX4/Firmware/pull/9433) ([bkueng](https://github.com/bkueng))
- Compilation fixes for GCC 8.0.1 [\#9430](https://github.com/PX4/Firmware/pull/9430) ([bkueng](https://github.com/bkueng))
- Failsafe params update to reflect current mode names [\#9429](https://github.com/PX4/Firmware/pull/9429) ([hamishwillee](https://github.com/hamishwillee))
- Jenkins simple mission code coverage build [\#9420](https://github.com/PX4/Firmware/pull/9420) ([dagar](https://github.com/dagar))
- Update submodule genmsg to latest Fri May  4 20:26:30 CDT 2018 [\#9416](https://github.com/PX4/Firmware/pull/9416) ([dagar](https://github.com/dagar))
- cmake update option to enable doxygen generation \(off by default\) [\#9407](https://github.com/PX4/Firmware/pull/9407) ([dagar](https://github.com/dagar))
- update to support standalone ECL build inclusion [\#9406](https://github.com/PX4/Firmware/pull/9406) ([dagar](https://github.com/dagar))
- Structure Scan - Gimbal Orientation [\#9405](https://github.com/PX4/Firmware/pull/9405) ([mrivi](https://github.com/mrivi))
- update PX4/ecl submodule to latest master [\#9400](https://github.com/PX4/Firmware/pull/9400) ([dagar](https://github.com/dagar))
- mpu9250 allow a 2nd internal spi instance and remove px4fmu-v4 external [\#9386](https://github.com/PX4/Firmware/pull/9386) ([dagar](https://github.com/dagar))
- Q attitude estimator improvements [\#9361](https://github.com/PX4/Firmware/pull/9361) ([bkueng](https://github.com/bkueng))
- adding airframe config for s500 [\#9342](https://github.com/PX4/Firmware/pull/9342) ([barzanisar](https://github.com/barzanisar))
- RTPS test branch [\#9224](https://github.com/PX4/Firmware/pull/9224) ([dagar](https://github.com/dagar))
- delete mathlib Vector/Matrix [\#9181](https://github.com/PX4/Firmware/pull/9181) ([dagar](https://github.com/dagar))
- airspeed calibration log critical when ports are swapped [\#9168](https://github.com/PX4/Firmware/pull/9168) ([dagar](https://github.com/dagar))

## [v1.8.0-beta1](https://github.com/PX4/Firmware/tree/v1.8.0-beta1) (2018-05-03)

[Full Changelog](https://github.com/PX4/Firmware/compare/v1.7.4beta...v1.8.0-beta1)

**Implemented enhancements:**

- improve end to end control latency measurement [\#9388](https://github.com/PX4/Firmware/pull/9388) ([dagar](https://github.com/dagar))
- lps22hb barometer driver [\#9383](https://github.com/PX4/Firmware/pull/9383) ([dagar](https://github.com/dagar))
- Advanced Time Synchronisation [\#9365](https://github.com/PX4/Firmware/pull/9365) ([mhkabir](https://github.com/mhkabir))
- Jenkins add VTOL tiltrotor mission test [\#9333](https://github.com/PX4/Firmware/pull/9333) ([dagar](https://github.com/dagar))
- mag\_calibration: only allocate as much memory as needed [\#9312](https://github.com/PX4/Firmware/pull/9312) ([potaito](https://github.com/potaito))
- cmake remove circular linking and reorganize [\#9292](https://github.com/PX4/Firmware/pull/9292) ([dagar](https://github.com/dagar))
- enable -fno-math-errno as we never check errno [\#9281](https://github.com/PX4/Firmware/pull/9281) ([dagar](https://github.com/dagar))
- fw\_pos\_control\_l1 don't store TECS and L1 parameters [\#9202](https://github.com/PX4/Firmware/pull/9202) ([dagar](https://github.com/dagar))
- Jenkins update flight review title and description [\#9201](https://github.com/PX4/Firmware/pull/9201) ([dagar](https://github.com/dagar))
- Jenkins add OSX build [\#9198](https://github.com/PX4/Firmware/pull/9198) ([dagar](https://github.com/dagar))
- minor constexpr cleanup [\#9191](https://github.com/PX4/Firmware/pull/9191) ([dagar](https://github.com/dagar))
- uORB messages generated pretty print [\#9149](https://github.com/PX4/Firmware/pull/9149) ([dagar](https://github.com/dagar))
- mc\_pos\_control move to matrix lib [\#9141](https://github.com/PX4/Firmware/pull/9141) ([dagar](https://github.com/dagar))
- Refactor MC attitude controller: use module base and Param classes [\#9113](https://github.com/PX4/Firmware/pull/9113) ([bkueng](https://github.com/bkueng))
- Lists ROMFS files explicity instead of using GLOB\_RECURSE [\#9107](https://github.com/PX4/Firmware/pull/9107) ([ksschwabe](https://github.com/ksschwabe))
- move geo and geo\_lookup to PX4/ecl [\#9105](https://github.com/PX4/Firmware/pull/9105) ([dagar](https://github.com/dagar))
- Multicopter mixer saturation handling strategy -- continue [\#9062](https://github.com/PX4/Firmware/pull/9062) ([bresch](https://github.com/bresch))
- Use filtered throttle for battery voltage compensation [\#9055](https://github.com/PX4/Firmware/pull/9055) ([nanthony21](https://github.com/nanthony21))
- Merge vtol mc motor handling methods [\#9028](https://github.com/PX4/Firmware/pull/9028) ([dagar](https://github.com/dagar))
- FlightTasks incremental introduction [\#8933](https://github.com/PX4/Firmware/pull/8933) ([MaEtUgR](https://github.com/MaEtUgR))

