Merge branch 'main' into copilot/sub-pr-26456-again

2026-10-13 11:33:34 +08:00 · 2026-02-18 20:30:43 +11:00
parent f0e28e9016 2e651117e8
commit a62c7b1a1b
1062 changed files with 39570 additions and 5206 deletions
@@ -105,6 +105,89 @@ Checks:          '*,
                  -readability-redundant-declaration,
                  -readability-static-accessed-through-instance,
                  -readability-static-definition-in-anonymous-namespace,
+                  -altera-struct-pack-align,
+                  -bugprone-easily-swappable-parameters,
+                  -concurrency-mt-unsafe,
+                  -cppcoreguidelines-avoid-const-or-ref-data-members,
+                  -cppcoreguidelines-macro-usage,
+                  -cppcoreguidelines-non-private-member-variables-in-classes,
+                  -hicpp-uppercase-literal-suffix,
+                  -llvm-qualified-auto,
+                  -misc-non-private-member-variables-in-classes,
+                  -misc-use-anonymous-namespace,
+                  -modernize-concat-nested-namespaces,
+                  -readability-const-return-type,
+                  -readability-identifier-length,
+                  -readability-isolate-declaration,
+                  -readability-qualified-auto,
+                  -readability-redundant-access-specifiers,
+                  -cppcoreguidelines-avoid-do-while,
+                  -misc-include-cleaner,
+                  -misc-const-correctness,
+                  -llvm-else-after-return,
+                  -readability-function-cognitive-complexity,
+                  -cppcoreguidelines-init-variables,
+                  -bugprone-reserved-identifier,
+                  -cert-dcl37-c,
+                  -cert-dcl51-cpp,
+                  -modernize-use-nodiscard,
+                  -misc-confusable-identifiers,
+                  -cert-err33-c,
+                  -readability-redundant-inline-specifier,
+                  -readability-uppercase-literal-suffix,
+                  -bugprone-narrowing-conversions,
+                  -cppcoreguidelines-narrowing-conversions,
+                  -bugprone-switch-missing-default-case,
+                  -cppcoreguidelines-avoid-goto,
+                  -hicpp-avoid-goto,
+                  -bugprone-branch-clone,
+                  -bugprone-unhandled-self-assignment,
+                  -cert-oop54-cpp,
+                  -performance-enum-size,
+                  -readability-avoid-nested-conditional-operator,
+                  -cppcoreguidelines-prefer-member-initializer,
+                  -cppcoreguidelines-explicit-virtual-functions,
+                  -cppcoreguidelines-virtual-class-destructor,
+                  -readability-convert-member-functions-to-static,
+                  -readability-make-member-function-const,
+                  -bugprone-assignment-in-if-condition,
+                  -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-incorrect-roundings,
+                  -bugprone-macro-parentheses,
+                  -bugprone-multi-level-implicit-pointer-conversion,
+                  -bugprone-signed-char-misuse,
+                  -bugprone-too-small-loop-variable,
+                  -cppcoreguidelines-avoid-non-const-global-variables,
+                  -cppcoreguidelines-use-default-member-init,
+                  -hicpp-multiway-paths-covered,
+                  -hicpp-named-parameter,
+                  -misc-header-include-cycle,
+                  -misc-no-recursion,
+                  -performance-no-int-to-ptr,
+                  -readability-avoid-return-with-void-value,
+                  -readability-avoid-unconditional-preprocessor-if,
+                  -readability-delete-null-pointer,
+                  -readability-duplicate-include,
+                  -readability-redundant-casting,
+                  -readability-redundant-member-init,
+                  -readability-reference-to-constructed-temporary,
+                  -readability-simplify-boolean-expr,
+                  -bugprone-unsafe-functions,
+                  -cert-msc24-c,
+                  -cert-msc32-c,
+                  -cert-msc33-c,
+                  -cert-msc51-cpp,
+                  -cert-str34-c,
+                  -cppcoreguidelines-macro-to-enum,
+                  -modernize-macro-to-enum,
+                  -abseil-string-find-str-contains,
+                  -bugprone-suspicious-include,
+                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
+                  -clang-analyzer-optin.core.EnumCastOutOfRange,
+                  -modernize-type-traits,
+                  -misc-definitions-in-headers,
+                  -bugprone-casting-through-void,
+                  -readability-redundant-string-init,
                 '
 WarningsAsErrors: '*'
 CheckOptions:
@@ -2,6 +2,37 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+#
+# ===================================================================================
+# RELEASE UPLOAD LOGIC
+# ===================================================================================
+# This workflow handles building firmware and uploading to S3 + GitHub Releases.
+#
+# S3 Bucket Structure (s3://px4-travis/Firmware/):
+#   - master/          <- Latest main branch build (for QGC compatibility)
+#   - stable/          <- Latest stable release, controlled by 'stable' branch
+#   - beta/            <- Latest pre-release, controlled by 'beta' branch
+#   - vX.Y.Z/          <- Archived stable release
+#   - vX.Y.Z-beta1/    <- Archived pre-release
+#
+# Trigger Behavior:
+#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
+#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
+#   - Branch main        -> Upload to: master/ (for QGC compatibility)
+#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
+#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
+#   - Branch release/**  -> Build only, no S3 upload (CI validation)
+#   - Pull requests      -> Build only, no S3 upload (CI validation)
+#
+# GitHub Releases:
+#   - All version tags create a draft GitHub Release
+#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
+#
+# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
+# corresponding branch pushes control those directories. This prevents
+# pre-release tags from accidentally overwriting stable firmware (#26340)
+# and avoids race conditions between tag and branch builds.
+# ===================================================================================

 name: Build all targets

@@ -29,6 +60,7 @@ concurrency:
 permissions:
  contents: write
  actions: read
+  packages: read

 jobs:
  group_targets:
@@ -94,6 +126,9 @@ jobs:
      fail-fast: false
    container:
      image: ${{ matrix.container }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
@@ -159,6 +194,13 @@ jobs:
          path: ~/.ccache
          key: ${{ steps.cc_restore.outputs.cache-primary-key }}

+  # ===========================================================================
+  # ARTIFACT UPLOAD JOB
+  # ===========================================================================
+  # Uploads build artifacts to S3 and creates GitHub Releases.
+  # Runs for version tags (v*), main, stable, and beta branch pushes.
+  # See header comments for full upload logic documentation.
+  # ===========================================================================
  artifacts:
    name: Upload Artifacts
    # runs-on: ubuntu-latest
@@ -177,31 +219,31 @@ jobs:
      - name: Choose Upload Location
        id: upload-location
        run: |
-          # Determine upload location based on branch or tag with the following considerations:
-          # Destination: AWS S3 bucket px4-travis in folder Firmware/
-          # - If branch is main -> upload to master/
-          #   - Older versions of QGC are hardocded to look for master/
-          # - If branch is stable or beta -> upload to stable/ or beta/
-          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
-          #   - Also update stable/ to point to the same version
-          #.  - Older versions of QGC are hardocded to look for stable/
-          # - If a pull request -> do not upload
          set -euo pipefail

          ref="${GITHUB_REF}"
          branch=${{ needs.group_targets.outputs.branchname  }}
          location="$branch"
+          is_prerelease="false"

+          # Main branch uploads to "master" for QGC backward compatibility
          if [[ "$branch" == "main" ]]; then
            location="master"
          fi

+          # Version tags: upload to versioned directory (e.g., v1.16.1/)
          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
            tag="${ref#refs/tags/}"
            location="$tag"
+
+            # Pre-release tags contain -alpha, -beta, or -rc suffix
+            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
+              is_prerelease="true"
+            fi
          fi

          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT

      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
        uses: jakejarvis/s3-sync-action@master
@@ -215,28 +257,13 @@ jobs:
          SOURCE_DIR: artifacts/
          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/

-      # if we are uploading artifacts to a versioned folder
-      # we should also update the stable folder in the s3 bucket
-      - name: Uploading Artifacts to S3 [stable]
-        uses: jakejarvis/s3-sync-action@master
-        if: startsWith(github.ref, 'refs/tags/v')
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/stable/
-
-      # if build is a release triggered by a versioned tag then create a github release
-      # and upload the build artifacts. A draft release is created so that the release
-      # can be reviewed before publishing
+      # Create a draft GitHub Release for all version tags
+      # Pre-releases are automatically marked as such
      - name: Upload Artifacts to GitHub Release
        uses: softprops/action-gh-release@v2
        if: startsWith(github.ref, 'refs/tags/v')
        with:
          draft: true
+          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
          files: artifacts/*.px4
          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -19,6 +19,10 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
    strategy:
      fail-fast: false
      matrix:
@@ -35,20 +39,17 @@ jobs:
          "px4_sitl_allyes",
          "module_documentation",
        ]
+
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0

