# PX4 Dev Call: July 23, 2025 (Team sync, and Community Q&A) **URL:** \ **Category:** PX4 Autopilot\ **Created:** [July 22, 2025, 8:15pm UTC](https://discuss.px4.io/t/px4-dev-call-july-23-2025-team-sync-and-community-q-a/46617 "2025-07-22T20:15:57Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [July 22, 2025, 8:15pm UTC](https://discuss.px4.io/t/px4-dev-call-july-23-2025-team-sync-and-community-q-a/46617/1 "2025-07-22T20:15:57Z")
# PX4 Sync / Q&A - 2025-07-23T15:00:00Z 📆 [List of all Dronecode events](https://dronecode.org/calendar/) ## Agenda - Announcements - Future Events - Flight Testing Update - Release Discussion - Bug Report / Q&A ### Announcements 🎉 **QGC v5 Released** The QGC team expects a stable release next week! Please test and report issues now. > **[Release QGroundControl V5.0 - Stable · mavlink/qgroundcontrol](https://github.com/mavlink/qgroundcontrol/releases/tag/v5.0.6)** > > New Features > Here is a high level and non-exhaustive list of new features added to QGroundControl in v5.0: > > Fly View > > Toolbar > > Individual dropdowns can now be expanded > > The expanded pages contain a... ### Next Dronecode Meetup **ROS + PX4 Meetup in LA!** > **[ROS / Dronecode Meetup LA Edition · Luma](https://luma.com/clu5i6az)** > > Joint ROS + PX4 Meetup > We're organizing a joint Dronecode Foundation / ROS Meetup in LA after the IEEE International Conference on Space Mission Challenges for… **Upcoming meetup in Korea** [https://elisa.tech/event/elisa-project-dronecode-foundation-meetup/](https://elisa.tech/event/elisa-project-dronecode-foundation-meetup/) ### Future Events **Open Source Summit EU 2025** > **[Open Source Summit Europe | LF Events](https://events.linuxfoundation.org/open-source-summit-europe/)** > > The premier vendor-neutral conference for open source developers and technologists to collaborate, share information and learn about the latest technologies and innovations across open source. **ROSCon 2025 Singapore** > **[ROSCon 2025](https://roscon.ros.org/2025/)** > > The annual ROS developer conference. ### Flight Testing Update **About the Test Team** The team at [Ascend Engineering](https://www.ascendengineer.com/) (Chicago). are running flight testing for the community. **How to reach out to the team** - GitHub: Tag user **@PX4/testflights** - Discord: [#flight-testing](https://discord.com/channels/1022170275984457759/1330992113835311266) - Weekly on the PX4 Dev Call **How to Request Testing (GitHub)** - Write down the steps to test your issue/pull request - Make sure to note the risk involved in flying - Write down things to look out for / anticipate - eg: “we are looking for no yaw jumps” - Add issue/pull request to the [Flight Testing project board](https://github.com/orgs/PX4/projects/52) - Make sure to specify any hardware/software requirements as much as possible **Resources:** - [Flight Testing Project Board](https://github.com/orgs/PX4/projects/52) - [Tests Cards](https://docs.px4.io/main/en/test_and_ci/test_flights.html) **Discussion** - Test flights with RC3 1.16 goin on and focused on DSHOT ESCs - ### Release Discussion / Updates We are going to be promoting the release branch to stable, and push a stable release ASAP. **However we are going to make a note for the following issues which are not yet solved** > > > \### Describe the bug > > Airframe is the Dexi (ark\_pi6x\_default) > \- No GPS > \- Flow + …Distance sensor for postion/altitude hold > > Below is a quick hover test in Manual mode inside my house. > https://review.px4.io/plot\_app?log=2d4d8f06-edca-4e79-a5b9-5c729d971e15 > > The plot on the left is from EKF replay with EKF2\_HGT\_REF set to Range > !