**Fixed bugs:**

- 2 hard faults \(on ground + in air\) with PX4FW v1.7.4 [\#9348](https://github.com/PX4/Firmware/issues/9348)
- Tailsitter mission problem [\#9300](https://github.com/PX4/Firmware/issues/9300)
- System is arming \(or thinks it is arming\) even with Critical warnings \(specifically "MAG SENSORS INCONSISTENT"\) [\#9155](https://github.com/PX4/Firmware/issues/9155)
- MultiRotor: Unstable manual flight [\#9150](https://github.com/PX4/Firmware/issues/9150)
- Update submodule nuttx to latest Sat Apr 28 20:26:31 CDT 2018 [\#9382](https://github.com/PX4/Firmware/pull/9382) ([dagar](https://github.com/dagar))
- mavlink: include differential pressure in fields updated bit shift [\#9296](https://github.com/PX4/Firmware/pull/9296) ([tstastny](https://github.com/tstastny))
- FW landing check if prev valid before using [\#9284](https://github.com/PX4/Firmware/pull/9284) ([dagar](https://github.com/dagar))
- Fix possibility of deep discharge when battery inserted and USB connected [\#9278](https://github.com/PX4/Firmware/pull/9278) ([MaEtUgR](https://github.com/MaEtUgR))
- commander state machine fix preflight and prearm error [\#9193](https://github.com/PX4/Firmware/pull/9193) ([dagar](https://github.com/dagar))
- mc\_att\_control: reenable TPA for I term [\#9166](https://github.com/PX4/Firmware/pull/9166) ([MaEtUgR](https://github.com/MaEtUgR))
-  sensors only publish airspeed if finite [\#9163](https://github.com/PX4/Firmware/pull/9163) ([dagar](https://github.com/dagar))
- mc\_att\_control: revert to tested cutoff frequency [\#9162](https://github.com/PX4/Firmware/pull/9162) ([MaEtUgR](https://github.com/MaEtUgR))
- coverity fixes [\#9154](https://github.com/PX4/Firmware/pull/9154) ([dagar](https://github.com/dagar))
- FW Phantom FPV Flying Wing fix FW\_R\_RMAX 0 [\#9135](https://github.com/PX4/Firmware/pull/9135) ([dagar](https://github.com/dagar))

**Closed issues:**

- IRlock driver in v1.7.4 Beta [\#9373](https://github.com/PX4/Firmware/issues/9373)
- Pixhawk bricked after trying some custom code [\#9366](https://github.com/PX4/Firmware/issues/9366)
- Unable to start mission \('vehicle not ready'\) [\#9353](https://github.com/PX4/Firmware/issues/9353)
- Changing EKF2 parameters for handheld testings [\#9351](https://github.com/PX4/Firmware/issues/9351)
- .. [\#9350](https://github.com/PX4/Firmware/issues/9350)
- submodule lib/ecl unable to checkout [\#9338](https://github.com/PX4/Firmware/issues/9338)
- orb\_advertise\_multi: failed to set queue size [\#9334](https://github.com/PX4/Firmware/issues/9334)
- QGC logging issues with Intel Aero RTF [\#9332](https://github.com/PX4/Firmware/issues/9332)
- gamepad wishlist [\#9329](https://github.com/PX4/Firmware/issues/9329)
- Mistype of the description for the parameter VT\_FW\_ALT\_ERR [\#9314](https://github.com/PX4/Firmware/issues/9314)
- Toilet Bowl [\#9295](https://github.com/PX4/Firmware/issues/9295)
- crazyflie 2.0 cannot get local position from mavros [\#9291](https://github.com/PX4/Firmware/issues/9291)
- Small potential issue with disarming  [\#9277](https://github.com/PX4/Firmware/issues/9277)
- When quadrotor moves horizontally,  the quadrotor drops continuously until touching the ground. [\#9265](https://github.com/PX4/Firmware/issues/9265)
- arm-none-eabi/bin/ld: region `flash' overflowed by 27353 bytes [\#9251](https://github.com/PX4/Firmware/issues/9251)
- Bug Report:Compiled code error [\#9250](https://github.com/PX4/Firmware/issues/9250)
- Frsky telemetry Bug? [\#9240](https://github.com/PX4/Firmware/issues/9240)
- make is failing for Firmware cloned from version v1.6.5 [\#9237](https://github.com/PX4/Firmware/issues/9237)
- logs not working with qgroundcontrol geotagging [\#9203](https://github.com/PX4/Firmware/issues/9203)
- Indoor Flight Crash\(in Stablized mode\) based on EKF2  [\#9194](https://github.com/PX4/Firmware/issues/9194)
- Feature Request: Display VTOL status \(MC, Transition, FW\) on QGC [\#9188](https://github.com/PX4/Firmware/issues/9188)
- Potential bug for EKF2 [\#9182](https://github.com/PX4/Firmware/issues/9182)
- NO position lock in SITL-EKF2 [\#9178](https://github.com/PX4/Firmware/issues/9178)
- Bottle\_drop not working in v1.5.4 [\#9170](https://github.com/PX4/Firmware/issues/9170)
- unused args \[respawn\_gazebo\] for include of \[/opt/ros/indigo/share/gazebo\_ros/launch/empty\_world.launch\] [\#9153](https://github.com/PX4/Firmware/issues/9153)
- ERROR when make posix\_sitl\_default gazebo [\#9145](https://github.com/PX4/Firmware/issues/9145)
- Cannot find gps\_helper.cpp source file [\#9124](https://github.com/PX4/Firmware/issues/9124)
- QGroundControl daily: No airspeed sensor calibration available [\#9120](https://github.com/PX4/Firmware/issues/9120)
- ROMFS not rebuilt correctly when ROMFS files are 'touch'ed [\#9093](https://github.com/PX4/Firmware/issues/9093)
- Unable to build v1.6.5 for Pixhawk [\#9091](https://github.com/PX4/Firmware/issues/9091)
- EKF baro hgt timeout - reset to baro [\#9060](https://github.com/PX4/Firmware/issues/9060)
- Barometer compilation error- {solved by renaming variables external in bmp280\_SPI constructor} [\#9059](https://github.com/PX4/Firmware/issues/9059)
- Makefile:147: recipe for target 'posix\_sitl\_default' failed [\#9042](https://github.com/PX4/Firmware/issues/9042)
- Unexpected position setpoint during loiter mode after pause [\#9003](https://github.com/PX4/Firmware/issues/9003)
- Quadplane tailsitter [\#8961](https://github.com/PX4/Firmware/issues/8961)
- How to connect mpu9250 to stm32f767zi [\#8928](https://github.com/PX4/Firmware/issues/8928)
- Crazyfly 2.0 on the current master does not connect with QGC [\#8924](https://github.com/PX4/Firmware/issues/8924)
- SYS\_COMPANION - update speed [\#8918](https://github.com/PX4/Firmware/issues/8918)