      - name: Building [${{ matrix.check }}]
-        uses: addnab/docker-run-action@v3
-        with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make ${{ matrix.check }}
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          make ${{ matrix.check }}

      - name: Uploading Coverage to Codecov.io
        if: contains(matrix.check, 'coverage')
@@ -1,4 +1,4 @@
-name: Clang Tidy
+name: Static Analysis

 on:
  push:
@@ -11,20 +11,59 @@ on:
      - '**'
    paths-ignore:
      - 'docs/**'
+
+permissions:
+  contents: read
+
 jobs:
-  build:
-    runs-on: ubuntu-latest
+  clang_tidy:
+    name: Clang-Tidy
+    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
+    container:
+      image: px4io/px4-dev:v1.17.0-beta1
    steps:
+    - uses: runs-on/action@v2
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
+        fetch-tags: true

-    - name: Testing (clang-tidy)
-      uses: addnab/docker-run-action@v3
+    - name: Configure Git Safe Directory
+      run: git config --system --add safe.directory '*'
+
+    - name: Restore Compiler Cache
+      id: cc_restore
+      uses: actions/cache/restore@v4
      with:
-        image: px4io/px4-dev-clang:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make clang-tidy
+        path: ~/.ccache
+        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
+        restore-keys: |
+          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
+          ccache-clang-tidy-main-
+          ccache-clang-tidy-
+
+    - name: Configure Compiler Cache
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = 120M" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z
+
+    - name: Run Clang-Tidy Analysis
+      run: make -j16 clang-tidy
+
+    - name: Compiler Cache Stats
+      if: always()
+      run: ccache -s
+
+    - name: Save Compiler Cache
+      if: always()
+      uses: actions/cache/save@v4
+      with:
+        path: ~/.ccache
+        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
@@ -15,21 +15,21 @@ concurrency:
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0

-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
          make tests TESTFILTER=EKF

-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there is a functional change
+        run: git diff --exit-code
+        working-directory: src/modules/ekf2/test/change_indication
@@ -8,40 +8,47 @@ on:
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0

-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
          make tests TESTFILTER=EKF

-    - name: Check if there exists diff and save result in variable
-      id: diff-check
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there exists diff and save result in variable
+        id: diff-check
+        working-directory: src/modules/ekf2/test/change_indication
+        run: |
+          if git diff --quiet; then
+            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
+          else
+            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
+          fi

-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-        commit_message: |
-          '[AUTO COMMIT] update change indication'
+      - name: auto-commit any changes to change indication
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        uses: stefanzweifel/git-auto-commit-action@v4
+        with:
+          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
+          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
+          commit_message: |
+            [AUTO COMMIT] update change indication

-          See .github/workflopws/ekf_update_change_indicator.yml for more details
+            See .github/workflows/ekf_update_change_indicator.yml for more details

-    - name: if there is a functional change, fail check
-      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
-      run: exit 1
+      - name: if there is a functional change, fail check
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        run: exit 1
@@ -19,25 +19,27 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
+
    strategy:
      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box"}

    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: Build SITL and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_test_mission.test \
+                mission:=MC_mission_box \
+                vehicle:=iris
+            '
@@ -19,27 +19,26 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
+
    strategy:
      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}

    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: Build PX4 and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_tests_offboard_posctl.test \
+                vehicle:=iris
+            '
@@ -19,27 +19,28 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
    strategy:
      matrix:
-        config: [
-          px4_fmu-v5_default,
-          ]
+        config:
+          - px4_fmu-v5_default

    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: Build PX4 and Run Test [${{ matrix.config }}]
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build PX4 and Run Test [${{ matrix.config }}]
        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+
          make ${{ matrix.config }} nuttx_context
+
          echo "Check that the config option is set"
          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -33,8 +33,10 @@ jobs:
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
+          # transitions). Re-enable once the test infrastructure is stabilized.
+          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

    steps:
      - uses: actions/checkout@v4
@@ -412,7 +412,7 @@ tests:
 	$(call cmake-build,px4_sitl_test)

 # work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
+LCOBUG = --ignore-errors mismatch,negative
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@@ -492,13 +492,29 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang

+# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
+# - All submodules (external code we consume, not edit)
+# - Test code (allowed looser style)
+# - Example code (educational, not production)
+# - Vendored third-party code (e.g., CMSIS_5)
+# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
+# - GPIO excluded here (NuttX platform headers)
+# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
+#   because CMake Unity Builds merge sources into a generated .cxx under build/
+#
+# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
+# Submodules are automatically excluded - no action needed when adding new ones.
+CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
+CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
+CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
+
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .

 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .

 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -1,62 +1,109 @@
-# PX4 Drone Autopilot
+<p align="center">
+  <a href="https://px4.io">
+    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
+  </a>
+</p>

-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+<p align="center">
+  <em>The autopilot stack the industry builds on.</em>
+</p>

-[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+<p align="center">
+  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
+  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
+  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
+  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
+</p>

-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+---

-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+## About

-PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
+PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
+## Why PX4

-## Releases
+**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.

-Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
+**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.

-## Building a PX4 based drone, rover, boat or robot
+**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).

-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.

+## Supported Vehicles

-## Changing Code and Contributing
+<table>
+  <tr>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_multicopter/">
+        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
+        <sub>Multicopter</sub>
+      </a>
+    </td>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_plane/">
+        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
+        <sub>Fixed Wing</sub>
+      </a>
+    </td>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_vtol/">
+        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
+        <sub>VTOL</sub>
+      </a>
+    </td>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_rover/">
+        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
+        <sub>Rover</sub>
+      </a>
+    </td>
+  </tr>
+</table>

-This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>

-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+## Quick Start

+```bash
+git clone https://github.com/PX4/PX4-Autopilot.git --recursive
+cd PX4-Autopilot
+make px4_sitl
+```

-## Weekly Dev Call
+> [!NOTE]
+> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.

-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+## Documentation & Resources

-> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
+| Resource | Description |
+| --- | --- |
+| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
+| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
+| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
+| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
+| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
+| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |

+## Community

-## Maintenance Team
+- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
+- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
+- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
+- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
+- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)

-See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
+## Contributing

-For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
+We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.

-## Supported Hardware
+## Governance

-For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.

-## Project Governance
-
-The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
-
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
-<div style="padding:10px">&nbsp;</div>
+<p align="center">
+  <a href="https://www.dronecode.org/">
+    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
+  </a>
+</p>
@@ -101,6 +101,7 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
+param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -22,6 +22,9 @@

 . ${R}etc/init.d/rc.uuv_defaults

+# Overwrite DDS AG IP to `192.168.0.1`
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 # param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -10,9 +10,6 @@ set VEHICLE_TYPE uuv
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12

-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281
@@ -36,11 +36,20 @@ if args.filter:
        target_filter.append(target)

 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
+voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = ['qurt']
+excluded_platforms = []
+
+# Container overrides for platforms/boards that need a non-default container
+platform_container_overrides = {
+    'qurt': voxl2_container,
+}
+board_container_overrides = {
+    'modalai_voxl2': voxl2_container,
+}
 excluded_labels = [
    'stackcheck',
    'nolockstep', 'replay', 'test',
@@ -88,7 +97,20 @@ def process_target(px4board_file, target_name):

    if platform not in excluded_platforms:
        container = default_container
-        if platform == 'posix':
+
+        # Extract board name (manufacturer_board) from target name
+        board_name = '_'.join(target_name.split('_')[:2])
+
+        # Apply container overrides for specific platforms or boards
+        if platform in platform_container_overrides:
+            container = platform_container_overrides[platform]
+        if board_name in board_container_overrides:
+            container = board_container_overrides[board_name]
+
+        # Boards with container overrides get their own group
+        if board_name in board_container_overrides or platform in platform_container_overrides:
+            group = 'voxl2'
+        elif platform == 'posix':
            group = 'base'
            if toolchain:
                if toolchain.startswith('aarch64'):
@@ -203,7 +225,7 @@ if (args.group):
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
-        runner = 'x64' if arch == 'nuttx' else 'arm64'
+        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
        temp_group = []
@@ -1,8 +1,8 @@
 #!/bin/bash

 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+cp **/**/*.px4 artifacts/ 2>/dev/null || true
+cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
@@ -1,47 +1,27 @@
 #! /bin/bash

 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi

-# otherwise default to nuttx
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
-fi
-
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

-PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=$PWD/../
+SCRIPT_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=${SCRIPT_DIR}/../

 CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"

 docker run -it --rm -w "${SRC_DIR}" \
 	--user="$(id -u):$(id -g)" \
-	--env=AWS_ACCESS_KEY_ID \
-	--env=AWS_SECRET_ACCESS_KEY \
-	--env=BRANCH_NAME \
 	--env=CCACHE_DIR="${CCACHE_DIR}" \
-	--env=CI \
-	--env=CODECOV_TOKEN \
-	--env=COVERALLS_REPO_TOKEN \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
 	--env=PX4_UBSAN \
-	--env=TRAVIS_BRANCH \
-	--env=TRAVIS_BUILD_ID \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+	${PX4_DOCKER_REPO} /bin/bash -c "$@"
@@ -144,6 +144,8 @@ def main():
                      help='number of tidy instances to be run in parallel.')
  parser.add_argument('files', nargs='*', default=['.*'],
                      help='files to be processed (regex on path)')
+  parser.add_argument('-exclude', dest='exclude', default=None,
+                      help='regular expression matching files to exclude')
  parser.add_argument('-fix', action='store_true', help='apply fix-its')
  parser.add_argument('-format', action='store_true', help='Reformat code '
                      'after applying fixes')
@@ -192,6 +194,7 @@ def main():

  # Build up a big regexy filter from all command line arguments.
  file_name_re = re.compile('(' + ')|('.join(args.files) + ')')
+  exclude_re = re.compile(args.exclude) if args.exclude else None

  try:
    # Spin up a bunch of tidy-launching threads.
@@ -205,6 +208,8 @@ def main():
    # Fill the queue with files.
    for name in files:
      if file_name_re.search(name):
+        if exclude_re and exclude_re.search(name):
+          continue
        queue.put(name)

    # Wait for all threads to be done.
@@ -4,7 +4,7 @@ GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
 SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"

-echo -e "$SCRIPTID Starting"
+echo -e "$SCRIPTID $( uname -m ) | $(date -u +%FT%TZ)"

 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
@@ -22,6 +22,4 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

-echo -e "$SCRIPTID ($( uname -m ))"
-
 exec "$@"
@@ -66,12 +66,6 @@ else
 	fi
 fi

-# Install ccache (used by cmake/ccache.cmake to speed up builds)
-if ! command -v ccache &> /dev/null; then
-	echo "[macos.sh] Installing ccache"
-	brew install ccache
-fi
-
 # Python dependencies
 echo "[macos.sh] Installing Python3 dependencies"
 # We need to have future to install pymavlink later.
@@ -66,15 +66,15 @@ then
 	fi
 fi

+iim42652 -R 6 -s -C 32768 start
 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
-iim42652 -R 6 -s -C 32768 start
 icm45686 -R 2 -s start

 rm3100 -I -b 4 start

-icp201xx -I -a 0x64 start
 bmp581 -b 2 -X -a 0x47 start
+icp201xx -I -a 0x64 start

 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
@@ -127,8 +127,8 @@
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)

-#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
+#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN4)

 /* Power switch controls ******************************************************/
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))
@@ -31,4 +31,34 @@
 #
 ############################################################################

+# Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
+execute_process(
+	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+)
+
 include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)
+
+# Build libfc_sensor.so stub library automatically if not already built
+set(FC_SENSOR_LIB ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so)
+if(NOT EXISTS ${FC_SENSOR_LIB})
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BOARD_DIR}/libfc-sensor-api/build
+	)
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} ..
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+		RESULT_VARIABLE FC_SENSOR_CMAKE_RESULT
+	)
+	if(NOT FC_SENSOR_CMAKE_RESULT EQUAL 0)
+		message(FATAL_ERROR "Failed to configure libfc_sensor stub library")
+	endif()
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} --build .
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+		RESULT_VARIABLE FC_SENSOR_BUILD_RESULT
+	)
+	if(NOT FC_SENSOR_BUILD_RESULT EQUAL 0)
+		message(FATAL_ERROR "Failed to build libfc_sensor stub library")
+	endif()
+endif()
@@ -19,6 +19,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
@@ -254,7 +254,63 @@ export default defineConfig({
      head.push(["link", { rel: "canonical", href: canonicalUrlToAdd }]);
    }

-    // Add any other custom head tags you might want later
+    // Build version-aware site URL for OG tags
+    const branch = process.env.BRANCH_NAME || "main";
+    const siteUrl = `https://docs.px4.io/${branch}`;
+
+    // OG image — same image for all pages, but URL includes version base
+    const ogImage =
+      pageData.frontmatter.ogImage || `${siteUrl}/og-image.png`;
+
+    // Build the actual page URL (version-aware, includes locale prefix)
+    let ogPath = pageData.relativePath.replace(/\.md$/, "");
+    if (ogPath === "index") ogPath = "";
+    else if (ogPath.endsWith("/index"))
+      ogPath = ogPath.slice(0, -"/index".length);
+    const ogUrl = `${siteUrl}/${ogPath}`;
+
+    // Open Graph
+    head.push(
+      [
+        "meta",
+        {
+          property: "og:title",
+          content: pageData.title || "PX4 Autopilot",
+        },
+      ],
+      [
+        "meta",
+        {
+          property: "og:description",
+          content:
+            pageData.description ||
+            "Open-source flight stack for drones and autonomous vehicles.",
+        },
+      ],
+      ["meta", { property: "og:url", content: ogUrl }],
+      ["meta", { property: "og:image", content: ogImage }],
+    );
+
+    // Twitter Card
+    head.push(
+      [
+        "meta",
+        {
+          name: "twitter:title",
+          content: pageData.title || "PX4 Autopilot",
+        },
+      ],
+      [
+        "meta",
+        {
+          name: "twitter:description",
+          content:
+            pageData.description ||
+            "Open-source flight stack for drones and autonomous vehicles.",
+        },
+      ],
+      ["meta", { name: "twitter:image", content: ogImage }],
+    );

    // Return head that will be merged.
    return head;
@@ -276,6 +332,14 @@ export default defineConfig({
      gtag('js', new Date());
      gtag('config', 'G-91EWVWRQ93');`,
    ],
+    // Open Graph
+    ["meta", { property: "og:site_name", content: "PX4 Autopilot" }],
+    ["meta", { property: "og:type", content: "website" }],
+    ["meta", { property: "og:image:width", content: "1200" }],
+    ["meta", { property: "og:image:height", content: "630" }],
+    ["meta", { property: "og:image:type", content: "image/png" }],
+    // Twitter Card
+    ["meta", { name: "twitter:card", content: "summary_large_image" }],
  ],

  vue: {
@@ -1056,9 +1056,6 @@
 1	1	UAVCAN_EC_REV	0	6
 1	1	UAVCAN_ENABLE	2	6
 1	1	UAVCAN_LGT_ANTCL	2	6
-1	1	UAVCAN_LGT_LAND	0	6
-1	1	UAVCAN_LGT_NAV	3	6
-1	1	UAVCAN_LGT_STROB	1	6
 1	1	UAVCAN_NODE_ID	1	6
 1	1	UAVCAN_PUB_ARM	0	6
 1	1	UAVCAN_PUB_MBD	0	6
@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 24.2.3, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 612 335.8" style="enable-background:new 0 0 612 335.8;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#4D4E4E;}
+	.st1{fill:#27B373;}
+	.st2{fill:#5DC4CD;}
+	.st3{fill:#1E8756;}
+</style>
+<g>
+	<g>
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+</g>
+</svg>
@@ -253,8 +253,9 @@
      - [Benewake TFmini Lidar](sensor/tfmini.md)
      - [LeddarOne Lidar](sensor/leddar_one.md)
      - [Lidar-Lite](sensor/lidar_lite.md)
-      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
+      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
+        - [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md)
      - [TeraRanger](sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
      - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
@@ -19596,6 +19596,18 @@ Launch is detected when acceleration in body forward direction is above FW_LAUN_
 | ------ | -------- | -------- | --------- | ------- | ----- |
 | &nbsp; | 0        |          | 0.5       | 30.0    | m/s^2 |

+### FW_LAUN_CS_LK_DY (`FLOAT`) {#FW_LAUN_CS_LK_DY}
+
+Control surface launch delay.
+
+Locks control surfaces during pre-launch (armed) and until this time since launch has passed.
+Only affects control surfaces that have corresponding flag set, and not active for runway takeoff.
+Set to 0 to disable any surface locking after arming.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      |          | 0.1       | 0.      | s    |
+
 ### FW_LAUN_DETCN_ON (`INT32`) {#FW_LAUN_DETCN_ON}

 Fixed-wing launch detection.
@@ -21325,6 +21337,27 @@ Some are generic, while others are specifically fit to a certain vehicle with a
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0       |

+### CA_CS_LAUN_LK (`INT32`) {#CA_CS_LAUN_LK}
+
+Control surface launch lock enabled.
+
+If actuator launch lock is enabled, this surface is kept at the disarmed value.
+
+**Bitmask:**
+
+- `0`: Control Surface 1
+- `1`: Control Surface 2
+- `2`: Control Surface 3
+- `3`: Control Surface 4
+- `4`: Control Surface 5
+- `5`: Control Surface 6
+- `6`: Control Surface 7
+- `7`: Control Surface 8
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 255      |           | 0       |
+
 ### CA_FAILURE_MODE (`INT32`) {#CA_FAILURE_MODE}

 Motor failure handling mode.
@@ -33078,6 +33111,44 @@ Use SENS_MAG_SIDES instead
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 63      |

+### GRF_RATE_CFG (`INT32`) {#GRF_RATE_CFG}
+
+Lightware GRF lidar update rate.
+
+The Lightware GRF distance sensor can increase the update rate to enable greater resolution.
+
+**Values:**
+
+- `1`: 1 Hz
+- `2`: 2 Hz
+- `3`: 4 Hz
+- `4`: 5 Hz
+- `5`: 10 Hz
+- `6`: 20 Hz
+- `7`: 30 Hz
+- `8`: 40 Hz
+- `9`: 50 Hz
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; |          |          |           | 4       |
+
+### GRF_SENS_MODEL (`INT32`) {#GRF_SENS_MODEL}
+
+GRF Sensor model.
+
+GRF Sensor Model used to distinush between the GRF250 and GRF500 since both have different max distance range.
+
+**Values:**
+
+- `0`: disable
+- `1`: GRF250
+- `2`: GRF500
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; |          |          |           | 0       |
+
 ### ILABS_MODE (`INT32`) {#ILABS_MODE}

 InertialLabs INS sensor mode configuration.
@@ -34286,6 +34357,31 @@ Enable simulated GPS sinstance.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; | 0        | 1        |           | 0       |

+### SENS_EN_GRF_CFG (`INT32`) {#SENS_EN_GRF_CFG}
+
+Serial Configuration for Lightware GRF Rangefinder (serial).
+
+Configure on which serial port to run Lightware GRF Rangefinder (serial).
+
+**Values:**
+
+- `0`: Disabled
+- `6`: UART 6
+- `101`: TELEM 1
+- `102`: TELEM 2
+- `103`: TELEM 3
+- `104`: TELEM/SERIAL 4
+- `201`: GPS 1
+- `202`: GPS 2
+- `203`: GPS 3
+- `300`: Radio Controller
+- `301`: Wifi Port
+- `401`: EXT2
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; |          |          |           | 0       |
+
 ### SENS_EN_INA220 (`INT32`) {#SENS_EN_INA220}

 Enable INA220 Power Monitor.
@@ -34511,7 +34607,7 @@ Lightware Laser Rangefinder hardware model (serial).

 ### SENS_EN_SF1XX (`INT32`) {#SENS_EN_SF1XX}

-Lightware SF1xx/SF20/LW20 laser rangefinder (i2c).
+Lightware laser rangefinder (i2c).

 **Values:**

@@ -35686,6 +35782,26 @@ Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 0       |

+### SF1XX_ROT (`INT32`) {#SF1XX_ROT}
+
+Lightware laser rangefinder Rotation.
+
+Distance sensor orientation as MAV_SENSOR_ORIENTATION enum.
+Applies to all models supported by SENS_EN_SF1XX.
+
+**Values:**
+
+- `0`: Forward
+- `2`: Right
+- `4`: Backward
+- `6`: Left
+- `24`: Upward
+- `25`: Downward
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; | 0        | 25       |           | 25      |
+
 ### SF45_ORIENT_CFG (`INT32`) {#SF45_ORIENT_CFG}

 Orientation upright or facing downward.
@@ -40288,7 +40404,7 @@ starve other nodes on the bus.
 UAVCAN ANTI_COLLISION light operating mode.

 This parameter defines the minimum condition under which the system will command
-the ANTI_COLLISION lights on
+lights with anti-collision function to turn on (white).
 0 - Always off
 1 - When autopilot is armed
 2 - When autopilot is prearmed
@@ -40305,67 +40421,97 @@ the ANTI_COLLISION lights on
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; | 0        | 3        |           | 2       |

-### UAVCAN_LGT_LAND (`INT32`) {#UAVCAN_LGT_LAND}
+### UAVCAN_LGT_FN0 (`INT32`) {#UAVCAN_LGT_FN0}

-UAVCAN LIGHT_ID_LANDING light operating mode.
+Light 0 function.

-This parameter defines the minimum condition under which the system will command
-the LIGHT_ID_LANDING lights on
-0 - Always off
-1 - When autopilot is armed
-2 - When autopilot is prearmed
-3 - Always on
+Function assigned to light 0.
+0: Status - displays system status colors
+1: Anti-collision - white beacon controlled by LGT_ANTCL parameter

 **Values:**

- `0`: Always off
- `1`: When autopilot is armed
- `2`: When autopilot is prearmed
- `3`: Always on
+- `0`: Status Light
+- `1`: Anti-collision Light

-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; | 0        | 3        |           | 0       |
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1        |           | 0       |

-### UAVCAN_LGT_NAV (`INT32`) {#UAVCAN_LGT_NAV}
+### UAVCAN_LGT_FN1 (`INT32`) {#UAVCAN_LGT_FN1}

-UAVCAN RIGHT_OF_WAY light operating mode.
+Light 1 function.

-This parameter defines the minimum condition under which the system will command
-the RIGHT_OF_WAY lights on
-0 - Always off
-1 - When autopilot is armed
-2 - When autopilot is prearmed
-3 - Always on
+Function assigned to light 1.
+0: Status - displays system status colors
+1: Anti-collision - white beacon controlled by LGT_ANTCL parameter

 **Values:**

- `0`: Always off
- `1`: When autopilot is armed
- `2`: When autopilot is prearmed
- `3`: Always on
+- `0`: Status Light
+- `1`: Anti-collision Light

-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; | 0        | 3        |           | 3       |
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1        |           | 0       |

-### UAVCAN_LGT_STROB (`INT32`) {#UAVCAN_LGT_STROB}
+### UAVCAN_LGT_FN2 (`INT32`) {#UAVCAN_LGT_FN2}

-UAVCAN STROBE light operating mode.
+Light 2 function.

-This parameter defines the minimum condition under which the system will command
-the STROBE lights on
-0 - Always off
-1 - When autopilot is armed
-2 - When autopilot is prearmed
-3 - Always on
+Function assigned to light 2.
+0: Status - displays system status colors
+1: Anti-collision - white beacon controlled by LGT_ANTCL parameter

 **Values:**

- `0`: Always off
- `1`: When autopilot is armed
- `2`: When autopilot is prearmed
- `3`: Always on
+- `0`: Status Light
+- `1`: Anti-collision Light
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1        |           | 0       |
+
+### UAVCAN_LGT_ID0 (`INT32`) {#UAVCAN_LGT_ID0}
+
+Light 0 ID.
+
+specifies the light_id value for light 0 in UAVCAN LightsCommand messages.
+This determines which physical LED responds to commands for this light slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 255      |           | 0       |
+
+### UAVCAN_LGT_ID1 (`INT32`) {#UAVCAN_LGT_ID1}
+
+Light 1 ID.
+
+specifies the light_id value for light 1 in UAVCAN LightsCommand messages.
+This determines which physical LED responds to commands for this light slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 255      |           | 0       |
+
+### UAVCAN_LGT_ID2 (`INT32`) {#UAVCAN_LGT_ID2}
+
+Light 2 ID.
+
+specifies the light_id value for light 2 in UAVCAN LightsCommand messages.
+This determines which physical LED responds to commands for this light slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 255      |           | 0       |
+
+### UAVCAN_LGT_NUM (`INT32`) {#UAVCAN_LGT_NUM}
+
+Number of UAVCAN lights to configure.
+
+Number of lights to control via UAVCAN LightsCommand messages.
+Set to 0 to disable UAVCAN light control.
+Each light uses two parameters: LGT_IDx for the light_id and LGT_FNx for the function.

 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
@@ -42484,7 +42630,7 @@ Gyro filter settings.

 ### SF1XX_MODE (`INT32`) {#SF1XX_MODE}

-Lightware SF1xx/SF20/LW20 Operation Mode.
+Lightware laser rangefinder Operation Mode.

 **Values:**

@@ -84,10 +84,7 @@ The test steps are:
   </div></div>
   1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:

-   ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
-   2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
-   3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
-   4. Read the warning popup and click on **OK** to start tuning.
+   ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.

 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">

@@ -181,17 +181,22 @@ The following settings also apply, but are not displayed in the QGC UI.
 | <a id="GF_PREDICT"></a>Preemptive geofence triggering              | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT)           | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
 | <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | Enables/Disables flight termination action (disabled by default).                                                                                   |

-## Position (GNSS) Loss Failsafe
+## Position Estimation Failsafes
+
+This section describes failsafes related to the quality of the vehicle's position estimate.
+
+### Position Loss Failsafe

 The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
-The sections below cover first the trigger and then the failsafe action taken by the controller.

