## What's Changed * [BACKPORT 1.17] Zenoh docs and zenoh oom fixes by @PetervdPerk-NXP in https://github.com/PX4/PX4-Autopilot/pull/26053 * [BACKPORT 1.17] imxrt related fixes and mr-tropic support by @PetervdPerk-NXP in https://github.com/PX4/PX4-Autopilot/pull/26052 * [1.17] Bugfix: Let user take over from a degraded failsafe by @MaEtUgR in https://github.com/PX4/PX4-Autopilot/pull/26269 * FW Takeoff: fix loiter altitude not set in some cases by @sfuhrer in https://github.com/PX4/PX4-Autopilot/pull/26293 **Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.17.0-alpha1...v1.17.0-beta1