**Merged pull requests:**

- delete srf02\_i2c which is nearly identical to srf02 [\#9396](https://github.com/PX4/Firmware/pull/9396) ([dagar](https://github.com/dagar))
- uORB delete unused Flavor [\#9395](https://github.com/PX4/Firmware/pull/9395) ([dagar](https://github.com/dagar))
- px4io driver remove unnecessary class fields [\#9391](https://github.com/PX4/Firmware/pull/9391) ([dagar](https://github.com/dagar))
- Update MAVLink submodule [\#9380](https://github.com/PX4/Firmware/pull/9380) ([LorenzMeier](https://github.com/LorenzMeier))
- ecl ekf tools: code refactoring to separate visualization from analysis [\#9377](https://github.com/PX4/Firmware/pull/9377) ([JohannesBrand](https://github.com/JohannesBrand))
- MC acro: update param descriptions [\#9374](https://github.com/PX4/Firmware/pull/9374) ([bkueng](https://github.com/bkueng))
- Add support for another MPU9250 or MPU6500 on px4fmu-v4 internal SPI Bus [\#9372](https://github.com/PX4/Firmware/pull/9372) ([AlexKlimaj](https://github.com/AlexKlimaj))
- Fixes for IMU filter settings [\#9367](https://github.com/PX4/Firmware/pull/9367) ([bkueng](https://github.com/bkueng))
- mc\_att\_control\_main: do not apply the yaw weight for the feedforward term [\#9360](https://github.com/PX4/Firmware/pull/9360) ([bkueng](https://github.com/bkueng))
- MC: set default MPC\_THR\_MAX & MPC\_MANTHR\_MAX to 1 [\#9359](https://github.com/PX4/Firmware/pull/9359) ([bkueng](https://github.com/bkueng))
- MC acro: add separate params to configure yaw expo [\#9358](https://github.com/PX4/Firmware/pull/9358) ([bkueng](https://github.com/bkueng))
- tap\_esc cleanup - addendum [\#9356](https://github.com/PX4/Firmware/pull/9356) ([potaito](https://github.com/potaito))
- Update submodule nuttx to latest Mon Apr 23 01:26:50 UTC 2018 [\#9354](https://github.com/PX4/Firmware/pull/9354) ([dagar](https://github.com/dagar))
- mpu9250 wrapper: support updating gyro & accel cutoff via parameter [\#9344](https://github.com/PX4/Firmware/pull/9344) ([RomanBapst](https://github.com/RomanBapst))
- libecl: checked out recent commit of master [\#9339](https://github.com/PX4/Firmware/pull/9339) ([potaito](https://github.com/potaito))
- Pr tailsitter ci [\#9330](https://github.com/PX4/Firmware/pull/9330) ([RomanBapst](https://github.com/RomanBapst))
- FixedWingPositionControl: rotate attitude consistenly for tailsitters [\#9328](https://github.com/PX4/Firmware/pull/9328) ([RomanBapst](https://github.com/RomanBapst))
- module template: move documentation to a new category 'template' [\#9324](https://github.com/PX4/Firmware/pull/9324) ([bkueng](https://github.com/bkueng))
- rc\_check: typos in mavlink error [\#9323](https://github.com/PX4/Firmware/pull/9323) ([potaito](https://github.com/potaito))
- stop manually defining physical constants [\#9319](https://github.com/PX4/Firmware/pull/9319) ([dagar](https://github.com/dagar))
- rcS: do not reset COM\_FLTMODE\* on airframe change [\#9317](https://github.com/PX4/Firmware/pull/9317) ([bkueng](https://github.com/bkueng))
- Fix description of VT\_FW\_ALT\_ERR [\#9315](https://github.com/PX4/Firmware/pull/9315) ([hamishwillee](https://github.com/hamishwillee))
- tap\_esc cleanup [\#9313](https://github.com/PX4/Firmware/pull/9313) ([potaito](https://github.com/potaito))
- Jenkins set CCACHE\_BASEDIR on Mac [\#9308](https://github.com/PX4/Firmware/pull/9308) ([dagar](https://github.com/dagar))
- Update submodule sitl\_gazebo to latest Fri Apr 13 20:26:27 CDT 2018 [\#9306](https://github.com/PX4/Firmware/pull/9306) ([dagar](https://github.com/dagar))
- Update submodule mavlink v2.0 to latest Fri Apr 13 20:26:31 CDT 2018 [\#9305](https://github.com/PX4/Firmware/pull/9305) ([dagar](https://github.com/dagar))
- Update submodule DriverFramework to latest Fri Apr 13 20:26:36 CDT 2018 [\#9304](https://github.com/PX4/Firmware/pull/9304) ([dagar](https://github.com/dagar))
- Update submodule ecl to latest Fri Apr 13 20:26:41 CDT 2018 [\#9303](https://github.com/PX4/Firmware/pull/9303) ([dagar](https://github.com/dagar))
- move check stack to cmake and run in Jenkins [\#9302](https://github.com/PX4/Firmware/pull/9302) ([dagar](https://github.com/dagar))
- \[RFC\] improve readability of time literals [\#9299](https://github.com/PX4/Firmware/pull/9299) ([bkueng](https://github.com/bkueng))
- logger: remove some unneeded SITL topics [\#9294](https://github.com/PX4/Firmware/pull/9294) ([bkueng](https://github.com/bkueng))
- mavlink : fix pointer for main\_mode and sub\_mode [\#9290](https://github.com/PX4/Firmware/pull/9290) ([mhkabir](https://github.com/mhkabir))
- Flight task auto params [\#9287](https://github.com/PX4/Firmware/pull/9287) ([Stifael](https://github.com/Stifael))
- trivial: improve a quaternion control comment [\#9285](https://github.com/PX4/Firmware/pull/9285) ([MaEtUgR](https://github.com/MaEtUgR))
-  px4iofirmware use std NAN instead of undefined 0.0f/0.0f [\#9280](https://github.com/PX4/Firmware/pull/9280) ([dagar](https://github.com/dagar))
- NuttX cleanup debug helpers and add profile target [\#9272](https://github.com/PX4/Firmware/pull/9272) ([dagar](https://github.com/dagar))
- tests temporarily disable mavlink tests on nuttx [\#9269](https://github.com/PX4/Firmware/pull/9269) ([dagar](https://github.com/dagar))
- Update submodule mavlink v2.0 to latest Sun Apr  8 20:31:34 CDT 2018 [\#9268](https://github.com/PX4/Firmware/pull/9268) ([dagar](https://github.com/dagar))
- update px4fmu\_test and add px4fmu-v2\_test to Jenkins [\#9264](https://github.com/PX4/Firmware/pull/9264) ([dagar](https://github.com/dagar))
- Add new mode AUTO\_PRECLAND [\#9261](https://github.com/PX4/Firmware/pull/9261) ([okalachev](https://github.com/okalachev))
- Flight tasks: param refactoring \#2 [\#9255](https://github.com/PX4/Firmware/pull/9255) ([bkueng](https://github.com/bkueng))
- commander: immediately publish kill switch state change [\#9254](https://github.com/PX4/Firmware/pull/9254) ([bkueng](https://github.com/bkueng))
- ll40ls: Increase the number of samples used for every measurement [\#9247](https://github.com/PX4/Firmware/pull/9247) ([CarlOlsson](https://github.com/CarlOlsson))
- Improve the Crazyflie MAVLink tunnel to increase efficiency [\#9245](https://github.com/PX4/Firmware/pull/9245) ([LorenzMeier](https://github.com/LorenzMeier))
- clarify the codes of LPE [\#9244](https://github.com/PX4/Firmware/pull/9244) ([stmoon](https://github.com/stmoon))
- logger: add board subtype [\#9239](https://github.com/PX4/Firmware/pull/9239) ([bkueng](https://github.com/bkueng))
- Jenkins bloaty sort output by size properly [\#9238](https://github.com/PX4/Firmware/pull/9238) ([dagar](https://github.com/dagar))
- tailsitter: do not condition transition on airspeed if airspeed disabled [\#9236](https://github.com/PX4/Firmware/pull/9236) ([RomanBapst](https://github.com/RomanBapst))
- FixedWingAttitudeControl: use trim airspeed if airspeed is disabled [\#9235](https://github.com/PX4/Firmware/pull/9235) ([RomanBapst](https://github.com/RomanBapst))
- gitmodules make name consistent with path [\#9231](https://github.com/PX4/Firmware/pull/9231) ([dagar](https://github.com/dagar))
- update submodules to tracking branch in gitmodules [\#9230](https://github.com/PX4/Firmware/pull/9230) ([dagar](https://github.com/dagar))
- Update submodule sitl\_gazebo to latest Mon Apr  2 17:13:58 UTC 2018 [\#9229](https://github.com/PX4/Firmware/pull/9229) ([dagar](https://github.com/dagar))
