Merge branch 'main' into pr-servo-pwm-trim

2026-10-11 20:13:34 +08:00 · 2025-11-20 14:11:05 +01:00
parent c435b7d785 25138d0a12
commit 2545ec3e60
45 changed files with 1150 additions and 103 deletions
@@ -1,22 +1,9 @@
 <!--

-Thank you for your contribution!
-
-Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
-
-->
-
 ### Solved Problem
-When ... I found that ...
-
 Fixes #{Github issue ID}

 ### Solution
- Add ... for ...
- Refactor ...

 ### Changelog Entry
 For release notes:
@@ -27,11 +14,10 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```

 ### Alternatives
-We could also ...

 ### Test coverage
- Unit/integration test: ...
- Simulation/hardware testing logs: https://review.px4.io/

 ### Context
 Related links, screenshot before/after, video
+
+-->
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -30,8 +31,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -100,6 +100,24 @@ At very high level, the main differences are:

 <a id="licensing-and-trademarks"></a>

+### FMUv6 Comparison
+
+| Feature            | **FMUv6X-RT**         | **FMUv6X**        | **FMUv6C**        |
+| ------------------ | --------------------- | ----------------- | ------------------ |
+| **FMU MCU**        | NXP i.MX RT1176       | STM32H753         | STM32H743V         |
+| **RAM**            | 2 MB                  | 1 MB              | 1 MB               |
+| **Flash**          | 64 MB Octal SPI       | 2 MB internal     | 2 MB internal      |
+| **IO MCU**         | STM32F103             | STM32F103         | STM32F103          |
+| **Secure Element** | NXP SE051             | NXP SE051         | Not supported      |
+| **PAB Standard**   | Supported             | Supported         | Not supported      |
+| **Ethernet**       | Supported             | Supported         | Not supported      |
+| **IMUs**           | 3×                    | 3×                | 2×                 |
+| **Barometers**     | 2×                    | 2×                | 1×                 |
+| **Magnetometer**   | 1×                    | 1×                | 1×                 |
+| **FMU PWM**        | 12×                   | 8×                | 8×                 |
+| **IO PWM**         | 8×                    | 8×                | 8×                 |
+| **CAN Bus**        | 3×                    | 2×                | 2×                 |
+
 ### Licensing and Trademarks

 Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
@@ -196,6 +196,14 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH

 EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.

+### GNSS Position Fusion
+
+GNSS position fusion will not begin until yaw alignment is established.
+If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot.
+If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation.
+Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid.
+This behavior prevents large position errors that could occur when the yaw reference is uncertain.
+
 ## Developer Information

 - GPS/RTK-GPS
@@ -503,6 +503,11 @@ publications:
  - topic: /fmu/out/vehicle_trajectory_waypoint_desired
    type: px4_msgs::msg::VehicleTrajectoryWaypoint

+  - topic: /fmu/out/vehicle_imu
+    type: px4_msgs::msg::VehicleImu
+    rate_limit: 50.
+    instance: 1 # OPTIONAL
+
 subscriptions:

  - topic: /fmu/in/offboard_control_mode
@@ -535,6 +540,9 @@ Each (`topic`,`type`) pairs defines:
 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
 5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
   If left unspecified, the maximum publication rate limit is set to 100 Hz.
+6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
+   If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
+   In the example above the final topic name would be `/fmu/out/vehicle_imu1`.

