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    "story_id": "mp-2026-09-19-010",
    "source_story_id": "tmp-story-px4-aerial-marine-missions",
    "edition_id": "mp-2026-09-19-morning-0072",
    "edition_url": "https://themachinepress.com/edition/2026-09-19",
    "position": 10,
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    "section": "robotics",
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    "headline": "One Mission Plan Crossed From Air to Water",
    "slug": "one-mission-plan-crossed-from-air-to-water",
    "dek": "A PX4 extension added marine modes and mixed air-water waypoints without removing the flight safety stack.",
    "summary": "A PX4 extension added marine modes and mixed air-water waypoints without removing the flight safety stack.",
    "body_text": "Hybrid drones can fly to an aquatic site and then navigate on the surface, but the mission software must change modes without splitting the plan. This PX4 extension adds manual and autonomous marine navigation, keeps existing flight functions and safety mechanisms, and exposes distinct aerial and marine waypoints through the standard mission pipeline and QGroundControl. Simulated missions produced stable surface navigation in calm and wavy conditions. The paper validates firmware behavior in simulation, not a completed field campaign.",
    "why_it_matters": "A PX4 extension added marine modes and mixed air-water waypoints without removing the flight safety stack.",
    "limitations": [
      "The paper validates firmware behavior in simulation, not a completed field campaign."
    ],
    "importance": 8,
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    "first_published_at": "2026-09-19T09:00:00.000-04:00",
    "modified_at": "2026-09-19T09:00:00.000-04:00",
    "content_status": "new",
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        "text": "A PX4 extension added marine modes and mixed air-water waypoints without removing the flight safety stack.",
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        "qualification": "The paper validates firmware behavior in simulation, not a completed field campaign."
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    "source_ids": [
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    "tags": [
      "hybrid drones",
      "PX4",
      "marine robotics"
    ],
    "image_url": null,
    "corrections": []
  },
  "sources": [
    {
      "source_id": "source-2026-09-19-010",
      "title": "arXiv preprint 2609.20691",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.20691",
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      "source_type": "primary_research",
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      "published_at": "2026-09-17T12:58:01.000-04:00",
      "accessed_at": "2026-09-19T08:30:21.326-04:00",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "One Mission Plan Crossed From Air to Water",
    "publisher": "The Machine Press",
    "published_at": "2026-09-19T09:00:00.000-04:00",
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