v1.16.2

liriliri/ayav1.16.2Apr 22, 2026by github-actions[bot]

AI Summary

This is a patch release focused on fixing critical bugs in the EKF2 (Extended Kalman Filter 2), specifically addressing optical flow initialization and unbounded recursion issues.

Key Highlights

Fix for EKF2 optical flow height reference issue
Fix for EKF2 unbounded recursion

Full Release Notes

## What's Changed
* [Backport 1.16] fix(ekf2): allow optical flow to start when range finder is height reference by @dakejahl in https://github.com/PX4/PX4-Autopilot/pull/26961
* fix(ekf2): break unbounded recursion [BACKPORT v1.16] by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/27166

## Release Notes
* [Click here to view the full Release Notes](https://docs.px4.io/main/en/releases/1.16.html).
**Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.16.1...v1.16.2