 `subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
 Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
@@ -434,6 +434,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/posix.h>
 #include <unistd.h>
@@ -182,6 +182,7 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
@@ -504,6 +505,7 @@
      - [UART/Serial 포트](uart/index.md)
        - [포트 설정 가능 시리얼 드라이버](uart/user_configurable_serial_driver.md)
    - [RTK GPS (통합)](advanced/rtk_gps.md)
+    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [미들웨어](middleware/index.md)
    - [uORB 메시지 전송](middleware/uorb.md)
    - [uORB 그라프](middleware/uorb_graph.md)
@@ -0,0 +1,135 @@
+# PPS Time Synchronization (PX4 Integration)
+
+[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
+This page explains how PPS is integrated into PX4 and how to configure it.
+
+## 개요
+
+PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
+The PPS signal provides a highly accurate timing reference that PX4 can use to:
+
+- Refine GNSS time measurements and compensate for clock drift
+- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
+- Enable offline position refinement through accurate time correlation
+
+## 지원 하드웨어
+
+PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
+
+Supported boards include (at time of writing):
+
+- [Ark FMUv6x](../flight_controller/ark_v6x.md)
+- Auterion FMUv6x
+- Auterion FMUv6s
+
+## 설정
+
+### Enable PPS Driver in Board Configuration
+
+The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
+This is done by adding the following to your board's configuration:
+
+```ini
+CONFIG_DRIVERS_PPS_CAPTURE=y
+```
+
+### Configure PPS Parameters
+
+The configuration varies depending on your flight controller hardware.
+
+#### FMUv6X
+
+For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
+
+```sh
+param set PWM_AUX_TIM3 -2
+param set PWM_AUX_FUNC9 2064
+param set PPS_CAP_ENABLE 1
+```
+
+#### FMUv6S
+
+For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
+
+```sh
+param set PWM_MAIN_TIM3 -2
+param set PWM_MAIN_FUNC10 2064
+param set PPS_CAP_ENABLE 1
+```
+
+### 배선
+
+The wiring configuration depends on your specific flight controller.
+
+#### Skynode X (FMUv6x)
+
+Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
+
+For detailed pinout information, refer to:
+
+- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
+
+#### Skynode S (FMUv6S)
+
+For FMUv6S, you need to route the PPS signal separately:
+
+1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
+2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
+
+#### ARK Jetson Carrier Board (FMUv6x)
+
+For ARK FMUv6X on the Jetson carrier board:
+
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
+
+## 검증
+
+After configuring PPS, you can verify that it is working correctly:
+
+1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
+
+2. Wait for GNSS fix.
+
+3. Check the PPS capture status to confirm it is up and running:
+
+   ```sh
+   pps_capture status
+   ```
+
+4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
+
+   ```sh
+   listener pps_capture
+   ```
+
+   Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
+
+### PPS Capture Driver
+
+The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
+
+주요 기능:
+
+- Sub-microsecond pulse capture precision (hardware-dependent)
+- Automatic drift calculation and compensation
+- Integration with the GNSS driver for refined time stamping
+
+See also:
+
+- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
+- [PpsCapture Message](../msg_docs/PpsCapture.md)
+
+### Time Synchronization Flow
+
+1. GNSS module sends position/time data at ~1-20 Hz.
+2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
+3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
+4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
+5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
+
+The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
+
+:::warning
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+:::
@@ -89,7 +89,7 @@ Flight controllers that have bootloader PX4-Autopilot `make` targets, can build
 The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
@@ -30,6 +30,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
 - [Holybro Durandal](../flight_controller/durandal.md)
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
+- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
@@ -0,0 +1,153 @@
+# MicoAir743-Lite
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues.
+:::
+
+MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry.
+
+![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png)
+
+Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
+When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## MicoAir743-Lite (v1.1)
+
+![MicoAir743-Lite Back View](../../assets/flight_controller/micoair743_lite/back_view.png)
+
+## 요약
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- 내장 센서 :
+  - Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: SPA06
+- On-board Bluetooth Telemetry
+  - Connected to UART8 internally, baudrate 115200
+  - Connecting to QGC (PC or Android phone) via Bluetooth
+- 기타 특성:
+  - Operating & storage temperature: -20 ~ 85°c
+
+### 인터페이스
+
+- 8 UART (TELEM / GPS / RC)
+- 14 PWM outputs （10 supports DShot）
+- Support multiple RC inputs (SBUS / CRSF / DSM)
+- 1 GPS port
+- 1 I2C port
+- 2 ADC port2 (VBAT, Current)
+- 1 DJI O3/O4 VTX connector
+- 1 MicroSD Card Slot