\[Image\](https://github.com/user-attachments/assets/f8775776-8c3f-41b7-8874-cbd7b1ca7734) > > As you can see when EKF2\_HGT\_REF is set to range the estimate tracks the distance sensor once it starts to hover, although there is still a large bias in the estimated height (I've applied an offset to show that they align) > > !\[Image\](https://github.com/user-attachments/assets/42c69609-da7a-491b-9ea9-46cd6e8c15b8) > > \*\*The problem\*\* > The issue I want to focus on however is the standard case where EKF2\_HGT\_REF = 1 (GPS). Since we are not moving horizontally and the distance sensor data is continuous, we \_should\_ meet the requirements for "range aid". This should allow the autopilot to control the Z position around the distance sensor data directly. > > > \### Describe the bug > > We are using an ARK Pi6xFlow without GPS and are trying …to reliable takeoff to 2 meters. > We use both EKF2\_BARO\_CTRL as EKF2\_RNG\_CTRL and the HGT\_REF is set to barometric. > When taking off, sometimes it goes to 2m, but most of the time to somewhere between 3 and 5. > > Using 1.16.0 alpha, the height was around 1m > > \### To Reproduce > > 1. Drone switched on > 2. Armed > 3. Takeoff to 2m command issued > 4. Measure physical distance as soon as the height seem stable) > > \### Expected behavior > > Go to the correct height (more or less since exact would be impossible off course) > > \### Screenshot / Media > > \_No response\_ > > \### Flight Log > > barometric hgt ref (result 3.2m): https://review.px4.io/plot\_app?log=514ae575-9d2e-4687-ab55-6e8836979b02 > Range hgt ref (result 2m) https://review.px4.io/plot\_app?log=b3753550-44ac-439a-905b-933f7a3932c3 > Using 1.16.0 alpha : https://review.px4.io/plot\_app?log=8122ff4b-e309-41f5-9257-55d74abbdb5d > > \### Software Version > > release 1.15.0 stable > > One test with 1.16.0 alpha > > \### Flight controller > > ARK Pi6xFlow board (Dexi Airframe from DroneBlocks) > > \### Vehicle type > > Multicopter > > \### How are the different components wired up (including port information) > > ARK board to ESC to Motors. > Pi CM4 on ark-board, using MicroUXCREAgent to transform UORB to ROS2 topics. > > RC and a LED ring are connected to the ARK board as well > > \### Additional context > > After takeoff, the height should remain stable, regardless of what the terrain is doing. > That's why we want to use barometric height reference, since a distance sensor will cause problems. > We're also adding VIO using markers, but don't believe that this would be more reliable then a barometer **v1.16 Release Discussion** 🚨 **Release Candidate v1.16.0-rc2** > **[PX4-Autopilot v1.16.0 Release Notes](https://docs.px4.io/main/en/releases/1.16)** > > Open-source flight stack for drones and autonomous vehicles. 🧪 **Release Testing** > > > \## :exclamation: About > 💡 For the upcoming v1.16 release, we are asking the Commu…nity for flight tests. This issue will be used for keeping track of all the tests from the Community. > > If you're unsure about upgrading, please read the preliminary release notes on the PX4 docs. Pay close attention to the Upgrade Guide before deciding if v1.16 is right for you. > > \- \[v1.16 Release Notes\](https://docs.px4.io/main/en/releases/1.16.html) > > \## ❓ Why we need flight testing > 🌏 Thousands of people around the world depend on the stable release of PX4. > 🖐️ Before every major release, as much testing as possible is needed to ensure that our release actually works! > 😯 Simply said, \*\*more testing = better release\*\* > 🤗 We would like to encourage every community member to join us in improving PX4! > > \## 🤷 How you can help with flight testing > 😱 Even if you have never contributed a flight testing report, fear not! Please follow the steps below for the details of how you can contribute to flight testing. > > 1. \*\*Select\*\* a category from the "flight testing matrix" below > 1. \*\*Flash\*\* the firmware (documented below) > 1. \*\*Test\*\* > 1. \*\*Upload\*\* the log (documented below) > 1. \*\*Report\*\* the test in this issue thread! > > \## Test Procedures > > https://docs.px4.io/main/en/test\_and\_ci/test\_flights.html > > \### How to flash v1.16 pre-release firmware > !