- Jenkins split eagle\_default build and print bloaty top 100 comparison [\#9228](https://github.com/PX4/Firmware/pull/9228) ([dagar](https://github.com/dagar))
- Jenkins Style Check skip submodules clean [\#9227](https://github.com/PX4/Firmware/pull/9227) ([dagar](https://github.com/dagar))
- Clean-up :remove the ＥＫＦ pre-flight check variable that is not used in commander. [\#9226](https://github.com/PX4/Firmware/pull/9226) ([xdwgood](https://github.com/xdwgood))
- Fix typo in spelling of Sonar [\#9225](https://github.com/PX4/Firmware/pull/9225) ([hamishwillee](https://github.com/hamishwillee))
- Update submodule matrix to latest Sun Apr  1 21:55:42 UTC 2018 [\#9223](https://github.com/PX4/Firmware/pull/9223) ([dagar](https://github.com/dagar))
- Update submodule DriverFramework to latest Sun Apr  1 18:11:03 UTC 2018 [\#9221](https://github.com/PX4/Firmware/pull/9221) ([dagar](https://github.com/dagar))
- gitmodules add tracking branch to genmsg, gencpp, libuavcan [\#9220](https://github.com/PX4/Firmware/pull/9220) ([dagar](https://github.com/dagar))
- Update submodule uavcan\_board\_ident to latest Sun Apr  1 17:34:37 UTC… [\#9217](https://github.com/PX4/Firmware/pull/9217) ([dagar](https://github.com/dagar))
- Update submodule mavlink v2.0 to latest Sun Apr  1 13:31:08 EDT 2018 [\#9216](https://github.com/PX4/Firmware/pull/9216) ([dagar](https://github.com/dagar))
- Update submodule matrix to latest Sun Apr  1 17:27:33 UTC 2018 [\#9215](https://github.com/PX4/Firmware/pull/9215) ([dagar](https://github.com/dagar))
- Update submodule ecl to latest Sun Apr  1 17:26:07 UTC 2018 [\#9214](https://github.com/PX4/Firmware/pull/9214) ([dagar](https://github.com/dagar))
- Update sitl\_gazebo submodule Sun Apr  1 00:19:14 UTC 2018 [\#9209](https://github.com/PX4/Firmware/pull/9209) ([dagar](https://github.com/dagar))
- CI: mavros restart [\#9207](https://github.com/PX4/Firmware/pull/9207) ([lamping7](https://github.com/lamping7))
- FW SITL enable FW EKF2 default parameters [\#9205](https://github.com/PX4/Firmware/pull/9205) ([dagar](https://github.com/dagar))
- docker images update to 2018-03-30 tag [\#9204](https://github.com/PX4/Firmware/pull/9204) ([dagar](https://github.com/dagar))
- Jenkins discard old builds, but keep artifacts [\#9199](https://github.com/PX4/Firmware/pull/9199) ([dagar](https://github.com/dagar))
- Jenkins check style first [\#9197](https://github.com/PX4/Firmware/pull/9197) ([dagar](https://github.com/dagar))
- Move some constant arrays from data to text section [\#9187](https://github.com/PX4/Firmware/pull/9187) ([bkueng](https://github.com/bkueng))
- vtol\_att\_control: set flag in\_transition\_to\_fw properly [\#9186](https://github.com/PX4/Firmware/pull/9186) ([RomanBapst](https://github.com/RomanBapst))
- sitl\_gazebo: update submodule [\#9177](https://github.com/PX4/Firmware/pull/9177) ([julianoes](https://github.com/julianoes))
- Add internal SPI LIS3MDL support for the R15 Pixracer [\#9175](https://github.com/PX4/Firmware/pull/9175) ([pkocmoud](https://github.com/pkocmoud))
- tap\_esc: add support for MC\_AIRMODE [\#9173](https://github.com/PX4/Firmware/pull/9173) ([bkueng](https://github.com/bkueng))
- Drivers: Add TeraRanger Evo 600Hz support [\#9169](https://github.com/PX4/Firmware/pull/9169) ([msadowski](https://github.com/msadowski))
- add settling time on sensor start-up [\#9164](https://github.com/PX4/Firmware/pull/9164) ([ASM3](https://github.com/ASM3))
- mc\_att\_control: refactor: switch to matrix library [\#9161](https://github.com/PX4/Firmware/pull/9161) ([MaEtUgR](https://github.com/MaEtUgR))
- mavlink altitude fix and general cleanup [\#9158](https://github.com/PX4/Firmware/pull/9158) ([dagar](https://github.com/dagar))
- add timestamp for sensor\_preflight [\#9152](https://github.com/PX4/Firmware/pull/9152) ([stmoon](https://github.com/stmoon))
- airspeed driver: un-advertise differential pressure topic [\#9147](https://github.com/PX4/Firmware/pull/9147) ([RomanBapst](https://github.com/RomanBapst))
- Jenkins add px4fmu bloaty comparison with last successful master build [\#9142](https://github.com/PX4/Firmware/pull/9142) ([dagar](https://github.com/dagar))
- jMAVSim: update submodule [\#9140](https://github.com/PX4/Firmware/pull/9140) ([bkueng](https://github.com/bkueng))
- Jenkins run bloaty on px4fmu nuttx builds [\#9133](https://github.com/PX4/Firmware/pull/9133) ([dagar](https://github.com/dagar))
- Support of HITL simulation for Intel Aero FC [\#9132](https://github.com/PX4/Firmware/pull/9132) ([trgiman](https://github.com/trgiman))
- mavlink move to matrix lib [\#9131](https://github.com/PX4/Firmware/pull/9131) ([dagar](https://github.com/dagar))
- navigator follow\_target move to matrix lib [\#9130](https://github.com/PX4/Firmware/pull/9130) ([dagar](https://github.com/dagar))
- sensors move to matrix lib [\#9129](https://github.com/PX4/Firmware/pull/9129) ([dagar](https://github.com/dagar))
- uuv\_example\_app move to matrix lib [\#9128](https://github.com/PX4/Firmware/pull/9128) ([dagar](https://github.com/dagar))
- camera\_trigger replace math::Vector with matrix::Vector [\#9126](https://github.com/PX4/Firmware/pull/9126) ([dagar](https://github.com/dagar))
- MPU6000: unadvertises the accel and gyro uORB topics in destructor [\#9125](https://github.com/PX4/Firmware/pull/9125) ([ksschwabe](https://github.com/ksschwabe))
- update vtol mission tests to increase length [\#9123](https://github.com/PX4/Firmware/pull/9123) ([dagar](https://github.com/dagar))
- wind\_estimator fix LPWORK/HPWORK confusion and cleanup [\#9122](https://github.com/PX4/Firmware/pull/9122) ([dagar](https://github.com/dagar))
- drivers replace math::Vector\<3\> with matrix::Vector3f [\#9121](https://github.com/PX4/Firmware/pull/9121) ([dagar](https://github.com/dagar))
- libtunes: Various bugfixes and improvements [\#9117](https://github.com/PX4/Firmware/pull/9117) ([potaito](https://github.com/potaito))
- Refactor: replace BlockParam's with the new Param class [\#9115](https://github.com/PX4/Firmware/pull/9115) ([bkueng](https://github.com/bkueng))
- convergence config: increase multirotor idle speed [\#9112](https://github.com/PX4/Firmware/pull/9112) ([RomanBapst](https://github.com/RomanBapst))
- fw\_att\_control move to matrix lib [\#9104](https://github.com/PX4/Firmware/pull/9104) ([dagar](https://github.com/dagar))
- delete tailsitter\_recovery [\#9103](https://github.com/PX4/Firmware/pull/9103) ([dagar](https://github.com/dagar))
- mathlib Limits move radians/degrees to template header [\#9102](https://github.com/PX4/Firmware/pull/9102) ([dagar](https://github.com/dagar))
- TECS and L1 switch to matrix math library [\#9101](https://github.com/PX4/Firmware/pull/9101) ([dagar](https://github.com/dagar))
- Fix scale application on FW throttle baro compensation [\#9099](https://github.com/PX4/Firmware/pull/9099) ([sanderux](https://github.com/sanderux))
- Pr wind est work queue [\#9079](https://github.com/PX4/Firmware/pull/9079) ([RomanBapst](https://github.com/RomanBapst))
- precland: support receiving LANDING\_TARGET message [\#9050](https://github.com/PX4/Firmware/pull/9050) ([okalachev](https://github.com/okalachev))
- aerofc: Look for px4flow sensor on telemetry port [\#8994](https://github.com/PX4/Firmware/pull/8994) ([sugnanprabhu](https://github.com/sugnanprabhu))
- FMUv5: Swap debug and PX4 IO serial ports to avoid DMA channel issues [\#8978](https://github.com/PX4/Firmware/pull/8978) ([LorenzMeier](https://github.com/LorenzMeier))
- Jenkins cleanup [\#8887](https://github.com/PX4/Firmware/pull/8887) ([dagar](https://github.com/dagar))