+- 1 USB Type-C
+
+### Electrical data
+
+- VBAT Input:
+  - 2\~6S (6\~27V)
+- USB Power Input:
+  - 4.75\~5.25V
+- BEC Output:
+  - 5V 2A (for controller, receiver, GPS, optical flow or other devices)
+  - 9V 2A (for video transmitter, camera)
+
+### Mechanical data
+
+- Mounting: 30.5 x 30.5mm, Φ4mm
+- Dimensions: 36 x 36 x 8 mm
+- Weight: 10g
+
+![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png)
+
+## 구매처
+
+Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).
+
+## 핀배열
+
+Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file.
+
+## 시리얼 포트 매핑
+
+| UART   | 장치         | 포트     |
+| ------ | ---------- | ------ |
+| USART1 | /dev/ttyS0 | TELEM1 |
+| USART2 | /dev/ttyS1 | GPS2   |
+| USART3 | /dev/ttyS2 | GPS1   |
+| UART4  | /dev/ttyS3 | TELEM2 |
+| UART5  | /dev/ttyS4 | TELEM3 |
+| USART6 | /dev/ttyS5 | RC     |
+| UART7  | /dev/ttyS6 | URT6   |
+| UART8  | /dev/ttyS7 | TELEM4 |
+
+## Interfaces Diagram
+
+:::note
+All the connectors used on the board are SH1.0
+:::
+
+![MicoAir743-Lite Interface Diagram](../../assets/flight_controller/micoair743_lite/interfaces_diagram.png)
+
+## Sample Wiring Diagram
+
+![MicoAir743-Lite Wiring Diagram](../../assets/flight_controller/micoair743_lite/wiring_diagram.png)
+
+## 펌웨어 빌드
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make micoair_h743-lite_default
+```
+
+## 펌웨어 설치
+
+펌웨어는 일반적인 방법으로 설치할 수 있습니다.
+
+- 소스 빌드 및 업로드
+
+  ```sh
+  make micoair_h743-lite_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.
+
+  ::: info
+  At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+  Release builds will be supported for PX4 v1.17 and later.
+
+:::
+
+## 무선 조종
+
+A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md).
+You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md).
+
+## 지원 플랫폼 및 기체
+
+일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## 주변 장치
+
+- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/)
+- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/)
+- [MicoAir GPS](https://micoair.com/gps/)
+- [MicoAir ESC Modules](https://micoair.com/esc/)
+
+## 추가 정보
+
+- [MicoAir Tech.](https://micoair.com/)
+- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/)
+- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html)
@@ -25,11 +25,6 @@ The default type is recommended.

 :::

-:::warning
-There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
-Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
-:::
-
 ## Technical Summary

 Fixed-wing vehicles use the _mission landing/rally point_ return type by default.
@@ -145,21 +145,21 @@ To ensure the port is set up correctly perform a [Serial Port Configuration](../
 The following steps show how to configure a secondary GPS on the `GPS 2` port in _QGroundControl_:

 1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **GPS 2**.
-  - Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
-  - Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.
+   - Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
+   - Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.

-    ![QGC Serial Example](../../assets/peripherals/qgc_serial_config_example.png)
+     ![QGC Serial Example](../../assets/peripherals/qgc_serial_config_example.png)

 2. 다른 매개변수를 표시하려면 기체를 재부팅하십시오.

 3. Select the **Serial** tab, and open the [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD) parameter (`GPS 2` port baud rate): set it to _Auto_ (or 115200 for the Trimble).

-  ![QGC Serial Baudrate Example](../../assets/peripherals/qgc_serial_baudrate_example.png)
+   ![QGC Serial Baudrate Example](../../assets/peripherals/qgc_serial_baudrate_example.png)

 보조 GPS 포트를 설정 후 :

 1. 두 GPS 시스템의 데이터를 혼합하도록 ECL/EKF2 추정기를 설정합니다.
-  For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers).
+   For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers).

 ### DroneCAN GNSS Configuration

@@ -201,7 +201,9 @@ EPH/EPV values therefore provide a more immediate and practical estimate of the

 - GPS/RTK-GPS
  - [RTK-GPS](../advanced/rtk_gps.md)
+  - [PPS Time Synchronization](../advanced/pps_time_sync.md)
  - [GPS driver](../modules/modules_driver.md#gps)
+  - [PPS driver](../modules/modules_driver.md#pps-capture)
  - [DroneCAN Example](../dronecan/index.md)
 - 나침반
  - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
@@ -40,6 +40,7 @@ This list contains stand-alone magnetometer modules (without GNSS).

 | 장치                                                                                                               |   나침반  | DroneCan |
 | :--------------------------------------------------------------------------------------------------------------- | :----: | :------: |
+| [ARK MAG](https://arkelectron.com/product/ark-mag/)                                                              | RM3100 |     ✓    |
 | [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) |    ?   |          |
 | [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass)             | RM3100 |     ✓    |
 | [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass)           | RM3100 |     ✓    |
@@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav
 ```

 This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
+:::

 ## PX4 ROS 2 QoS Settings

@@ -588,7 +589,7 @@ For a list of services, details and examples see the [service documentation](../
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).