\[beta\_flashing\](https://user-images.githubusercontent.com/23277211/230138126-c7b02c00-f07b-4a4f-b6b7-866d69db6520.png) > > 1. Open QGC > 3. Click the Q icon on upper right \> Vehicle Setup \> Firmware (Step 1 in picture) > 4. Connect your flight controller to the computer > 5. When the Firmware setup window pops up, click "Advanced settings" checkbox > 6. Select "Beat Testing (beta)" from the drop down (Step 2 in picture) > 7. Click "Ok" > > This should automatically flash & reboot your flight controller with the latest v1.16 beta release! > > \### How to share your log > First, retreive the log from the flight controller in QGC Q icon \> Analyze Tools \> Log Download, and find the log you want to download. > > !\[log\_uploading\](https://user-images.githubusercontent.com/23277211/230143915-4dad89ec-ab6d-43f3-9e5f-7a4624faa56e.png) > > Then: > 1. Go to https://logs.px4.io/ > 2. Click on "Flight Report" tab (this allows public viewing of the log in the \[browse page\](https://logs.px4.io/browse)) > 3. Add the ULog file > 5. Fill in the description, feedback, and video URL (if available) > 6. Click "Upload" > 7. Copy and paste the link of the log, and share it to this thread > > When posting on this thread, please mention what kind of test it was (especially if it is one of the testing matrix options) & general info behind it! > > \## Questions? > Feel free to ask any questions regarding flight testing in the #dev-team channel in the \[discord server\](https://discord.gg/dronecode)! > > > \## Results (05/12/25) > > > 💪 \*\*Release Testing\*\* > > | Date | Status | Submitter | Release | Platform | Flight Controller | Flights / Logs | Notes | Link | > | ---------- | ------ | ------------ | -------------- | ---------- | ----------------- | -------------- | ------------------------------------------------------------------------- | --------------------------------------------------------------------------------- | > | 1/16/2025 | ❌ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2596594336) | > | 1/23/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2611482935) | > | 1/29/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 6 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2622581014) | > | 1/29/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2622581014) | > | 2/10/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 5 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2649177017) | > | 3/5/2025 | ✅ | DroneWuKong | v1.16.0-rc1 | Quadcopter | Pixhawk 6X-RT | 11 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2851994468) | > | 5/9/2025 | ✅ | afwilkin | v1.16.0-rc1 | Quadcopter | Pixhawk 6C | 2 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2867864092) | > | 5/13/2025 | ✅ | TeddyZaremba | v1.16.0-rc1 | Quadcopter | VOXL 2 | 8 | \[Precision land issue\](https://github.com/PX4/PX4-Autopilot/issues/24850) | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2880662926) | > | 5/19/2025 | ⚠️ | dk7xe | v1.16.0-rc1 | Quadcopter | Pixhawk 6X-RT | 9 | Various inconsistencies | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2895445954) | > | 5/20/2025 | ✅ | dirksavage88 | v1.16.0-rc1 | Quadcopter | Pixhawk 6X | 8 | QGC v5 Crash | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2898223625) | > | 5/21/2025 | ⚠️ | DroneWuKong | v1.16.0-rc1 | Quadcopter | Cube Orange+ | 1 | No GPS | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2899811372) | > | 5/21/2025 | ⚠️ | JulianOes | v1.16.0-rc1 | Quadcopter | Cube Orange+ | 1 | Tuning required | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2901915380) | > | 8/8/2025 | ✅ | dk7xe | v1.16.0-rc1 | Fixed Wing | Pixhawk 6X-RT | 4 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3048796367) | > | 8/11/2025 | ✅ | TeddyZaremba | v1.16.0-rc2 | Quadcopter | Pixhawk 6C | 1 | Collision Prevention | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3062858176) | > | 8/22/2025 | ✅ | afwilkin | v1.16.0-rc3 | Quadcopter | ARK V6X | 3 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3099690507) | > | 8/29/2025 | ✅ | dk7xe | v1.16.0-rc3 | Fixed Wing | Pixhawk 6X-RT | 5 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3135905018) | > | 11/5/2025 | ✅ | Aaron1356 | v1.16.1-rc1 | Quadcopter | Pixhawk 6X-RT | 17 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3492305091) | > | 12/1/2025 | ✅ | Aaron1356 | v1.16.1-rc1 | Quadcopter | Pixhawk 6X-RT | 11 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3598633534) | > | 12/15/2025 | ⚠️ | Aaron1356 | v1.16.1-rc1 | Quadcopter | Pixhawk 6X-RT | 4 | GPS Injection Issue | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3656841418) | > | 1/13/2025 | ✅ | Aaron1356 | v1.16.1-rc1 | Quadcopter | Pixhawk 6X-RT | 2 | | \[Link\](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-3750366192) | **Project Board** > **[PX4 v1.17 Release • PX4](https://github.com/orgs/PX4/projects/45)** > > v1.17 Release ## Community Q&A / PRs for Review Q1: Discussed PRs: 1. Discussed Issues: 1. ---
**Author:** ![rohan908](https://discuss.px4.io/user_avatar/discuss.px4.io/rohan908/32/19945_2.png) [@rohan908](https://discuss.px4.io/u/rohan908)\ **Post date:** [July 22, 2025, 8:36pm UTC](https://discuss.px4.io/t/px4-dev-call-july-23-2025-team-sync-and-community-q-a/46617/2 "2025-07-22T20:36:04Z")
I would appreciate a review on the [INDI PR for Multicopters](https://github.com/PX4/PX4-Autopilot/pull/25216)! ---
**Author:** ![PetervdPerk-NXP](https://discuss.px4.io/user_avatar/discuss.px4.io/petervdperk-nxp/32/18863_2.png) [@PetervdPerk-NXP](https://discuss.px4.io/u/PetervdPerk-NXP)\ **Post date:** [July 23, 2025, 11:42am UTC](https://discuss.px4.io/t/px4-dev-call-july-23-2025-team-sync-and-community-q-a/46617/3 "2025-07-23T11:42:18Z")
Could we handle this PR as well? > > > This PR allows Zenoh to directly interface with ROS2 running rmw\_zenoh\_cpp > http…s://github.com/ros2/rmw\_zenoh > > rmw\_zenoh\_cpp isn't stable of as of yet, so compatibility might break again. > > - Updates zenoh-pico library to 1.3.4 > - Adds rosidl RIHS01 CRC32 hashes for each uORB message, providing type safety and ROS2 can compare it's own px4\_msgs with that. > - Introduce ZENOH\_DOMAIN\_ID for set matching ROS\_DOMAIN\_ID on PX4 > - Allow to map uORB instance topic to a custom ROS2 topic thanks to @BenChung > > To reproduce > Have a Ubuntu 24.04 machine with ros2 kilted (now also works with jazzy as long you're running \`0.2.5-1noble.20250620.205111\` or newer) > Install rmw\_zenoh\_cpp > \`\`\` > sudo apt update && sudo apt install ros-kilted-rmw-zenoh-cpp > \`\`\` > Set RMW to rmw\_zenoh\_cpp > \`\`\` > export RMW\_IMPLEMENTATION=rmw\_zenoh\_cpp > \`\`\` > Start zenohd using > \`\`\` > ros2 run rmw\_zenoh\_cpp rmw\_zenohd > \`\`\` > You'll see something like this > \`\`\` > 2025-03-09T11:27:10.020634Z INFO ThreadId(02) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/192.168.1.104:7447 > \`\`\` > On your PX4 build with Zenoh compiled enable zenoh on startup > \`\`\` > param set ZENOH\_ENABLE 3 > \`\`\` > Configure network to connect to the machine running zenohd, 192.168.1.104 in this example. > Note \`px4\_sitl\_zenoh\` defaults to localhost so no need to change it. > \`\`\` > zenoh config net client tcp/192.168.1.104:7447#iface=eth0 > \`\`\` > Create a custom publisher mapping for example cpuload to the ROS2 /fmu/out/cpuload topic > \`\`\` > zenoh config add publisher /fmu/out/cpuload cpuload > \`\`\` > > To verify your config type \`zenoh config\` it should look similar to this > \`\`\` > nsh\> zenoh config > Network config: > Mode: client > Locator: tcp/192.168.1.104:7447#iface=eth0 > > Publisher config: > Topic: /fmu/out/cpuload > Type: cpuload > > \`\`\` > > Reboot PX4 > > > Now on your Linux get topic info using > > \`\`\` > peter@desktop-peter:~/ros2\_ws\_kilted$ ros2 topic info /fmu/out/cpuload -v > Type: px4\_msgs/msg/Cpuload > > Publisher count: 1 > > Node name: px4\_aabbcc00000000000000000000000000 > Node namespace: / > Topic type: px4\_msgs/msg/Cpuload > Topic type hash: RIHS01\_f41315fb98baf77228df67b159df4fdd978620d38cd5f38dd883d6fa3817a7af > Endpoint type: PUBLISHER > GID: 52.57.f3.91.ca.da.7e.c3.c9.dd.d7.78.94.b1.25.67 > QoS profile: > Reliability: RELIABLE > History (Depth): KEEP\_LAST (7) > Durability: VOLATILE > Lifespan: Infinite > Deadline: Infinite > Liveliness: AUTOMATIC > Liveliness lease duration: Infinite > > Subscription count: 0 > \`\`\` > > Subscribe to a topic > \`\`\` > ros2 topic echo /fmu/out/cpuload > \`\`\` ---
**Author:** ![Tory9](https://discuss.px4.io/user_avatar/discuss.px4.io/tory9/32/19952_2.png) [@Tory9](https://discuss.px4.io/u/Tory9)\ **Post date:** [July 23, 2025, 2:45pm UTC](https://discuss.px4.io/t/px4-dev-call-july-23-2025-team-sync-and-community-q-a/46617/4 "2025-07-23T14:45:27Z")
Can we pls look at this PR as well? > > > \### Solved Problem > > When errors occur in attached GNSS receivers, there is no …way to report them to the user so they know what is going wrong. > > This PR is needed by QGC : https://github.com/mavlink/qgroundcontrol/pull/13009 > This is an update of PR made by @flyingthingsintothings https://github.com/PX4/PX4-Autopilot/pull/23096 > > \### Solution > \- Add automatic configuration for Septentrio receivers to report resilience information every second > \- Add to Septentrio parser so it can parse the new message > \- Change the uORB message for GNSS information to support this new > \- MAVLink message is in development.xml, you need to pass \`CONFIG\_MAVLINK\_DIALECT="development"\` to your \`default.px4board\` > > Changelog Entry > > For release notes: > \`\`\` > Feature: Report resilience information from GNSS receivers > Documentation: Need to clarify page ... > \`\`\` > > \### Test coverage > \- I have tested this PR using a Septentrio receiver to emulate jamming, there was just a typo that has now been fixed. > > \### Context > \- Link to old PR : https://github.com/PX4/PX4-Autopilot/pull/23096 > \- Link to QGC PR : https://github.com/mavlink/qgroundcontrol/pull/13009 ---
**Author:** ![Pedro-Roque](https://discuss.px4.io/user_avatar/discuss.px4.io/pedro-roque/32/5128_2.png) [@Pedro-Roque](https://discuss.px4.io/u/Pedro-Roque)\ **Post date:** [July 23, 2025, 3:02pm UTC](https://discuss.px4.io/t/px4-dev-call-july-23-2025-team-sync-and-community-q-a/46617/5 "2025-07-23T15:02:30Z")
> [@PX4 Dev Call: July 2, 2025 (Team sync, and Community Q&A)](https://discuss.px4.io/t/px4-dev-call-july-2-2025-team-sync-and-community-q-a/46266/3): > > Batch of ready to merge PR’s: This one requires a small discussion: