PX4/Firmware: v1.6.0 Release

PX4 v1.6.0 requires a recent version of QGroundControl for the best user experience, currently available as "daily build" here.

• Crazyflie v2
• FMUv4 PRO (Prototype donation and manufacturing: Drotek)
• FMUv5 (Prototype donation and manufacturing: Team Blacksheep)

• New .ulg uLOG logging format which directly logs uORB topics and offers more accurate time stamping. Supported in FlightPlot.
• New web-graphing engine for .ulg: http://review.px4.io
• Easier to use camera triggering
• Basic support for real-time camera triggering feedback
• Support for survey flights (multicopter and fixed wing) with intuitive UI
• Temperature calibration and compensation (gyro, accel, mag, baro)
• Support for MAVLink and PWM controlled gimbals
• Support for generic helicopters and Blade 130 mixer @bartslinger
• Fixedwing acro and rattitude flight modes

• EKF2 Robustness
• Tremendously better user experience on Snapdragon Flight
• Better user experience on Aero
• Hardening against marginal GPS reception
• Hardening against mag observability issues
• NuttX Update to a recent release
• STM32F7 support
• Change default to use the new ULog logging format supporting http://review.px4.io zoomable graphing
• Significant reduction in RAM usage on STM32

• Improvements for FMUv3 / Pixhawk 2.1 HW support
• Improvements for UAVCAN motor control and parameter transfer
• Cleanup of PWM output driver, easier user-configuration of OneShot
• More reliable reboot of Pixracer boards
• Log tasks low on stack @AndreasAntener
• Prevent overshooting of landing waypoints on VTOLS by calculating the acceptance radius based on ground speed @sanderux
• Prevent takeoff in loiter mode when vehicle is on the ground and wait on transition to mission mode @julianoes
• Improved robustness and reliability of land detector
• Fix offboard attitude setpoint overwrite from RC channels @aivian
• Add ground truth tests to SITL Gazebo CI @jgoppert
• Disable the safety switch by default on Pixracer @LorenzMeier
• Use ellipsoid instead of sphere fitting in magnetometer calibration @bugobliterator
• Introduction of the event module @bkueng
• Temperature calibration for IMU and barometric sensors @bugobliterator @priseborough
• Don't allow arming in low battery condition @LorenzMeier
• Enable takeoff and landing with just local position (e.g. flow) @ChristophTobler
• Add fixed-wing acro mode @AndreasAntener
• Trigger quadchute on maximum roll and pitch angles to prevent stalling or actuation problems like reversed ailerons/elevons @sanderux
• Add fast EKF2 replay for new ulog format @bkueng
• UAVCAN performance audit @pavel-kirienko
• Add preflight, postflight perf counters and process usage to ULog @bkueng
• Improve VTOL standard transition improvements
• Fix PX4 build on Windows platforms @MaEtUgR
• Improve multicopter takeoff and landing in altitude controlled flight modes
• Support for multiple UAVs in SITL simulation @mzahana
• Fixedwing offboard control mode improvements
• Fixedwing throttle scaling with battery voltage @Sander
• VTOL land improved back transition waypoint accuracy
• TECS height rate feed forward fixed
• Fixedwing loiter to altitude landing improved predictibility @NatorGator

• Iridium SBD @dagar
• ICM20602 and ICM20689 @davids5
• BMI055 and BMM150 @scheiermanns