-::: info
+:::info
 This section contains migration-specific information.
 You should also read the rest of this page to properly understand uXRCE-DDS.
 :::
@@ -182,6 +182,7 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
@@ -504,6 +505,7 @@
      - [UART/Послідовний порт](uart/index.md)
        - [Драйвери послідовного порту і їх налаштування](uart/user_configurable_serial_driver.md)
    - [RTK GPS (Інтеграція)](advanced/rtk_gps.md)
+    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [Проміжне програмне забезпечення](middleware/index.md)
    - [Повідомлення uORB](middleware/uorb.md)
    - [Граф uORB](middleware/uorb_graph.md)
@@ -0,0 +1,135 @@
+# PPS Time Synchronization (PX4 Integration)
+
+[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
+This page explains how PPS is integrated into PX4 and how to configure it.
+
+## Загальний огляд
+
+PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
+The PPS signal provides a highly accurate timing reference that PX4 can use to:
+
+- Refine GNSS time measurements and compensate for clock drift
+- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
+- Enable offline position refinement through accurate time correlation
+
+## Підтримуване обладнання
+
+PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
+
+Supported boards include (at time of writing):
+
+- [Ark FMUv6x](../flight_controller/ark_v6x.md)
+- Auterion FMUv6x
+- Auterion FMUv6s
+
+## Установка
+
+### Enable PPS Driver in Board Configuration
+
+The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
+This is done by adding the following to your board's configuration:
+
+```ini
+CONFIG_DRIVERS_PPS_CAPTURE=y
+```
+
+### Configure PPS Parameters
+
+The configuration varies depending on your flight controller hardware.
+
+#### FMUv6X
+
+For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
+
+```sh
+param set PWM_AUX_TIM3 -2
+param set PWM_AUX_FUNC9 2064
+param set PPS_CAP_ENABLE 1
+```
+
+#### FMUv6S
+
+For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
+
+```sh
+param set PWM_MAIN_TIM3 -2
+param set PWM_MAIN_FUNC10 2064
+param set PPS_CAP_ENABLE 1
+```
+
+### Підключення
+
+The wiring configuration depends on your specific flight controller.
+
+#### Skynode X (FMUv6x)
+
+Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
+
+For detailed pinout information, refer to:
+
+- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
+
+#### Skynode S (FMUv6S)
+
+For FMUv6S, you need to route the PPS signal separately:
+
+1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
+2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
+
+#### ARK Jetson Carrier Board (FMUv6x)
+
+For ARK FMUv6X on the Jetson carrier board:
+
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
+
+## Перевірка
+
+After configuring PPS, you can verify that it is working correctly:
+
+1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
+
+2. Wait for GNSS fix.
+
+3. Check the PPS capture status to confirm it is up and running:
+
+   ```sh
+   pps_capture status
+   ```
+
+4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
+
+   ```sh
+   listener pps_capture
+   ```
+
+   Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
+
+### PPS Capture Driver
+
+The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
+
+Основні функції:
+
+- Sub-microsecond pulse capture precision (hardware-dependent)
+- Automatic drift calculation and compensation
+- Integration with the GNSS driver for refined time stamping
+
+See also:
+
+- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
+- [PpsCapture Message](../msg_docs/PpsCapture.md)
+
+### Time Synchronization Flow
+
+1. GNSS module sends position/time data at ~1-20 Hz.
+2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
+3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
+4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
+5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
+
+The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
+
+:::warning
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+:::
@@ -89,7 +89,7 @@ dfu-util -a 0 --dfuse-address 0x08000000 -D  build/<target>/<target>.bin
 Список контролерів, яких це стосується, можна отримати, виконавши наступну команду `make` і зазначивши цілі `make`, які закінчуються на `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
@@ -30,6 +30,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
 - [Holybro Durandal](../flight_controller/durandal.md)
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
+- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
@@ -0,0 +1,153 @@
+# MicoAir743-Lite
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 не розробляє цей (або будь-який інший) автопілот.
+Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues.
+:::
+
+MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry.
+
+![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png)
+
+Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
+When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## MicoAir743-Lite (v1.1)
+
+![MicoAir743-Lite Back View](../../assets/flight_controller/micoair743_lite/back_view.png)
+
+## Короткий опис
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- Сенсори на платі
+  - Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: SPA06
+- On-board Bluetooth Telemetry
+  - Connected to UART8 internally, baudrate 115200
+  - Connecting to QGC (PC or Android phone) via Bluetooth
+- Інші характеристики:
+  - Operating & storage temperature: -20 ~ 85°c
+
+### Інтерфейси
+
+- 8 UART (TELEM / GPS / RC)
+- 14 PWM outputs （10 supports DShot）
+- Support multiple RC inputs (SBUS / CRSF / DSM)
+- 1 GPS port
+- 1 I2C порт
+- 2 ADC port2 (VBAT, Current)
+- 1 DJI O3/O4 VTX connector
+- 1 MicroSD Card Slot
+- 1 USB Type-C
+
+### Електричні дані
+
+- VBAT Input:
+  - 2\~6S (6\~27V)
+- USB Power Input:
+  - 4.75\~5.25V
+- BEC Output:
+  - 5V 2A (for controller, receiver, GPS, optical flow or other devices)
+  - 9V 2A (for video transmitter, camera)
+
+### Механічні характеристики
+
+- Mounting: 30.5 x 30.5mm, Φ4mm
+- Dimensions: 36 x 36 x 8 mm
+- Weight: 10g
+
+![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png)
+
+## Де купити
+
+Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).
+
+## Схема розташування виводів
+
+Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file.
+
+## Налаштування послідовного порту
+
+| UART   | Пристрій   | Порт   |
+| ------ | ---------- | ------ |
+| USART1 | /dev/ttyS0 | TELEM1 |
+| USART2 | /dev/ttyS1 | GPS2   |
+| USART3 | /dev/ttyS2 | GPS1   |
+| UART4  | /dev/ttyS3 | TELEM2 |
+| UART5  | /dev/ttyS4 | TELEM3 |
+| USART6 | /dev/ttyS5 | RC     |
+| UART7  | /dev/ttyS6 | URT6   |
+| UART8  | /dev/ttyS7 | TELEM4 |
+
+## Interfaces Diagram
+
+:::note
+All the connectors used on the board are SH1.0
+:::
+
+![MicoAir743-Lite Interface Diagram](../../assets/flight_controller/micoair743_lite/interfaces_diagram.png)
+
+## Зразок схеми з'єднань
+
+![MicoAir743-Lite Wiring Diagram](../../assets/flight_controller/micoair743_lite/wiring_diagram.png)
+
+## Збірка прошивки
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make micoair_h743-lite_default
+```
+
+## Встановлення прошивки PX4
+
+Прошивку можна встановити будь-якими звичайними способами:
+
+- Збудуйте та завантажте джерело
+
+  ```sh
+  make micoair_h743-lite_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  Ви можете використовувати або готове вбудоване програмне забезпечення, або власне користувацьке програмне забезпечення.
+
+  ::: info
+  At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+  Release builds will be supported for PX4 v1.17 and later.
+
+:::
+
+## Радіоуправління
+
+A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md).
+You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md).
+
+## Підтримувані платформи / Конструкції
+
+Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## Периферійні пристрої
+
+- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/)
+- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/)
+- [MicoAir GPS](https://micoair.com/gps/)
+- [MicoAir ESC Modules](https://micoair.com/esc/)
+
+## Подальша інформація
+
+- [MicoAir Tech.](https://micoair.com/)
+- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/)
+- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html)
@@ -25,11 +25,6 @@

 :::

-:::warning
-There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
-Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
-:::
-
 ## Технічний підсумок

 Літальні апарати з фіксованим крилом за замовчуванням використовують тип повернення до призначення _місії посадки/точка збору_.
@@ -201,7 +201,9 @@ EPH/EPV values therefore provide a more immediate and practical estimate of the

 - GPS/RTK-GPS
  - [RTK-GPS](../advanced/rtk_gps.md)
+  - [PPS Time Synchronization](../advanced/pps_time_sync.md)
  - [GPS driver](../modules/modules_driver.md#gps)
+  - [PPS driver](../modules/modules_driver.md#pps-capture)
  - [DroneCAN Example](../dronecan/index.md)
 - Компас
  - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
@@ -40,6 +40,7 @@ PX4 можна використовувати з багатьма деталям

 | Пристрій                                                                                                        | Компас | DroneCan |
 | :-------------------------------------------------------------------------------------------------------------- | :----: | :------: |
+| [ARK MAG](https://arkelectron.com/product/ark-mag/)                                                             | RM3100 |     ✓    |
 | [Магнітометр UAVCAN Avionics Anonymous](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) |    ?   |          |
 | [Компас/Магнітометр Holybro DroneCAN RM3100](https://holybro.com/products/dronecan-rm3100-compass)              | RM3100 |     ✓    |
 | [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass)          | RM3100 |     ✓    |
@@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav
 ```

