v1.16.2

teamhanko/hankov1.16.2Apr 22, 2026by github-actions[bot]

AI Summary

This is a stable release for the PX4 Autopilot project focused on bug fixes within the Extended Kalman Filter (EKF2). It resolves issues with optical flow initialization and prevents unbounded recursion errors.

Key Highlights

Fixed EKF2 optical flow initialization when range finder is height reference
Fixed unbounded recursion in EKF2 (backported from v1.16)

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