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v1.17.0

liriliri/ayav1.17.0May 13, 2026by github-actions[bot]

AI Summary

This is a major release introducing the new Altitude Cruise flight mode, enhancing Fixed Wing takeoff behavior, and expanding ROS 2 integration. It also matures the Zenoh middleware and integrates TensorFlow Lite Micro for on-device neural network control.

Key Highlights

  • New Altitude Cruise flight mode for multicopters
  • Improved Fixed Wing takeoff behavior on navigation loss
  • New ROS 2 control interfaces for fixed-wing and rover
  • Zenoh middleware compatibility with ROS 2
  • TensorFlow Lite Micro integration for Neural Network Control

New Features

  • Altitude Cruise flight mode
  • Enhanced Fixed Wing takeoff logic
  • ROS 2 FwLateralLongitudinalSetpointType
  • ROS 2 RoverSetpointTypes
  • Zenoh RMW compatibility
  • Gazebo Jetty support
  • Ackermann SIH
  • New INS drivers (MicroStrain, sbgECom, EULER-NAV)
  • Septentrio GNSS resilience reporting
  • Barometer auto-calibration

Full Release Notes

## What's Changed
PX4 v1.17 builds on [PX4 v1.16](https://docs.px4.io/main/en/releases/1.16), with the changes below landing since v1.16.2. This release adds [Altitude Cruise](https://docs.px4.io/main/en/flight_modes_mc/altitude_cruise) mode, improves Fixed Wing Takeoff behaviour on navigation loss, and exposes cleaner high-level fixed-wing and rover control interfaces for ROS 2 workflows. The in-tree Zenoh middleware matures to rmw_zenoh compatibility, simulation gains Gazebo Jetty support and Ackermann SIH, and three new INS drivers (MicroStrain, sbgECom, EULER-NAV) join the ecosystem alongside Septentrio GNSS resilience reporting and barometer auto-calibration against GNSS height. PX4 v1.17 also includes user-visible MAVLink, RC, logging, failsafe, and rover refinements across the stack.

## Major Changes
* New multicopter flight mode: [Altitude Cruise](https://docs.px4.io/main/en/flight_modes_mc/altitude_cruise). Holds tilt and heading on stick release so the vehicle keeps cruising at a steady velocity instead of stopping like Altitude mode does.
* [Fixed Wing Takeoff mode](https://docs.px4.io/main/en/flight_modes_fw/takeoff) now keeps climbing with level wings on navigation loss and can use the takeoff waypoint latitude and longitude to define the loiter position. ([PX4-Autopilot#25226](https://github.com/PX4/PX4-Autopilot/pull/25226))
* Fixed-wing vehicles (and VTOLs in fixed-wing mode) can now be controlled from ROS 2 via the new [FwLateralLongitudinalSetpointType](https://docs.px4.io/main/en/ros2/px4_ros2_control_interface#fw-lateral-longitudinal-setpoint) in the PX4 ROS 2 Control Interface, exposing direct lateral and longitudinal setpoints.
* Rovers can now be controlled from ROS 2 via the new [RoverSetpointTypes](https://docs.px4.io/main/en/ros2/px4_ros2_control_interface#rover-setpoints) in the PX4 ROS 2 Control Interface, with valid combinations of position, speed, throttle, attitude, rate, and steering setpoints exposed as guaranteed-valid setpoint types. See [Rovers Apps & API](https://docs.px4.io/main/en/flight_modes_rover/api).
* The in-tree [Zenoh middleware](https://docs.px4.io/main/en/middleware/zenoh) matures to rmw_zenoh compatibility (CDRv1 serialization, ROS 2 graph liveliness, auto-generated config from dds_topics.yaml, Domain ID parameter, Zenoh CLI). Zenoh is built into the default firmware on FMU-v6xRT (make px4_fmu-v6xrt_default); on FMU-v6x and SITL it ships as a zenoh build variant (make px4_fmu-v6x_zenoh, make px4_sitl_zenoh).
* Initial [MC Neural Network Control](https://docs.px4.io/main/en/neural_networks/mc_neural_network_control) test path: PX4 v1.17 integrates [TensorFlow Lite Micro](https://docs.px4.io/main/en/neural_networks/tflm) on-device so an externally trained network (for example trained with reinforcement learning in [Aerial Gym](https://ntnu-arl.github.io/aerial_gym_simulator/)) can be loaded as a tflite model and substituted for the multicopter controller for research and bench testing. It is not a replacement for the production controller stack.([PX4-Autopilot#24366](https://github.com/PX4/PX4-Autopilot/pull/24366))

## Release Notes
* [Click here to view the full Release Notes](https://docs.px4.io/main/en/releases/1.17)
* Full Changelog [v1.16.2...v1.17.0](https://github.com/PX4/PX4-Autopilot/compare/v1.16.2...v1.17.0)

## New Contributors
* @ischollETH - first contribution: #25215
* @vololand - first contribution: #25362
* @czx-fly - first contribution: #25364
* @Sayshara - first contribution: #24991
* @accton-iot - first contribution: #25102
* @ljarvela - first contribution: #25454
* @fbaklanov - first contribution: #24534
* @renjieDLUT - first contribution: #25527
* @rmahoney-skai - first contribution: #25539
* @HTRamsey - first contribution: #25486
* @jyhminwang - first contribution: #25411
* @tolesam - first contribution: #24137
* @SolderSyntax - first contribution: #25441
* @alexespinoza28 - first contribution: #25525
* @Hs293Go - first contribution: #25444
* @tobias-auterion - first contribution: #25602
* @Luka-Filipovic - first contribution: #25618
* @Louis-max-H - first contribution: #25012
* @msberk - first contribution: #25587
* @Parkhb1106 - first contribution: #25619
* @radiolinkW - first contribution: #25562
* @Siri2K - first contribution: #25637
* @airpixel-cz - first contribution: #25651
* @JacopoPan - first contribution: #24040
* @annoybot - first contribution: #25649
* @asherikov - first contribution: #25742
* @ttechnick - first contribution: #25897
* @MDEAGEWT - first contribution: #25776
* @AkaiEurus - first contribution: #26199