## [v1.7.4beta](https://github.com/PX4/Firmware/tree/v1.7.4beta) (2018-03-19)

[Full Changelog](https://github.com/PX4/Firmware/compare/v1.7.3...v1.7.4beta)

**Implemented enhancements:**

- EKF2 only publish wind\_estimate if wind velocity is being estimated [\#9081](https://github.com/PX4/Firmware/pull/9081) ([dagar](https://github.com/dagar))
- ecl: attitude\_fw update [\#9023](https://github.com/PX4/Firmware/pull/9023) ([tstastny](https://github.com/tstastny))
- Updated batt\_smbus. Expanded battery\_status.msg. Fixed mavlink\_messages.cpp temperature. [\#8991](https://github.com/PX4/Firmware/pull/8991) ([AlexKlimaj](https://github.com/AlexKlimaj))
- FW landing project virtual waypoint to handle landing overshoot [\#8985](https://github.com/PX4/Firmware/pull/8985) ([dagar](https://github.com/dagar))
- fw\_att\_control: schedule trims for airspeed and flap deployment [\#8937](https://github.com/PX4/Firmware/pull/8937) ([tstastny](https://github.com/tstastny))
- MC rate controller: add low-pass filter for D-term [\#8920](https://github.com/PX4/Firmware/pull/8920) ([bkueng](https://github.com/bkueng))