 ### Position Loss Failsafe Trigger

-There are basically two mechanisms in PX4 to trigger position failsafes:
+The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:

- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
+- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements.
+  - Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
+- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
+  - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.

 The relevant parameters shown below.

@@ -207,14 +212,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.

-The relevant parameters for all vehicles shown below.
+The relevant parameters are:

-Parameters that only affect Fixed-wing vehicles:
+| Parameter                                                                                       | Description                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)       | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). Set to 0 to disable. |
+| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)          | Fixed roll/bank angle while circling.                                                                                                        |
+| <a id="NAV_FORCE_VT"></a>[NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe.                                                                         |

-| Parameter                                                                                 | Description                                                                                                 |
-| ----------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- |
-| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). Set to 0 to disable. |
-| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)    | Fixed roll/bank angle while circling.                                                                       |
+### Position Accuracy Low Failsafe
+
+In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
+
+| Parameter                                                                                                | Description                                                                   |
+| -------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------- |
+| <a id="COM_POS_LOW_EPH"></a>[COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken.           |
+| <a id="COM_POS_LOW_ACT"></a>[COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
+
+Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.

 ## Offboard Loss Failsafe

@@ -18,27 +18,37 @@ A drive mode will only work properly if all the configuration for the preceding

 ## Flashing the Rover Build

-Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
+Rover is built as a [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets), and must be installed as "Custom Firmware" in QGC (other vehicles are present in the default variant).

-1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).
+The release versions of Rover firmware for different boards are attached to the associated GitHub release tag.
+For example, you can find `px4_fmu-v5x_rover.px4` on [PX4-Autopilot/releases/tag/v1.16.1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.16.1).
+For the `main` branch version of Rover you will need to [build the firmware](#building-rover).

-   To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
-   For example, to build rover for px4_fmu-v6x boards, you would use the command:
+Load the firmware onto your flight controller as "Custom Firmware" (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).

-   ```sh
-   make px4_fmu-v6x_rover
-   ```
+## Building Rover

-   ::: info
-   You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+Rover is built as the `rover` [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets).
+What this means is that when building the firmware with the `make` command, you replace the `_default` suffix in the configuration target with `_rover`.

-   ```sh
-   CONFIG_MODULES_ROVER_ACKERMANN=y
-   CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-   CONFIG_MODULES_ROVER_MECANUM=y
-   ```
+For example, to build rover for `px4_fmu-v6x` boards, you would use the following command:

-   Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
-   :::
+```sh
+make px4_fmu-v6x_rover
+```

-2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
+
+The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+
+::: info
+You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+
+```sh
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+```
+
+Adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
+:::
@@ -127,7 +127,8 @@ The following list shows the build commands for the [Pixhawk standard](../flight
 - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default`

  :::warning
-  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build. Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
+  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build.
+  Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
  :::

 - Pixhawk 1 with 2 MB flash: `make px4_fmu-v3_default`
@@ -230,7 +231,7 @@ sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /us

 ### Failed to import Python packages

-"Failed to import" errors when running the `make px4_sitl jmavsim` command indicates that some Python packages are not installed (where expected).
+"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected).

 ```sh
 Failed to import jinja2: No module named 'jinja2'
@@ -238,12 +239,12 @@ You may need to install it using:
    pip3 install --user jinja2
 ```

-If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 Python 3.8.3), and the module is not present in the version used by the build toolchain.
+If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain.

-You should be able to fix this by explicitly installing the dependencies as shown:
+You should be able to fix this by installing the dependencies from the repository's requirements file:

 ```sh
-pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging
+pip3 install --user -r Tools/setup/requirements.txt
 ```

 ## PX4 Make Build Targets
@@ -20,7 +20,7 @@ The equipment below is highly recommended:
  :::
  - Lenovo Thinkpad with i5-core running Windows 11
  - MacBook Pro (early 2015 and later) with macOS 10.15 or later
-  - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later
+  - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later

 - **Ground control station** (computer or tablet):
  - iPad (may require Wifi telemetry adapter)
@@ -39,9 +39,9 @@ Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) for a
 To configure the vehicle:

 1. [Install PX4 firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) (including "custom" firmware with your own changes).
-1. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
-1. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
-1. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.
+2. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
+3. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
+4. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.

 ::: info

@@ -2,7 +2,7 @@

 The _supported platforms_ for PX4 development are:

- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
+- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md)
 - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
 - [macOS](../dev_setup/dev_env_mac.md)

@@ -15,9 +15,9 @@ The table below shows what PX4 targets you can build on each OS.
 | **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |       ✓        |   ✓   |    ✓    |
 | **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |       ✓        |       |         |
 | **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |       ✓        |   ✓   |    ✓    |
-| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |       ✓        |   ✓   |    ✓    |
-| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |       ✓        |       |    ✓    |
 | **Simulation:** ROS 2 with Gazebo                                                                                                      |       ✓        |       |    ✓    |
+| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |                |   ✓   |    ✓    |
+| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |                |       |    ✓    |

 Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)

@@ -58,20 +58,20 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
     wsl --install
     ```

-   - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
-
-     ```sh
-     wsl --install -d Ubuntu-20.04
-     ```
-
   - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))

     ```sh
     wsl --install -d Ubuntu-22.04
     ```

+   - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
+
+     ```sh
+     wsl --install -d Ubuntu-24.04
+     ```
+
   ::: info
-   You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
+   You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings.
   :::