 This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
+:::

 ## PX4 ROS 2 QoS Settings

@@ -588,7 +589,7 @@ For a list of services, details and examples see the [service documentation](../
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).

-::: info
+:::info
 This section contains migration-specific information.
 You should also read the rest of this page to properly understand uXRCE-DDS.
 :::
@@ -182,6 +182,7 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
@@ -504,6 +505,7 @@
      - [UART/串口](uart/index.md)
        - [可配置的串口驱动](uart/user_configurable_serial_driver.md)
    - [RTK GPS (集成)](advanced/rtk_gps.md)
+    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [中间件](middleware/index.md)
    - [uORB 通讯](middleware/uorb.md)
    - [uORB 图](middleware/uorb_graph.md)
@@ -0,0 +1,135 @@
+# PPS Time Synchronization (PX4 Integration)
+
+[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
+This page explains how PPS is integrated into PX4 and how to configure it.
+
+## 综述
+
+PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
+The PPS signal provides a highly accurate timing reference that PX4 can use to:
+
+- Refine GNSS time measurements and compensate for clock drift
+- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
+- Enable offline position refinement through accurate time correlation
+
+## 支持的硬件
+
+PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
+
+Supported boards include (at time of writing):
+
+- [Ark FMUv6x](../flight_controller/ark_v6x.md)
+- Auterion FMUv6x
+- Auterion FMUv6s
+
+## 设置
+
+### Enable PPS Driver in Board Configuration
+
+The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
+This is done by adding the following to your board's configuration:
+
+```ini
+CONFIG_DRIVERS_PPS_CAPTURE=y
+```
+
+### Configure PPS Parameters
+
+The configuration varies depending on your flight controller hardware.
+
+#### FMUv6X
+
+For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
+
+```sh
+param set PWM_AUX_TIM3 -2
+param set PWM_AUX_FUNC9 2064
+param set PPS_CAP_ENABLE 1
+```
+
+#### FMUv6S
+
+For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
+
+```sh
+param set PWM_MAIN_TIM3 -2
+param set PWM_MAIN_FUNC10 2064
+param set PPS_CAP_ENABLE 1
+```
+
+### 布线
+
+The wiring configuration depends on your specific flight controller.
+
+#### Skynode X (FMUv6x)
+
+Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
+
+For detailed pinout information, refer to:
+
+- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
+
+#### Skynode S (FMUv6S)
+
+For FMUv6S, you need to route the PPS signal separately:
+
+1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
+2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
+
+#### ARK Jetson Carrier Board (FMUv6x)
+
+For ARK FMUv6X on the Jetson carrier board:
+
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
+
+## 验证
+
+After configuring PPS, you can verify that it is working correctly:
+
+1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
+
+2. Wait for GNSS fix.
+
+3. Check the PPS capture status to confirm it is up and running:
+
+   ```sh
+   pps_capture status
+   ```
+
+4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
+
+   ```sh
+   listener pps_capture
+   ```
+
+   Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
+
+### PPS Capture Driver
+
+The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
+
+主要特性：
+
+- Sub-microsecond pulse capture precision (hardware-dependent)
+- Automatic drift calculation and compensation
+- Integration with the GNSS driver for refined time stamping
+
+See also:
+
+- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
+- [PpsCapture Message](../msg_docs/PpsCapture.md)
+
+### Time Synchronization Flow
+
+1. GNSS module sends position/time data at ~1-20 Hz.
+2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
+3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
+4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
+5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
+
+The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
+
+:::warning
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+:::
@@ -89,7 +89,7 @@ Flight controllers that have bootloader PX4-Autopilot `make` targets, can build
 The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
@@ -30,6 +30,7 @@ The boards in this category are:
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
 - [Holybro Durandal](../flight_controller/durandal.md)
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
+- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
@@ -0,0 +1,153 @@
+# MicoAir743-Lite
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues.
+:::
+
+MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry.
+
+![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png)
+
+Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
+When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## MicoAir743-Lite (v1.1)
+
+![MicoAir743-Lite Back View](../../assets/flight_controller/micoair743_lite/back_view.png)
+
+## 总览
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- On-board sensors
+  - Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: SPA06
+- On-board Bluetooth Telemetry
+  - Connected to UART8 internally, baudrate 115200
+  - Connecting to QGC (PC or Android phone) via Bluetooth
+- 其它特性:
+  - Operating & storage temperature: -20 ~ 85°c
+
+### 接口
+
+- 8 UART (TELEM / GPS / RC)
+- 14 PWM outputs （10 supports DShot）
+- Support multiple RC inputs (SBUS / CRSF / DSM)
+- 1 GPS port
+- 1 I2C port
+- 2 ADC port2 (VBAT, Current)
+- 1 DJI O3/O4 VTX connector
+- 1 MicroSD Card Slot
+- 1 USB Type-C
+
+### Electrical data
+
+- VBAT Input:
+  - 2\~6S (6\~27V)
+- USB Power Input:
+  - 4.75\~5.25V
+- BEC Output:
+  - 5V 2A (for controller, receiver, GPS, optical flow or other devices)
+  - 9V 2A (for video transmitter, camera)
+
+### Mechanical data
+
+- Mounting: 30.5 x 30.5mm, Φ4mm
+- Dimensions: 36 x 36 x 8 mm
+- Weight: 10g
+
+![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png)
+
+## 购买渠道
+
+Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).
+
+## 针脚定义
+
+Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file.
+
+## 串口映射
+
+| UART   | 设备         | Port   |
+| ------ | ---------- | ------ |
+| USART1 | /dev/ttyS0 | TELEM1 |
+| USART2 | /dev/ttyS1 | GPS2   |
+| USART3 | /dev/ttyS2 | GPS1   |
+| UART4  | /dev/ttyS3 | TELEM2 |
+| UART5  | /dev/ttyS4 | TELEM3 |
+| USART6 | /dev/ttyS5 | RC     |
+| UART7  | /dev/ttyS6 | URT6   |
+| UART8  | /dev/ttyS7 | TELEM4 |
+
+## Interfaces Diagram
+
+:::note
+All the connectors used on the board are SH1.0
+:::
+
+![MicoAir743-Lite Interface Diagram](../../assets/flight_controller/micoair743_lite/interfaces_diagram.png)
+
+## Sample Wiring Diagram
+
+![MicoAir743-Lite Wiring Diagram](../../assets/flight_controller/micoair743_lite/wiring_diagram.png)
+
+## 编译固件
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make micoair_h743-lite_default
+```
+
+## Installing PX4 Firmware
+
+The firmware can be installed in any of the normal ways:
+
+- Build and upload the source
+
+  ```sh
+  make micoair_h743-lite_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+  ::: info
+  At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+  Release builds will be supported for PX4 v1.17 and later.
+
+:::
+
+## 遥控器
+
+A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md).
+You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md).
+
+## 支持的平台/机身
+
+Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## 外部设备
+
+- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/)
+- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/)
+- [MicoAir GPS](https://micoair.com/gps/)
+- [MicoAir ESC Modules](https://micoair.com/esc/)
+
+## 更多信息
+
+- [MicoAir Tech.](https://micoair.com/)
+- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/)
+- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html)
@@ -25,11 +25,6 @@ The default type is recommended.

 :::

-:::warning
-There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
-Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
-:::
-
 ## 技术总结

 Fixed-wing vehicles use the _mission landing/rally point_ return type by default.
@@ -201,7 +201,9 @@ EPH/EPV values therefore provide a more immediate and practical estimate of the

 - GPS/RTK-GPS
  - [RTK-GPS](../advanced/rtk_gps.md)
+  - [PPS Time Synchronization](../advanced/pps_time_sync.md)
  - [GPS driver](../modules/modules_driver.md#gps)
+  - [PPS driver](../modules/modules_driver.md#pps-capture)
  - [DroneCAN Example](../dronecan/index.md)
 - 罗盘
  - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
@@ -40,6 +40,7 @@ This list contains stand-alone magnetometer modules (without GNSS).

 | 设备                                                                                                               |   罗盘   |           DroneCan          |
 | :--------------------------------------------------------------------------------------------------------------- | :----: | :-------------------------: |
+| [ARK MAG](https://arkelectron.com/product/ark-mag/)                                                              | RM3100 | &check; |
 | [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) |    ?   |                             |
 | [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass)             | RM3100 | &check; |
 | [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass)           | RM3100 | &check; |
@@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav
 ```

 This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
+:::

 ## PX4 ROS 2 QoS Settings

@@ -588,7 +589,7 @@ For a list of services, details and examples see the [service documentation](../
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).