**Fixed bugs:**

- pwm test has no effect after version 1.5.x [\#9052](https://github.com/PX4/Firmware/issues/9052)
- Not able to give full throttle in fw acro [\#9043](https://github.com/PX4/Firmware/issues/9043)
- Intel Aero RTF: no baro0, no mag0 [\#9038](https://github.com/PX4/Firmware/issues/9038)
- Auto takeoff settles at wrong altitude [\#9033](https://github.com/PX4/Firmware/issues/9033)
- logger causing mavlink manual control dropouts [\#9009](https://github.com/PX4/Firmware/issues/9009)
- tailsitter  fly forward and fall suddenly [\#8997](https://github.com/PX4/Firmware/issues/8997)
- Dropix loosing LSM303D after Reboot [\#8992](https://github.com/PX4/Firmware/issues/8992)
- VTOL goes into deadlock when in manual transition [\#8988](https://github.com/PX4/Firmware/issues/8988)
- Support for reading second GPS instance is broken [\#8945](https://github.com/PX4/Firmware/issues/8945)
- Battery Estimation Initialization on some Platforms like Intel Aero Fails [\#8930](https://github.com/PX4/Firmware/issues/8930)
- When SDLOG\_MODE = 2 or 1 \(from boot\) Not all parameters are recorded [\#8903](https://github.com/PX4/Firmware/issues/8903)
- Log files are corrupted while running landing\_target\_estimator [\#8877](https://github.com/PX4/Firmware/issues/8877)
- px4fmu v2 sensor init \(again\) and cleanup [\#9074](https://github.com/PX4/Firmware/pull/9074) ([dagar](https://github.com/dagar))
- px4fmu-v2 sensor reset [\#9031](https://github.com/PX4/Firmware/pull/9031) ([dagar](https://github.com/dagar))
- land detector vtol require non-zero vehicle\_status timestamp [\#9026](https://github.com/PX4/Firmware/pull/9026) ([dagar](https://github.com/dagar))
- FixedwingPositionControl: fix air\_gnd\_angle judgement condition. [\#8996](https://github.com/PX4/Firmware/pull/8996) ([ToppingXu](https://github.com/ToppingXu))
- vtol\_att update poll fd before poll call [\#8990](https://github.com/PX4/Firmware/pull/8990) ([dagar](https://github.com/dagar))
- ecl: Fixes bug preventing use of GPS reported speed accuracy [\#8981](https://github.com/PX4/Firmware/pull/8981) ([priseborough](https://github.com/priseborough))
- Pr aero battery initialization hotfix [\#8940](https://github.com/PX4/Firmware/pull/8940) ([MaEtUgR](https://github.com/MaEtUgR))
- Use ekf2 version with external vision nav axis transformation bug fixes [\#8935](https://github.com/PX4/Firmware/pull/8935) ([priseborough](https://github.com/priseborough))
- Battery: Switch thrust based load compensation back to linear [\#8929](https://github.com/PX4/Firmware/pull/8929) ([MaEtUgR](https://github.com/MaEtUgR))
- commander delete GPS receiver checks and minor cleanup [\#8914](https://github.com/PX4/Firmware/pull/8914) ([dagar](https://github.com/dagar))
- fw\_pos\_control\_l1 move to ModuleBase [\#8905](https://github.com/PX4/Firmware/pull/8905) ([dagar](https://github.com/dagar))
- fw\_att\_control move to ModuleBase [\#8899](https://github.com/PX4/Firmware/pull/8899) ([dagar](https://github.com/dagar))

**Closed issues:**

- Feature Request: Flight Mode Selection [\#9106](https://github.com/PX4/Firmware/issues/9106)
- make px4fmu-v2\_default does not work on Windows [\#9087](https://github.com/PX4/Firmware/issues/9087)
- Implement ROI\_WPNEXT\_OFFSET [\#9082](https://github.com/PX4/Firmware/issues/9082)
- 【mc\_att\_control】 Remove unnecessary defaults. [\#9077](https://github.com/PX4/Firmware/issues/9077)
- Coax pitch and roll servo travel very limited [\#9063](https://github.com/PX4/Firmware/issues/9063)
- Pixhawk/PX4FMUv2 startup without external mag fails [\#9061](https://github.com/PX4/Firmware/issues/9061)
- Cannot see  	landing\_target\_estimator in QGroundControl [\#9040](https://github.com/PX4/Firmware/issues/9040)
- Mag0 devid error on Pixracer RC14 [\#9035](https://github.com/PX4/Firmware/issues/9035)
- EKF2\_AID\_MASK: rotate external vision in 1.7.3 [\#9000](https://github.com/PX4/Firmware/issues/9000)
- VTOL: VT\_DWN\_PITCH\_MAX and VT\_FWD\_THRUST\_SC does not apply. [\#8970](https://github.com/PX4/Firmware/issues/8970)
- VTOL: Could not transition with Ground Speed. [\#8969](https://github.com/PX4/Firmware/issues/8969)
- When hovering for some time, the drone start to rock then crash. [\#8968](https://github.com/PX4/Firmware/issues/8968)
- vtol\_att\_control parameter consolidation [\#8965](https://github.com/PX4/Firmware/issues/8965)
- The filter for the D-term should be enabled by default [\#8962](https://github.com/PX4/Firmware/issues/8962)
- Failsafe enabled: no global position [\#8956](https://github.com/PX4/Firmware/issues/8956)
- Operator error [\#8949](https://github.com/PX4/Firmware/issues/8949)
- VTOL: Position and Mission Reproducible Stall. [\#8941](https://github.com/PX4/Firmware/issues/8941)
- 'make posix\_sitl\_default gazebo' exiting with Error 1 [\#8938](https://github.com/PX4/Firmware/issues/8938)
- Flight Issues for Q\_estimator + LPE [\#8934](https://github.com/PX4/Firmware/issues/8934)
- OcPoc: unable to arm with global position [\#8932](https://github.com/PX4/Firmware/issues/8932)
- accelerometer\_timestamp\_relative is always '0' [\#8926](https://github.com/PX4/Firmware/issues/8926)
- \[SITL crash\] px4 node crashes on startup [\#8925](https://github.com/PX4/Firmware/issues/8925)
- VTOL: Descending back transition problem. [\#8919](https://github.com/PX4/Firmware/issues/8919)
- RC transmitter must be on when PX4 starts [\#8872](https://github.com/PX4/Firmware/issues/8872)