 1. WSL will prompt you for a user name and password for the Ubuntu installation.
@@ -106,7 +106,7 @@ To open a WSL shell using a command prompt:
   ```

   ```sh
-   wsl -d Ubuntu-20.04
+   wsl -d Ubuntu-24.04
   ```

   If you only have one version of Ubuntu, you can just use `wsl`.
@@ -281,6 +281,19 @@ PX4 DroneCAN parameters:
 Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
 Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.

+### Lights
+
+PX4 can control LEDs via DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) messages.
+
+Configuration:
+
+1. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (0 disables). You might need to reopen the ground station to have parameters for new instances available.
+2. For each light slot (0 to NUM-1), set:
+   - `UAVCAN_LGT_IDx`: The `light_id` matching your peripheral.
+   - `UAVCAN_LGT_FNx`: `Status` for system status colours, or `Anti-collision` for white beacon.
+3. For anti-collision lights, [UAVCAN_LGT_ANTCL](../advanced_config/parameter_reference.md#UAVCAN_LGT_ANTCL) controls when they illuminate (off, armed, prearmed, always on).
+4. Reboot for any changes to take effect.
+
 ## QGC CANNODE Parameter Configuration

 QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.
@@ -228,7 +228,7 @@ The following MAVLink messages and their particular fields and field values are

    - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller).

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - The following input combinations are supported:
@@ -271,7 +271,7 @@ The following MAVLink messages and their particular fields and field values are
        - 12288: Loiter setpoint (fly a circle centred on setpoint).
        - 16384: Idle setpoint (zero throttle, zero roll / pitch).

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - The following input combinations are supported:
@@ -280,7 +280,29 @@ The following MAVLink messages and their particular fields and field values are

 ### Rover

-Rover does not support a MAVLink offboard API (ROS2 is supported).
+Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below.
+These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes.
+For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2.
+
+::: info
+Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages).
+:::
+
+- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
+  - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules).
+  - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
+  - `yaw`/`yaw_rate`:
+    - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction).
+    - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`.
+  - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules.
+
+- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
+  - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components).
+  - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
+
+- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
+  - Not supported for rover offboard control.

 ## Offboard Parameters

@@ -85,6 +85,7 @@ The vehicle always respects normal FW max/min throttle settings during takeoff (
 In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
 On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
 Once it reaches [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) it will automatically switch to [Hold mode](../flight_modes_fw/hold.md) and loiter.
+It is possible to delay the activation of the motors and control surfaces separately, see parameters [FW_LAUN_MOT_DEL](#FW_LAUN_MOT_DEL), [FW_LAUN_CS_LK_DY](#FW_LAUN_CS_LK_DY) and [CA_CS_LAUN_LK](#CA_CS_LAUN_LK). The later is also exposed in the actuator configuration page under the advanced view.

 All RC stick movement is ignored during the full takeoff sequence.

@@ -105,6 +106,8 @@ The _launch detector_ is affected by the following parameters:
 | <a id="FW_LAUN_AC_THLD"></a>[FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD)    | Acceleration threshold (acceleration in body-forward direction must be above this value) |
 | <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T)             | Trigger time (acceleration must be above threshold for this amount of seconds)           |
 | <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL)    | Delay from launch detection to motor spin up                                             |
+| <a id="FW_LAUN_CS_LK_DY"></a>[FW_LAUN_CS_LK_DY](../advanced_config/parameter_reference.md#FW_LAUN_CS_LK_DY) | Delay from launch detection to unlocking the control surfaces                            |
+| <a id="CA_CS_LAUN_LK"></a>[CA_CS_LAUN_LK](../advanced_config/parameter_reference.md#CA_CS_LAUN_LK)          | Bitmask to select which control surfaces are to be locked during launch                  |

 ## Runway Takeoff {#runway_launch}

@@ -7,6 +7,12 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles)
 Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
 :::

+::: tip
+Rover is not in the default PX4 firmware downloaded from QGC.
+Unlike for other vehicle types you will need to install it as custom firmware.
+For more information see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build).
+:::
+
 ![Rovers](../../assets/airframes/rover/rovers.png)

 PX4 provides support for the three most common types of rovers:
@@ -3,19 +3,11 @@ import { useData } from 'vitepress'
 const { site } = useData();
 </script>

-<div style="float:right; padding:10px; margin-right:20px;"><a href="https://px4.io/"><img src="../assets/site/logo_pro_small.png" title="PX4 Logo" width="180px" /></a></div>
-
 # PX4 Autopilot User Guide

 [![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

-PX4 is the _Professional Autopilot_.
-Developed by world-class developers from industry and academia, and supported by an active world wide community, it powers all kinds of vehicles from racing and cargo drones through to ground vehicles and submersibles.
-
-:::tip
-This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle.
-Interested in contributing? Check out the [Development](development/development.md) section.
-:::
+PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.

 <div v-if="site.title == 'PX4 Guide (main)'">

@@ -29,83 +21,43 @@ Documented changes since the stable release are captured in the evolving [releas

 </div>

-## How Do I Get Started?
+## For Developers

-[Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users!
-It provides an overview of PX4, including features provided by the flight stack (flight modes and safety features) and the supported hardware (flight controller, vehicle types, telemetry systems, RC control systems).
+:::tip
+Building on PX4 or extending the platform? Start here: [Development Guide](development/development.md). Set up your [dev environment](dev_setup/config_initial.md), [build from source](dev_setup/building_px4.md), run [SITL simulation](simulation/index.md), or integrate via [ROS 2](ros2/index.md) and [MAVSDK](https://mavsdk.mavlink.io/).
+:::

-Depending on what you want to achieve, the following tips will help you navigate through this guide:
+## Getting Started

-### I want a vehicle that works with PX4
+Start with [Basic Concepts](getting_started/px4_basic_concepts.md) for an overview of the flight stack, flight modes, safety features, and supported hardware.

-In the [Multicopter](frames_multicopter/index.md), [VTOL](frames_vtol/index.md), and [Plane (Fixed-Wing)](frames_plane/index.md) sections you'll find topics like the following (these links are for multicopter):
+## Build a Vehicle

- [Complete Vehicles](complete_vehicles_mc/index.md) list "Ready to Fly" (RTF) pre-built vehicles
- [Kits](frames_multicopter/kits.md) lists drones that you have to build yourself from a set of preselected parts
- [DIY Builds](frames_multicopter/diy_builds.md) shows some examples of drones that have been built using parts that were sourced individually
+Pick your frame type: [Multicopter](frames_multicopter/index.md), [Fixed-Wing](frames_plane/index.md), [VTOL](frames_vtol/index.md), [Helicopter](frames_helicopter/index.md), or [Rover](frames_rover/index.md). Each section covers complete vehicles, kits, and DIY builds. For assembly instructions see [Assembling a Multicopter](assembly/assembly_mc.md) or the equivalent for your frame.

-Both kits and complete vehicles usually include everything you need except for a battery and RC System.
-Kits are usually not hard to build, provide a good introduction to how drones fit together, and are relatively inexpensive.
-We provide generic instructions for assembly, such as [Assembling a Multicopter](assembly/assembly_mc.md), and most kits come with specific instructions too.
+## Configure and Tune

-If the kits and complete drones aren't quite right for you then you can build a vehicle from scratch, but this requires more knowledge.
-[Airframe Builds](airframes/index.md) lists the supported frame starting points to give you some idea of what is possible.
+Once assembled, follow the configuration guide for your vehicle type (e.g. [Multicopter Configuration](config_mc/index.md)). This covers sensor calibration, flight mode setup, and tuning.

-Once you have a vehicle that supports PX4 you will need to configure it and calibrate the sensors.
-Each vehicle type has its own configuration section that explains the main steps, such as [Multicopter Configuration/Tuning](config_mc/index.md).
+## Hardware

-### I want to add a payload/camera
+The [Hardware Selection & Setup](hardware/drone_parts.md) section covers flight controllers, sensors, telemetry, RC systems, and payloads. See [Payloads](payloads/index.md) for camera and delivery integrations.

-The [Payloads](payloads/index.md) section describes how to add a camera and how to configure PX4 to enable you to deliver packages.
+## Fly

-### I am modifying a supported vehicle
+Read [Operations](config/operations.md) to understand safety features and failsafe behavior before your first flight. Then see [Basic Flying (Multicopter)](flying/basic_flying_mc.md) or the equivalent for your frame type.

-The [Hardware Selection & Setup](hardware/drone_parts.md) section provides both high level and product-specific information about hardware that you might use with PX4 and its configuration.
-This is the first place you should look if you want to modify a drone and add new components.
+## Support

-### I want to fly
-
-Before you fly you should read [Operations](config/operations.md) to understand how to set up the safety features of your vehicle and the common behaviours of all frame types.
-Once you've done that you're ready to fly.
-
-Basic instructions for flying each vehicle type are provided in the respective sections, such as [Basic Flying (Multicopter)](flying/basic_flying_mc.md).
-
-### I want to run PX4 on a new Flight Controller and extend the platform
-
-The [Development](development/development.md) section explains how to support new airframes and types of vehicles, modify flight algorithms, add new modes, integrate new hardware, communicate with PX4 from outside the flight controller, and contribute to PX4.
-
-## Getting Help
-
-The [Support](contribute/support.md) page explains how to get help from the core dev team and the wider community.
-
-Among other things it covers:
-
- [Forums where you can get help](contribute/support.md#forums-and-chat)
- [Diagnosing issues](contribute/support.md#diagnosing-problems)
- [How to report bugs](contribute/support.md#issue-bug-reporting)
- [Weekly dev call](contribute/support.md#weekly-dev-call)
-
-## Reporting Bugs & Issues
-
-If you have any problems using PX4 first post them on the [support forums](contribute/support.md#forums-and-chat) (as they may be caused by vehicle configuration).
-
-If directed by the development team, code issues may be raised on [Github here](https://github.com/PX4/PX4-Autopilot/issues).
-Where possible provide [flight logs](getting_started/flight_reporting.md) and other information requested in the issue template.
+Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).

 ## Contributing

-Information on how to contribute to code and documentation can be found in the [Contributing](contribute/index.md) section:
-
- [Code](contribute/index.md)
- [Documentation](contribute/docs.md)
- [Translation](contribute/translation.md)
+See the [Contributing](contribute/index.md) section for code, [documentation](contribute/docs.md), and [translation](contribute/translation.md) guidelines.

 ## Translations

-There are several [translations](contribute/translation.md) of this guide.
-You can access these from the Languages menu (top right):
-
-![Language Selector](../assets/vuepress/language_selector.png)
+There are several [translations](contribute/translation.md) of this guide. Use the language selector in the top navigation.

 <!--@include: _contributors.md-->

@@ -141,9 +93,9 @@ The following icons used in this library are licensed separately (as shown below

 ## Governance

-The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://dronecode.org/).
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.

-<a href="https://dronecode.org/" style="padding:20px" ><img src="../assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.dronecode.org/" style="padding:20px"><img src="../assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="140px"/></a>
 <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>

 <div style="padding:10px">&nbsp;</div>
@@ -94,199 +94,199 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [EventV0](../msg_docs/EventV0.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [Vtx](../msg_docs/Vtx.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [Gripper](../msg_docs/Gripper.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [LedControl](../msg_docs/LedControl.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
 - [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [Event](../msg_docs/Event.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
 - [ActuatorTest](../msg_docs/ActuatorTest.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [Mission](../msg_docs/Mission.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [EscReport](../msg_docs/EscReport.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
 - [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [Mission](../msg_docs/Mission.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
 - [SensorSelection](../msg_docs/SensorSelection.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
 - [LogMessage](../msg_docs/LogMessage.md)
 - [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [DebugValue](../msg_docs/DebugValue.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
 - [UlogStream](../msg_docs/UlogStream.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
 - [Ping](../msg_docs/Ping.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [EscReport](../msg_docs/EscReport.md)
 - [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
 - [ActionRequest](../msg_docs/ActionRequest.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [Event](../msg_docs/Event.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [RcChannels](../msg_docs/RcChannels.md)
 - [GimbalControls](../msg_docs/GimbalControls.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [DebugVect](../msg_docs/DebugVect.md)
  :::
@@ -98,13 +98,56 @@ leddar_one <command> [arguments...]
   stop          Stop driver
 ```

+## lightware_grf_serial
+
+Source: [drivers/distance_sensor/lightware_grf_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_grf_serial)
+
+### Description
+
+Serial bus driver for the Lightware GRF Laser rangefinder.
+
+### Configuration
+
+https://docs.px4.io/main/en/sensor/grf_lidar
+
+### Parameters
+
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_SENS_MODEL
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_RATE_CFG
+https://docs.px4.io/main/en/advanced_config/parameter_reference#SENS_EN_GRF_CFG
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+
+```
+lightware_grf_serial start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+lightware_grf_serial stop
+```
+
+### Usage {#lightware_grf_serial_usage}
+
+```
+lightware_grf_serial <command> [arguments...]
+ Commands:
+   start         Start driver
+     -d <val>    Serial device
+
+   stop          Stop driver
+```
+
 ## lightware_laser_i2c

 Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)

 ### Description

-I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
+I2C bus driver for Lightware LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF/LW30/d, GRF250, GRF500.

 Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html

@@ -122,8 +165,6 @@ lightware_laser_i2c <command> [arguments...]
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 102
-     [-R <val>]  Sensor rotation - downward facing by default
-                 default: 25

   stop

@@ -10,10 +10,11 @@ Status of the launch detection state machine (fixed-wing only).

 ## Fields

-| Name                   | Type     | Unit [Frame] | Range/Enum | Description                            |
-| ---------------------- | -------- | ------------ | ---------- | -------------------------------------- |
-| timestamp              | `uint64` |              |            | time since system start (microseconds) |
-| launch_detection_state | `uint8`  |              |            |
+| Name                              | Type     | Unit [Frame] | Range/Enum | Description                                                                                                   |
+| --------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------- |
+| timestamp                         | `uint64` |              |            | time since system start (microseconds)                                                                        |
+| launch_detection_state            | `uint8`  |              |            |
+| selected_control_surface_disarmed | `bool`   |              |            | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) |

 ## Constants

@@ -39,6 +40,8 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR 	= 1 # launch detected, but keep moto
 uint8 STATE_FLYING 				= 2 # launch detected, use normal takeoff/flying configuration