-::: info
+:::info
 This section contains migration-specific information.
 You should also read the rest of this page to properly understand uXRCE-DDS.
 :::
@@ -11,6 +11,19 @@ uint8 esc_state					# State of ESC - depend on Vendor

 uint8 actuator_function				# actuator output function (one of Motor1...MotorN)

+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
+uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
+uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
+uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
+uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
+uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
+uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
+uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
+uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
+uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
+uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
+
 uint16 failures					# Bitmask to indicate the internal ESC faults
 int8 esc_power					# Applied power 0-100 in % (negative values reserved)

@@ -43,6 +43,17 @@ target_link_libraries(drivers_bootloaders PRIVATE crc)

 # generate bootloader_app_shared_t
 if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
+	# Check if UAVCAN board identity variables are defined
+	# These are only set for UAVCAN node boards (CAN peripherals like can-gps, cannode, etc.)
+	if(NOT DEFINED uavcanblid_hw_version_major OR NOT DEFINED uavcanblid_hw_version_minor OR
+	   NOT DEFINED uavcanblid_sw_version_major OR NOT DEFINED uavcanblid_sw_version_minor)
+		message(FATAL_ERROR
+			"CONFIG_DRIVERS_BOOTLOADERS is only supported on UAVCAN node boards.\n"
+			"This board (${PX4_BOARD}) does not have UAVCAN board identity defined.\n"
+			"Please disable CONFIG_DRIVERS_BOOTLOADERS in boardconfig (make ${PX4_CONFIG} boardconfig).\n"
+			"Note: This option is only needed for CAN peripheral boards (e.g., can-gps, cannode, can-flow).")
+	endif()
+
 	set(HW_MAJOR ${uavcanblid_hw_version_major})
 	set(HW_MINOR ${uavcanblid_hw_version_minor})
 	set(SW_MAJOR ${uavcanblid_sw_version_major})
@@ -1,5 +1,7 @@
 menuconfig DRIVERS_BOOTLOADERS
 	bool "bootloaders"
 	default n
+	depends on BOARD_ROMFSROOT = "cannode" || BOARD_ROMFSROOT = ""
 	---help---
 		Enable support for bootloaders
+		Note: This is only supported on UAVCAN node boards (CAN peripherals)
@@ -86,7 +86,7 @@ public:

 			battery_info_aux.timestamp.usec = battery.timestamp;

-			for (uint8_t i = 0; i < battery.cell_count && i < battery.voltage_cell_v.size(); i++) {
+			for (uint8_t i = 0; i < battery.cell_count && i < arraySize(battery_status_s::voltage_cell_v); i++) {
 				battery_info_aux.voltage_cell.push_back(battery.voltage_cell_v[i]);
 			}

@@ -44,15 +44,12 @@ bool FlightTaskAuto::activate(const trajectory_setpoint_s &last_setpoint)
 {
 	bool ret = FlightTask::activate(last_setpoint);

+	// Set setpoints equal current state.
 	_position_setpoint = _position;
 	_velocity_setpoint = _velocity;
 	_yaw_setpoint = _yaw;
 	_yawspeed_setpoint = 0.0f;

-	// Set setpoints equal current state.
-	_velocity_setpoint = _velocity;
-	_position_setpoint = _position;
-
 	Vector3f vel_prev{last_setpoint.velocity};
 	Vector3f pos_prev{last_setpoint.position};
 	Vector3f accel_prev{last_setpoint.acceleration};
@@ -1813,9 +1813,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
 		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 2.0f);
-		configure_stream_local("ESC_INFO", 0.2f);
-		configure_stream_local("ESC_STATUS", 0.5f);
-
+		configure_stream_local("ESC_INFO", 1.0f);
+		configure_stream_local("ESC_STATUS", 2.0f);
 		configure_stream_local("ADSB_VEHICLE", 1.0f);
 		configure_stream_local("ATTITUDE_TARGET", 0.5f);
 		configure_stream_local("AVAILABLE_MODES", 0.3f);
@@ -65,6 +65,8 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)

 				rsync.tc1 = now * 1000ULL;
 				rsync.ts1 = tsync.ts1;
+				rsync.target_component = msg->compid;
+				rsync.target_system = msg->sysid;

 				mavlink_msg_timesync_send_struct(_mavlink.get_channel(), &rsync);

@@ -34,7 +34,9 @@
 #ifndef ESC_INFO_HPP
 #define ESC_INFO_HPP

+#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/esc_status.h>
+#include <mathlib/mathlib.h>

 class MavlinkStreamESCInfo : public MavlinkStream
 {
@@ -49,50 +51,121 @@ public:

 	unsigned get_size() override
 	{
-		static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-		return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
+		static constexpr unsigned message_size = MAVLINK_MSG_ID_ESC_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		return _esc_status_subs.advertised_count() * message_size;
 	}

 private:
 	explicit MavlinkStreamESCInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}

-	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
-	uint8_t _number_of_batches{0};
+	uORB::SubscriptionMultiArray<esc_status_s> _esc_status_subs{ORB_ID::esc_status};
+
+	static constexpr uint8_t MAX_ESC_OUTPUTS = 12; // See output_functions.hpp
+	static constexpr uint8_t ESCS_PER_MSG = MAVLINK_MSG_ESC_INFO_FIELD_TEMPERATURE_LEN;
+	static constexpr uint8_t MAX_NUM_MSGS = MAX_ESC_OUTPUTS / ESCS_PER_MSG;
+
+	static constexpr hrt_abstime ESC_TIMEOUT = 100000;
+
+	struct EscOutputInterfaceInfo {
+		uint16_t counter;
+		uint8_t esc_count;
+		uint8_t esc_connectiontype;
+		uint8_t esc_online_flags;
+	};
+
+	struct EscInfo {
+		hrt_abstime timestamp;
+		uint16_t failure_flags;
+		uint32_t error_count;
+		int16_t temperature;
+		bool online;
+	};
+
+	int _total_esc_count = {};
+	EscOutputInterfaceInfo _interface[MAX_NUM_MSGS] = {};
+	EscInfo _escs[MAX_ESC_OUTPUTS] = {};
+
+	void update_data() override
+	{
+		int subscriber_count = math::min(_esc_status_subs.size(), MAX_NUM_MSGS);
+
+		for (int i = 0; i < subscriber_count; i++) {
+			esc_status_s esc = {};
+
+			if (_esc_status_subs[i].update(&esc)) {
+				_interface[i].counter = esc.counter;
+				_interface[i].esc_count = esc.esc_count;
+				_interface[i].esc_connectiontype = esc.esc_connectiontype;
+
+				// Capture online_flags, we will map from index to motor number
+				uint8_t online_flags = esc.esc_online_flags;
+				_interface[i].esc_online_flags = 0;
+
+				for (int j = 0; j < esc_status_s::CONNECTED_ESC_MAX; j++) {
+					bool is_motor = ((int)esc.esc[j].actuator_function >= esc_report_s::ACTUATOR_FUNCTION_MOTOR1) &&
+							((int)esc.esc[j].actuator_function <= esc_report_s::ACTUATOR_FUNCTION_MOTOR12);
+
+					if (is_motor) {
+						// Map OutputFunction number to index
+						int index = (int)esc.esc[j].actuator_function - esc_report_s::ACTUATOR_FUNCTION_MOTOR1;
+						_escs[index].online = online_flags & (1 << j);
+						_escs[index].failure_flags = esc.esc[j].failures;
+						_escs[index].error_count = esc.esc[j].esc_errorcount;
+						_escs[index].timestamp = esc.esc[j].timestamp;
+						_escs[index].temperature = esc.esc[j].esc_temperature * 100.f;
+					}
+				}
+			}
+		}
+
+		int count = 0;
+
+		for (int i = 0; i < MAX_NUM_MSGS; i++) {
+			count += _interface[i].esc_count;
+		}
+
+		_total_esc_count = count;
+	}

 	bool send() override
 	{
-		static constexpr uint8_t batch_size = MAVLINK_MSG_ESC_INFO_FIELD_TEMPERATURE_LEN;
-		esc_status_s esc_status;
+		bool updated = false;

-		if (_esc_status_sub.update(&esc_status)) {
-			mavlink_esc_info_t msg{};
+		for (int i = 0; i < MAX_NUM_MSGS; i++) {

-			msg.time_usec = esc_status.timestamp;
-			msg.counter = esc_status.counter;
-			msg.count = esc_status.esc_count;
-			msg.connection_type = esc_status.esc_connectiontype;
-			msg.info = esc_status.esc_online_flags;
+			hrt_abstime now = hrt_absolute_time();

-			// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
-			_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);
+			mavlink_esc_info_t msg = {};
+			msg.index = i * ESCS_PER_MSG;
+			msg.time_usec = now;
+			msg.counter = _interface[i].counter;
+			msg.count = _total_esc_count;
+			msg.connection_type = _interface[i].esc_connectiontype;
+			msg.info = _interface[i].esc_online_flags;

-			for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
-				msg.index = batch_number * batch_size;
+			bool atleast_one_esc_updated = false;

-				for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
-					msg.failure_flags[esc_index] = esc_status.esc[esc_index].failures;
-					msg.error_count[esc_index] = esc_status.esc[esc_index].esc_errorcount;
-					msg.temperature[esc_index] = static_cast<int16_t>(esc_status.esc[esc_index].esc_temperature *
-								     100.f); // convert to centiDegrees
+			for (int j = 0; j < ESCS_PER_MSG; j++) {
+
+				EscInfo &esc = _escs[i * ESCS_PER_MSG + j];
+
+				msg.info |= (esc.online << j);
+
+				if ((esc.timestamp != 0) && (esc.timestamp + ESC_TIMEOUT) > now) {
+					msg.failure_flags[j] = esc.failure_flags;
+					msg.error_count[j] = esc.error_count;
+					msg.temperature[j] = esc.temperature;
+					atleast_one_esc_updated = true;
 				}
-
-				mavlink_msg_esc_info_send_struct(_mavlink->get_channel(), &msg);
 			}

-			return true;
+			if (atleast_one_esc_updated) {
+				mavlink_msg_esc_info_send_struct(_mavlink->get_channel(), &msg);
+				updated = true;
+			}
 		}

-		return false;
+		return updated;
 	}
 };

@@ -34,7 +34,9 @@
 #ifndef ESC_STATUS_HPP
 #define ESC_STATUS_HPP

+#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/esc_status.h>
+#include <mathlib/mathlib.h>

 class MavlinkStreamESCStatus : public MavlinkStream
 {
@@ -49,46 +51,88 @@ public:

 	unsigned get_size() override
 	{
-		static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-		return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
+		static constexpr unsigned message_size = MAVLINK_MSG_ID_ESC_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		return _esc_status_subs.advertised_count() * message_size;
 	}

 private:
 	explicit MavlinkStreamESCStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}

-	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
-	uint8_t _number_of_batches{0};
+	uORB::SubscriptionMultiArray<esc_status_s> _esc_status_subs{ORB_ID::esc_status};
+
+	static constexpr uint8_t MAX_ESC_OUTPUTS = 12; // See output_functions.hpp
+	static constexpr uint8_t ESCS_PER_MSG = MAVLINK_MSG_ESC_STATUS_FIELD_RPM_LEN;
+	static constexpr uint8_t MAX_NUM_MSGS = MAX_ESC_OUTPUTS / ESCS_PER_MSG;
+	static constexpr hrt_abstime ESC_TIMEOUT = 100000;
+
+	struct EscStatus {
+		hrt_abstime timestamp;
+		int32_t rpm;
+		float voltage;
+		float current;
+	};
+
+	EscStatus _escs[MAX_ESC_OUTPUTS] = {};
+
+	void update_data() override
+	{
+		int subscriber_count = math::min(_esc_status_subs.size(), MAX_NUM_MSGS);
+
+		for (int i = 0; i < subscriber_count; i++) {
+			esc_status_s esc = {};
+
+			if (_esc_status_subs[i].update(&esc)) {
+				for (int j = 0; j < esc_status_s::CONNECTED_ESC_MAX; j++) {
+
+					bool is_motor = ((int)esc.esc[j].actuator_function >= esc_report_s::ACTUATOR_FUNCTION_MOTOR1) &&
+							((int)esc.esc[j].actuator_function <= esc_report_s::ACTUATOR_FUNCTION_MOTOR12);
+
+					if (is_motor) {
+						// Map OutputFunction number to index
+						int index = (int)esc.esc[j].actuator_function - esc_report_s::ACTUATOR_FUNCTION_MOTOR1;
+						_escs[index].timestamp = esc.esc[j].timestamp;
+						_escs[index].rpm = esc.esc[j].esc_rpm;
+						_escs[index].voltage = esc.esc[j].esc_voltage;
+						_escs[index].current = esc.esc[j].esc_current;
+					}
+				}
+			}
+		}
+	}

 	bool send() override
 	{
-		static constexpr uint8_t batch_size = MAVLINK_MSG_ESC_STATUS_FIELD_RPM_LEN;
-		esc_status_s esc_status;
+		bool updated = false;

