Release 0.23.0

• extras: obstacle_distance plugin #910
• manual_control: add topic for sending MANUAL_CONTROL messages #919
• Add param to choose mavlink version #920
• Default to Mavlink v2.0

Release 0.22.0

• scripts: Use non global mavros-ns allow to work __ns parameter
• scripts: Update script to support cycle_time on cmd trigger_control
• plugin: Fix setpoint_position code style
• plugin: Update setpoint_position plugin to allow sending setpoints which origin is on the global frame
• docs: Move CONTRIBUTING.md to root
• tools: Add cogall.sh
• setpoint plugins: allow to choose between local and body frame
• scripts: install_geographiclib_datasets.sh: Improve output of script, replace which with more reliable hash
• scripts: install_geographiclib_datasets.sh: Ensure dataset files exist, not just directories
• scripts: install_geographiclib_datasets.sh: Fix interpreter
• scripts: install_geographiclib_datasets.sh: Update script to work with zsh
• docs: add Troubleshooting section to MAVROS
• plugin: global_position: GPS fix's frame_id changed to body-fixed
• plugin: global_position: Local angular twist changed from NANs to zeroes to be able to show in RViz.
• docs: source install: add note on fetching all the deps
• ENU<->ECEF transforms fix
• plugin: waypoint: Add MISSION_ITEM_REACHED publisher
• plugin: setpoint_attitude: fix message_filters callbacks sync
• plugin: odom: general fixes and code tightening; Use tf2 instead of static transforms
• mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes
• lib: frame_tf: Add to_eigen() helper

Release 0.21.0

TBD. Improvements in waypoint plugin.

Release 0.20.0

• odometry plugin (#706, #707, #708, #716)
• GeographicLib integration - compute ECEF<->LLA and height over the ellipsoid<->height over the geoid (#693)
• Support for offset between global origin and current local position (#691)
• Generalize fake_gps and remove mocap_fake_gps plugin (#742)
• HIL plugin (#684)
• rangefinder plugin (Ardupilot only) (#746)
• Update distance_sensor plugin with new type, reduced verbosity, update ID handling (#747, #748, #749)
• Make GeographicLib datasets mandatory (#778)
• Update ExtendedState with new MAV_LANDED_STATE enum (#714)
• setpoint_attitude plugin: add sync between thrust and attitude (#700)
• Fix Travis CI (#777)

Release 0.19.0

• home_position plugin #371 #695
• adsb plugin #697 #696
• mocap_fake_gps plugin #592
• libmavconn serial-hwfc:// #649
• Selectable modes of timesync #661 #674
• setpoint_velocity topic with Twist message type #655
• ArduSub modes #622
• Update ArduPlane modes #633
• Add distance_sensor configuration for APM #670

See also Version 0.19 milestone tasks.

Release 0.18.0

• MAVLink 2.0 support (without packet signing). Experimental #543 #554
• No more MAVLINK_DIALECT #554
• UDP Broadcast discovery via udp-b://@ URL #544
• hil_controls plugin #564
• command expect ACK for PX4 too (upcoming 1.4.0) #561
• For battery topic used sensor_msgs/BatteryState #458
• Boost.Signals2 almost removed, Boost.ASIO is last thing required by mavros sources (except ROS1 sources)
• Plugin API changed for C++11 MAVLink implementation
• Extras image_pub plugin and gcs_image_bridge are removed. Use RTP-streamer for QGC (e.g. gst_video_server)

Release 0.17.0

Breaking change: #473. Frame conversions code are changed, again.

Changes:

• configurable drone in copter_visualization node #500, #491
• pixhawk dialect removed and replaced with common #452

Fixes:

• python lib: #478, #465
• yaw frame transform #428 (released in 0.16 bug fixes)

New:

• checkid tool #382 (already released with 0.16 bug fixes)
• atltitude plugin #435 (already released in 0.16 fixes)

Release 0.16.0

New:

• #402 setpoint_raw plugin

Fixes:

• #423 set_mode disarm bug
• #394 fix rospy clients of mavlink/to and from topics
• #391 catkin_make build error (catkin build are fine)

Changes:

• #417 remove STATUSTEXT quirk
• #414 remove ~mission/goto service
• #407 remove ~cmd/guided_enable
• #395 add VTOL state publisher
• #420 rename topic ~local_position/local to ~local_position/pose

Release 0.15.0

New:

• #386 event_launcher node
• servo_state_publisher node
• #378 manual_control plugin

Changes:

• #286 Add checksum and valid flag to Mavlink.msg

Fixes:

• APM timestamping error (boot time instead of utc).

Release 0.14.0

New:

• #369 - messages moved to mavros_msgs
• #368 - python demo script

Changes:

• #357 - mavftp progressbar / command changes
• #360 - ~global_position/local now have mav_msgs/Odometry type.
• #363 - PID controller for velocity setpoints in test_mavros
• bugfixes