**Merged pull requests:**

- shadow declaration issue. [\#9100](https://github.com/PX4/Firmware/pull/9100) ([shivam5594](https://github.com/shivam5594))
- Adds ability for generate\_listener.py to process out-of-tree uORB message definitions as well [\#9097](https://github.com/PX4/Firmware/pull/9097) ([ksschwabe](https://github.com/ksschwabe))
- libtunes improvements [\#9096](https://github.com/PX4/Firmware/pull/9096) ([potaito](https://github.com/potaito))
- Beat's changes to make QGC connect with crazyflie [\#9095](https://github.com/PX4/Firmware/pull/9095) ([barzanisar](https://github.com/barzanisar))
- Beat's changes in syslink work so reverting this [\#9094](https://github.com/PX4/Firmware/pull/9094) ([barzanisar](https://github.com/barzanisar))
- This makes QGC connect with crazyflie [\#9090](https://github.com/PX4/Firmware/pull/9090) ([barzanisar](https://github.com/barzanisar))
- Attitude control: clarify comment about yaw feed forward [\#9086](https://github.com/PX4/Firmware/pull/9086) ([MaEtUgR](https://github.com/MaEtUgR))
- vmount: Implement ROI\_WPNEXT\_OFFSET [\#9084](https://github.com/PX4/Firmware/pull/9084) ([bkueng](https://github.com/bkueng))
- update submodule to include changes in the ASLUAV BMS message [\#9083](https://github.com/PX4/Firmware/pull/9083) ([ASM3](https://github.com/ASM3))
- Updated batt\_smbus.  [\#9080](https://github.com/PX4/Firmware/pull/9080) ([AlexKlimaj](https://github.com/AlexKlimaj))
- move constant driver I2C addresses out of board configs [\#9076](https://github.com/PX4/Firmware/pull/9076) ([dagar](https://github.com/dagar))
- eclipse project add paths for new params [\#9075](https://github.com/PX4/Firmware/pull/9075) ([dagar](https://github.com/dagar))
- Adds ability to have out-of-tree uORB message definitions [\#9073](https://github.com/PX4/Firmware/pull/9073) ([ksschwabe](https://github.com/ksschwabe))
- Update IMU gyro and D term filter defaults [\#9070](https://github.com/PX4/Firmware/pull/9070) ([bkueng](https://github.com/bkueng))
- Update mavlink submodule to include ASL\_PWR\_BRD [\#9069](https://github.com/PX4/Firmware/pull/9069) ([ASM3](https://github.com/ASM3))
- Fix: Increase pwmsim stack again to avoid load\_mon warning [\#9068](https://github.com/PX4/Firmware/pull/9068) ([philipoe](https://github.com/philipoe))
- rc.sensors : fix startup for lidars on Pixhawk boards [\#9058](https://github.com/PX4/Firmware/pull/9058) ([mhkabir](https://github.com/mhkabir))
- nxphlite start correct sensors and disable debug [\#9057](https://github.com/PX4/Firmware/pull/9057) ([dagar](https://github.com/dagar))
- UAVCAN : Correct startup sequence and improve parameter description [\#9053](https://github.com/PX4/Firmware/pull/9053) ([mhkabir](https://github.com/mhkabir))
- Remove MavLink dependency in navigator [\#9049](https://github.com/PX4/Firmware/pull/9049) ([acfloria](https://github.com/acfloria))
- fw\_att\_control: in acro use thrust from rate setpoint topic [\#9048](https://github.com/PX4/Firmware/pull/9048) ([RomanBapst](https://github.com/RomanBapst))
- px4-fmuv5: config fix stm32f7 max SD card speed [\#9044](https://github.com/PX4/Firmware/pull/9044) ([simonegu](https://github.com/simonegu))
- navigator: fix incorrect takeoff altitude [\#9034](https://github.com/PX4/Firmware/pull/9034) ([julianoes](https://github.com/julianoes))
- logger SITL add additional messages by default [\#9027](https://github.com/PX4/Firmware/pull/9027) ([dagar](https://github.com/dagar))
- convergence config: increase idle speed in mc mode [\#9024](https://github.com/PX4/Firmware/pull/9024) ([RomanBapst](https://github.com/RomanBapst))
- GPS: explicitly disable flow control [\#9019](https://github.com/PX4/Firmware/pull/9019) ([bkueng](https://github.com/bkueng))
- vehicle\_global\_position remove redundant evh and evv [\#9018](https://github.com/PX4/Firmware/pull/9018) ([dagar](https://github.com/dagar))
- vehicle\_global\_position delete unused pos\_d\_deriv [\#9016](https://github.com/PX4/Firmware/pull/9016) ([dagar](https://github.com/dagar))
- differential pressure sensors delete test helpers [\#9015](https://github.com/PX4/Firmware/pull/9015) ([dagar](https://github.com/dagar))
- delete VT\_FW\_PITCH\_TRIM parameter [\#9014](https://github.com/PX4/Firmware/pull/9014) ([dagar](https://github.com/dagar))
- px4fmu-v2 disable ulanding [\#9013](https://github.com/PX4/Firmware/pull/9013) ([dagar](https://github.com/dagar))
- gnd\_att\_control param fix incorrect FW metadata [\#9011](https://github.com/PX4/Firmware/pull/9011) ([dagar](https://github.com/dagar))
- Jenkins archive elf files as well [\#9010](https://github.com/PX4/Firmware/pull/9010) ([dagar](https://github.com/dagar))
- Fixed typo in rear motor name [\#9008](https://github.com/PX4/Firmware/pull/9008) ([cglusky](https://github.com/cglusky))
- pwm\_out\_sim cleanup [\#9007](https://github.com/PX4/Firmware/pull/9007) ([dagar](https://github.com/dagar))
- Update mavlink v2.0 submodule Sun Mar  4 07:43:12 UTC 2018 [\#9006](https://github.com/PX4/Firmware/pull/9006) ([dagar](https://github.com/dagar))
- EKF2 remove FW\_ARSP\_MODE check [\#8995](https://github.com/PX4/Firmware/pull/8995) ([dagar](https://github.com/dagar))
- caipirinha vtol: do not lock elevons in hover mode [\#8993](https://github.com/PX4/Firmware/pull/8993) ([RomanBapst](https://github.com/RomanBapst))
- vtol\_att\_control: prevent segfault when no command line args given [\#8989](https://github.com/PX4/Firmware/pull/8989) ([RomanBapst](https://github.com/RomanBapst))
- Pr tailsitter fix [\#8987](https://github.com/PX4/Firmware/pull/8987) ([RomanBapst](https://github.com/RomanBapst))
- Mavlink: round battery percentage up instead of down [\#8986](https://github.com/PX4/Firmware/pull/8986) ([MaEtUgR](https://github.com/MaEtUgR))
- CI: convert missions to QGC plan format [\#8982](https://github.com/PX4/Firmware/pull/8982) ([lamping7](https://github.com/lamping7))
- logger: fix potential semaphore counter overflow [\#8979](https://github.com/PX4/Firmware/pull/8979) ([bkueng](https://github.com/bkueng))
- Pr tiltrotor param cleanup [\#8974](https://github.com/PX4/Firmware/pull/8974) ([RomanBapst](https://github.com/RomanBapst))
- updated sitl\_gazebo: small tiltrotor fix to enable turns [\#8972](https://github.com/PX4/Firmware/pull/8972) ([RomanBapst](https://github.com/RomanBapst))
- VTOL parameter cleanup [\#8967](https://github.com/PX4/Firmware/pull/8967) ([RomanBapst](https://github.com/RomanBapst))
- jMAVSim: update submodule again [\#8964](https://github.com/PX4/Firmware/pull/8964) ([julianoes](https://github.com/julianoes))
- Update mavlink v2.0 submodule Sat Feb 24 02:43:15 EST 2018 [\#8960](https://github.com/PX4/Firmware/pull/8960) ([dagar](https://github.com/dagar))
- Update jmavsim submodule Sat Feb 24 23:05:44 CST 2018 [\#8959](https://github.com/PX4/Firmware/pull/8959) ([dagar](https://github.com/dagar))
- vtol fixes [\#8958](https://github.com/PX4/Firmware/pull/8958) ([sanderux](https://github.com/sanderux))
- Backport backup register [\#8953](https://github.com/PX4/Firmware/pull/8953) ([simonegu](https://github.com/simonegu))
- mavlink: don't send wrong time [\#8952](https://github.com/PX4/Firmware/pull/8952) ([julianoes](https://github.com/julianoes))
- Pr pwm trim [\#8951](https://github.com/PX4/Firmware/pull/8951) ([RomanBapst](https://github.com/RomanBapst))
- Battery: Correct unit for capacity parameter [\#8950](https://github.com/PX4/Firmware/pull/8950) ([MaEtUgR](https://github.com/MaEtUgR))
- update submodule sitl\_gazebo to include isinf\(\) fix [\#8948](https://github.com/PX4/Firmware/pull/8948) ([ChristophTobler](https://github.com/ChristophTobler))
- mavlink add minimal mode [\#8947](https://github.com/PX4/Firmware/pull/8947) ([dagar](https://github.com/dagar))
- Update nuttx [\#8944](https://github.com/PX4/Firmware/pull/8944) ([janokle](https://github.com/janokle))
- Update CMakeLists for the drivers/imu directory. [\#8942](https://github.com/PX4/Firmware/pull/8942) ([mcsauder](https://github.com/mcsauder))
- tune\_control: added define for tune strength [\#8939](https://github.com/PX4/Firmware/pull/8939) ([julianoes](https://github.com/julianoes))
- Pr tiltrotor sim [\#8936](https://github.com/PX4/Firmware/pull/8936) ([RomanBapst](https://github.com/RomanBapst))
- RC input: allow disabling the RC filtering via RC\_FLT\_CUTOFF [\#8921](https://github.com/PX4/Firmware/pull/8921) ([bkueng](https://github.com/bkueng))
- sitl\_gazebo: updated submodule [\#8917](https://github.com/PX4/Firmware/pull/8917) ([julianoes](https://github.com/julianoes))
- rcS move logger startup to rc.logging and end of init [\#8904](https://github.com/PX4/Firmware/pull/8904) ([dagar](https://github.com/dagar))
- Don't use ADSB messages with undefined fields in navigator [\#8900](https://github.com/PX4/Firmware/pull/8900) ([svpcom](https://github.com/svpcom))
- Decode mavlink message obstacle\_distance [\#8896](https://github.com/PX4/Firmware/pull/8896) ([mrivi](https://github.com/mrivi))
- enable aux mixer for FMU-v5 [\#8895](https://github.com/PX4/Firmware/pull/8895) ([bkueng](https://github.com/bkueng))
- mavlink\_receiver: add evh/evv to vision msg [\#8890](https://github.com/PX4/Firmware/pull/8890) ([ChristophTobler](https://github.com/ChristophTobler))
- Add aerofc baudrate to list [\#8889](https://github.com/PX4/Firmware/pull/8889) ([avinash-palleti](https://github.com/avinash-palleti))
- To include timestamp field in the micrortps bridge messages. [\#8888](https://github.com/PX4/Firmware/pull/8888) ([vicentemonge](https://github.com/vicentemonge))
- Jenkins temporarily disable ROS vtol mission test old 3 [\#8886](https://github.com/PX4/Firmware/pull/8886) ([dagar](https://github.com/dagar))
- printload: fix buffer overflow on NuttX [\#8884](https://github.com/PX4/Firmware/pull/8884) ([bkueng](https://github.com/bkueng))
- Add AERT mixer [\#8881](https://github.com/PX4/Firmware/pull/8881) ([acfloria](https://github.com/acfloria))
- microRTPS\_bridge: mark task as not running when running stop\(\) [\#8880](https://github.com/PX4/Firmware/pull/8880) ([ChristophTobler](https://github.com/ChristophTobler))
- CI: mission WP reached - satisfy based on mavros topics instead of di… [\#8879](https://github.com/PX4/Firmware/pull/8879) ([lamping7](https://github.com/lamping7))
- Pr tailsitter fixes [\#8878](https://github.com/PX4/Firmware/pull/8878) ([RomanBapst](https://github.com/RomanBapst))
- Update rc.sensors : mRo X2.1 to enable the LIS3MDL [\#8875](https://github.com/PX4/Firmware/pull/8875) ([pkocmoud](https://github.com/pkocmoud))
- mission: warn at 2/3 of the max distance [\#8873](https://github.com/PX4/Firmware/pull/8873) ([julianoes](https://github.com/julianoes))



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