-		if (_esc_status_sub.update(&esc_status)) {
-			mavlink_esc_status_t msg{};
+		for (int i = 0; i < MAX_NUM_MSGS; i++) {

-			msg.time_usec = esc_status.timestamp;
+			hrt_abstime now = hrt_absolute_time();

-			// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
-			_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);
+			mavlink_esc_status_t msg = {};
+			msg.index = i * ESCS_PER_MSG;
+			msg.time_usec = now;

-			for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
-				msg.index = batch_number * batch_size;
+			bool atleast_one_esc_updated = false;

-				for (int esc_index = 0; esc_index < batch_size
-				     && msg.index + esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
-					msg.rpm[esc_index] = esc_status.esc[msg.index + esc_index].esc_rpm;
-					msg.voltage[esc_index] = esc_status.esc[msg.index + esc_index].esc_voltage;
-					msg.current[esc_index] = esc_status.esc[msg.index + esc_index].esc_current;
+			for (int j = 0; j < ESCS_PER_MSG; j++) {
+
+				EscStatus &esc = _escs[i * ESCS_PER_MSG + j];
+
+				if ((esc.timestamp != 0) && (esc.timestamp + ESC_TIMEOUT) > now) {
+					msg.rpm[j] = esc.rpm;
+					msg.voltage[j] = esc.voltage;
+					msg.current[j] = esc.current;
+					atleast_one_esc_updated = true;
 				}
-
-				mavlink_msg_esc_status_send_struct(_mavlink->get_channel(), &msg);
 			}

-			return true;
+			if (atleast_one_esc_updated) {
+				mavlink_msg_esc_status_send_struct(_mavlink->get_channel(), &msg);
+				updated = true;
+			}
 		}

-		return false;
+		return updated;
 	}
 };

@@ -67,6 +67,7 @@ struct SendSubscription {
 	uint32_t topic_size;
 	UcdrSerializeMethod ucdr_serialize_method;
 	uint64_t publish_interval_ms;
+	uint8_t orb_instance;
 };

 // Subscribers for messages to send
@@ -81,6 +82,7 @@ struct SendTopicsSubs {
 			  ucdr_topic_size_@(pub['simple_base_type'])(),
 			  &ucdr_serialize_@(pub['simple_base_type']),
 			  static_cast<uint64_t>((@(pub.get('rate_limit', 0)) > 0) ? (1e3 / @(pub.get('rate_limit', 1e3))) : UXRCE_DEFAULT_POLL_INTERVAL_MS),
+			  @(pub['instance'])
 			},
@[    end for]@
 	};
@@ -98,13 +100,13 @@ bool SendTopicsSubs::init(uxrSession *session, uxrStreamId reliable_out_stream_i
 	bool ret = true;
 	for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) {
 		if (fds[idx].events == 0) {
-			fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta);
+			fds[idx].fd = orb_subscribe_multi(send_subscriptions[idx].orb_meta, send_subscriptions[idx].orb_instance);
 			fds[idx].events = POLLIN;
 			orb_set_interval(fds[idx].fd, send_subscriptions[idx].publish_interval_ms);
 		}

 		if (!create_data_writer(session, reliable_out_stream_id, participant_id, static_cast<ORB_ID>(send_subscriptions[idx].orb_meta->o_id), client_namespace, send_subscriptions[idx].topic,
-								   send_subscriptions[idx].message_version,
+								   send_subscriptions[idx].message_version, send_subscriptions[idx].orb_instance,
 								   send_subscriptions[idx].dds_type_name, send_subscriptions[idx].data_writer)) {
 			ret = false;
 		}
@@ -102,12 +102,24 @@ def process_message_type(msg_type):
    # topic_simple: eg vehicle_status
    msg_type['topic_simple'] = msg_type['topic'].split('/')[-1]

+def process_message_instance(msg_type):
+    if 'instance' in msg_type:
+        # if instance is given, check if it is a non negative integer
+        if not (type(msg_type['instance']) is int and msg_type['instance'] >= 0) :
+            raise TypeError("`instance` must be a non negative integer")
+        # add trailing instance to topic name
+        msg_type['topic'] = f"{msg_type['topic']}{msg_type['instance']}"
+    else:
+        # if instance is not given,
+        msg_type['instance'] = 0
+
 merged_em_globals['namespace'] = namespace

 pubs_not_empty = msg_map['publications'] is not None
 if pubs_not_empty:
    for p in msg_map['publications']:
        process_message_type(p)
+        process_message_instance(p)

 merged_em_globals['publications'] = msg_map['publications'] if pubs_not_empty else []

@@ -50,7 +50,7 @@ static bool generate_topic_name(char *topic_name, const char *client_namespace,
 }

 static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrObjectId participant_id,
-			       ORB_ID orb_id, const char *client_namespace, const char *topic, uint32_t message_version, const char *type_name,
+			       ORB_ID orb_id, const char *client_namespace, const char *topic, uint32_t message_version, uint8_t instance, const char *type_name,
 			       uxrObjectId &datawriter_id)
 {
 	// topic
@@ -61,7 +61,7 @@ static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_str
 		return false;
 	}

-	uxrObjectId topic_id = topic_id_from_orb(orb_id);
+	uxrObjectId topic_id = topic_id_from_orb(orb_id, instance);
 	uint16_t topic_req = uxr_buffer_create_topic_bin(session, reliable_out_stream_id, topic_id, participant_id, topic_name,
 			     type_name, UXR_REPLACE);