 uint8 launch_detection_state
+
+bool selected_control_surface_disarmed		# [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
 ```

 :::
@@ -38,6 +38,18 @@ Instructions for integrating the motor/ESC using with DroneCAN can be found in [

 These instructions walk you through setting the correct parameters for enabling the flight controller's DroneCAN drivers, setting the correct configuration parameters for communication with Vertiq modules on the DroneCAN bus, ESC configuration, and testing that your flight controller can properly control your modules over DroneCAN.

+#### LED Configuration for Vertiq Modules
+
+::: info
+This configuration is only required if you have the optional [Vertiq LED module add-on](https://www.vertiq.co/add-ons).
+Standard Vertiq ESC modules do not include LEDs.
+:::
+
+Vertiq LED Add-on modules have two LEDs per ESC (RGB for status, White for anti-collision).
+See [DroneCAN Lights](../dronecan/index.md#lights) for configuration instructions.
+
+The `light_id` for each LED is calculated as: `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for White.
+
 ### DShot/PWM Configuration

 Instructions for integrating the motor/ESC using PWM and DShot can be found in [PWM and DShot Control with a Flight Controller](https://iqmotion.readthedocs.io/en/latest/tutorials/pwm_control_flight_controller.html).
@@ -18,12 +18,12 @@ Releases are tracked on the [PX4 Release Project Board](https://github.com/orgs/

 Release branches go through the following tag stages:

-| Stage | Example | Branch Status | What Gets Merged |
-|-------|---------|---------------|------------------|
-| **Alpha** | `v1.18.0-alpha1` | Open for fixes | Bug fixes and regression fixes only |
-| **Beta** | `v1.18.0-beta1` | Open for fixes | Bug fixes and regression fixes only |
-| **RC** | `v1.18.0-rc1` | Frozen | Nothing (unless veto vote passes) |
-| **Stable** | `v1.18.0` | Open for fixes | Bug fixes and regression fixes (for point releases) |
+| Stage      | Example          | Branch Status  | What Gets Merged                                    |
+| ---------- | ---------------- | -------------- | --------------------------------------------------- |
+| **Alpha**  | `v1.18.0-alpha1` | Open for fixes | Bug fixes and regression fixes only                 |
+| **Beta**   | `v1.18.0-beta1`  | Open for fixes | Bug fixes and regression fixes only                 |
+| **RC**     | `v1.18.0-rc1`    | Frozen         | Nothing (unless veto vote passes)                   |
+| **Stable** | `v1.18.0`        | Open for fixes | Bug fixes and regression fixes (for point releases) |

 ::: info
 New features are never merged to release branches. Once a release branch is created from `main`, only bug fixes and regression fixes are accepted. New features must target `main` and will be included in the next release cycle.
@@ -26,7 +26,7 @@ They cover the _ROS Melodic and Noetic_ releases.

 ::: tab ROS Noetic (Ubuntu 20.04)

-If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04:
+If you're working with [ROS "Noetic"](https://wiki.ros.org/noetic) on Ubuntu 20.04:

 1. Install PX4 without the simulator toolchain:
   1. [Download PX4 Source Code](../dev_setup/building_px4.md):
@@ -57,7 +57,7 @@ If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04

 ::: tab ROS Melodic (Ubuntu 18.04)

-If you're working with ROS "Melodic on Ubuntu 18.04:
+If you're working with ROS "Melodic" on Ubuntu 18.04:

 1. Download the [ubuntu_sim_ros_melodic.sh](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh) script in a bash shell:

@@ -0,0 +1,69 @@
+# Lightware GRF250/GRF500 Gimbal Lidar
+
+LightWare [GRF250](https://lightwarelidar.com/shop/grf-250/) and [GRF500](https://lightwarelidar.com/shop/grf-500/) are small and light Lidar modules with a range of 250m and 500m, respectively.
+
+![LightWare GRF250 Gimbal Lidar](../../assets/hardware/sensors/lidar_lightware/grf_500.png)
+
+::: info
+The Lidar driver is not included in the default build of PX4.
+You will need to [create and use a custom build](#add-the-driver-to-the-px4-build).
+:::
+
+## Where to Buy
+
+Order these modules from:
+
+- [GRF250](https://lightwarelidar.com/shop/grf-250/)
+- [GRF500](https://lightwarelidar.com/shop/grf-500/)
+
+## Hardware Setup
+
+The rangefinder can be connected to any unused serial port, such as `TELEM2`.
+[Parameter Configuration](#parameter-configuration) explains how to configure the port to use and the other properties of the rangefinder.
+
+## PX4 Setup
+
+### Add the Driver to the PX4 Build
+
+The [lightware_grf_serial](../modules/modules_driver_distance_sensor.md#lightware-grf-serial) driver for this Lidar is not included in PX4 firmware by default.
+In order to use these modules you will first need to update the firmware configuration to add the driver, and then build the firmware.
+
+1. Update the firmware configuration. You can use either of the following options:
+   - Menuconfig:
+     1. Install and open [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup)
+     2. In [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup), navigate to **Drivers > Distance sensors**
+     3. Select/Enable `lightware_grf_serial`
+     4. Save the configuration
+
+   - Manually update `default.px4` to include the configuration key:
+     1. Open the `default.px4board` config file that corresponds to the board you want to build for.
+        For example, to add the driver to `fmu-v6x` boards you would update [/boards/px4/fmu-v6x/default.px4board ](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)
+     2. Add the following line and save the file:
+
+        ```txt
+        CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
+        ```
+
+2. [Build PX4](../dev_setup/building_px4.md) for your flight controller target and upload the new firmware.
+
+### Parameter Configuration
+
+You will need to configure PX4 to indicate the serial port to which the sensor is connected (as per [Serial Port Configuration](../peripherals/serial_configuration.md)) and also the orientation and other properties of the sensor.
+
+The [parameters to change](../advanced_config/parameters.md) are listed in the table.
+
+| Parameter                                                                                                | Description                                        |
+| -------------------------------------------------------------------------------------------------------- | -------------------------------------------------- |
+| <a id="SENS_EN_GRF_CFG"></a>[SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. |
+| <a id="GRF_UPDATE_CFG"></a>[GRF_UPDATE_CFG](../advanced_config/parameter_reference.md#GRF_UPDATE_CFG)    | Set the update rate.                               |
+| <a id="GRF_SENS_MODEL"></a>[GRF_SENS_MODEL](../advanced_config/parameter_reference.md#GRF_SENS_MODEL)    | Set the update rate.                               |
+
+## Testing
+
+You can confirm that the sensor is correctly configured by connecting QGroundControl, and observing that [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) is present in the [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
+
+Moving the sensor around at various distances from a surface will have the `current_distance` value change.
+
+## Troubleshooting
+
+If you are having problems with connecting to the sensor you may need to unassign a the default serial port. [Unassign Default Serial Port](../peripherals/serial_configuration.md)
@@ -1,4 +1,4 @@
-# LightWare Lidar (SF1X/SF02/LW20/SF45)
+# LightWare Lidar (SF1X/SF02/LW20/SF45/GRF250/GRF500)

 LightWare develops a range of light-weight, general purpose, laser altimeters ("Lidar") suitable for mounting on UAVs.
 These are useful for applications including terrain following, precision hovering (e.g. for photography), warning of regulatory height limits, anti-collision sensing etc.
@@ -15,8 +15,8 @@ The following models are supported by PX4, and can be connected to either the I2
 | [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100       | I2C bus           | Waterproofed (IP67) with servo for sense-and-avoid applications                            |
 | [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200       | I2C bus           | Waterproofed (IP67)                                                                        |
 | [SF45/B](../sensor/sf45_rotating_lidar.md)              | 50        | Serial            | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
-| [GRF250](https://lightwarelidar.com/shop/grf-250/)      | 250       | I2C               | Gimbal Range Finder                                                                        |
-| [GRF500](https://lightwarelidar.com/shop/grf-500/)      | 500       | I2C               | Gimbal Range Finder                                                                        |
+| [GRF250](../sensor/grf_lidar.md)                        | 250       | Serial or I2C     | Gimbal Range Finder                                                                        |
+| [GRF500](../sensor/grf_lidar.md)                        | 500       | Serial or I2C     | Gimbal Range Finder                                                                        |

 ::: details Discontinued

@@ -69,6 +69,9 @@ VTOL vehicles may choose to also set [SF1XX_MODE](../advanced_config/parameter_r
 ::: tip
 [SF45/B](../sensor/sf45_rotating_lidar.md) setup is covered in the linked document.
 :::
+::: tip
+[GRF250/GRF500](../sensor/grf_lidar.md) setup is covered in the linked document.
+:::

 ### Hardware

@@ -4,9 +4,9 @@ layout: home

 hero:
  name: "PX4"
-  text: "User Guide"
-  tagline: PX4 is the Open Source Autopilot for Professional Drone Developers.
-  image: /logo_pro_small.png
+  text: "Autopilot"
+  tagline: Open-source flight stack for drones and autonomous vehicles. BSD-3 licensed. Vendor neutral.
+  image: /px4-logo.svg
  actions:
    - theme: brand
      text: Read the docs
@@ -20,22 +20,21 @@ hero:

 features:
  - title: Modular Architecture
-    details: PX4 is highly modular and extensible both in terms of hardware and software. It utilizes a port-based architecture - which means when developers add components, the extended system does not lose robustness or performance.
-  - title: Open Source
-    details: PX4 is co-developed with a global development community. The flightstack is not just fulfilling the needs of one lab or one company, but has been intended as a general toolkit and is widely used and adopted in the industry.
-  - title: Configurability
-    details: PX4 offers optimised APIs and SDKs for developers working with integrations. All the modules are self-contained and can be easily exchanged against a different module without modifying the core. Features are easy to deploy and reconfigure.
-  - title: Autonomy Stack
-    details: PX4 is designed to be deeply coupled with embedded computer vision for autonomous capabilities . The framework lowers the barrier of entry for developers working on localization and obstacle detection algorithms.
-  - title: Real-world Validation
-    details: Thousands of commercial PX4 based systems have been deployed worldwide. In parallel, dedicated flight test team clocking up thousands of flight hours each month running hardware and software tests to ensure the codebase's safety and reliability.
+    details: Built on uORB, a DDS-compatible publish/subscribe middleware. Every module runs as its own thread, fully parallelized and thread safe. Build custom configurations and strip out what you don't need.
+  - title: Wide Hardware Support
+    details: Supports Pixhawk-standard flight controllers and a growing range of boards beyond that standard. DroneCAN peripherals run PX4 firmware in CAN node mode. No vendor lock-in.
+  - title: Developer Friendly
+    details: First-class MAVLink and DDS/ROS 2 integration. Comprehensive SITL simulation, hardware-in-the-loop testing, and log analysis tools. MAVSDK provides a high-level SDK/API for programmatic vehicle interaction.
+  - title: Autonomy Ready
+    details: Extensible architecture for advanced autonomy. External modes, offboard control, and DDS/ROS 2 interfaces provide the building blocks for computer vision, GPS-denied navigation, and custom flight behaviors.
+  - title: Proven at Scale
+    details: Millions of vehicles deployed worldwide across commercial, defense, and research applications. Continuous flight testing validates the codebase across multirotors, fixed-wing, VTOL, helicopters, rovers, and more.
  - title: Permissive License
-    details: PX4 is free to use and modify under the terms of the permissive BSD 3-clause license. Which means the software also allows proprietary use and allows the releases under the license to be incorporated into proprietary products.
+    details: BSD 3-Clause. Use it, modify it, ship it in proprietary products. You only need to include the original copyright notice and license text.
  - title: Interoperability
-    details: Beyond being a robust flight stack, PX4 offers an ecosystem of supported devices. The project also leads the standardarization effort for the advancement of communications, peripherals integration, and power management solutions.
-
-  - title: Powerful Safety Features
-    details: Great safety features including automated failsafe behaviour, support for different return modes, parachutes etc. are by default already included in the codebase. The features are easily configurable and tunable for custom systems.
+    details: Part of a modular ecosystem. PX4 (autopilot), MAVLink (protocol), QGroundControl (ground station), Pixhawk (hardware standard), MAVSDK (SDK/API), and ROS 2 via DDS or Zenoh. All Dronecode projects, all open source.
+  - title: Vendor Neutral Governance
+    details: Hosted by the Dronecode Foundation under the Linux Foundation. No single company owns the name or controls the roadmap. Community-driven with a weekly open dev call.

 search: false
 footer: BSD 3-clause license
@@ -179,6 +179,7 @@
      - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
      - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
        - [Cube 배선 퀵 스타트](assembly/quick_start_cube.md)
+      - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md)
      - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](flight_controller/kakuteh7.md)
@@ -255,7 +256,7 @@
      - [Benewake TFmini 라이다](sensor/tfmini.md)
      - [LeddarOne 라이다](sensor/leddar_one.md)
      - [Lidar-Lite](sensor/lidar_lite.md)
-      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
+      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
      - [TeraRanger ](sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
@@ -932,6 +933,7 @@
  - [라이센스](contribute/licenses.md)

 - [출시](releases/index.md)
+  - [Release Process](releases/release_process.md)
  - [main (alpha)](releases/main.md)
  - [1.17 (alpha)](releases/1.17.md)
  - [1.16 (stable)](releases/1.16.md)
@@ -12,19 +12,16 @@ The [ARK Jetson Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook
 ## 사양

 - **Power Requirements**
-
  - 5V
  - 4A minimum (dependent on usage and peripherals)

 - **Additional Features**
-
  - Pixhawk Autopilot Bus (PAB) Form Factor ([PAB Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf))
  - MicroSD Slot
  - USA-built, NDAA compliant
  - Integrated 1W heater for sensor stability in extreme conditions

 - **Physical Details**
-
  - Weight:
    - Without Jetson and Flight Controller – 80g
    - With Jetson, no heatsink or Flight Controller – 108g
@@ -170,7 +170,6 @@ To enable this MAVLink instance on the FC:
   ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)

 2. [Set the parameters](../advanced_config/parameters.md):
-
   - `MAV_1_CONFIG` = `102`
   - `MAV_1_MODE = 2`
   - `SER_TEL2_BAUD` = `921600`
@@ -184,7 +183,6 @@ On the RPi side:
 1. Connect to the RPi (using WiFi, a router, or a WiFi Dongle).

 2. Enable the RPi serial port by running `RPi-config`
-
   - Go to `3 Interface Options`, then `I6 Serial Port`.
     Then choose:
     - `login shell accessible over serial → No`
@@ -145,7 +145,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
   ```

 3. Go to the **Interface Option** and then click **Serial Port**.
-
   - Select **No** to disable serial login shell.
   - Select **Yes** to enable the serial interface.
   - Click **Finish** and restart the RPi.
@@ -164,7 +163,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
   ```

 6. Then save the file and restart the RPi.
-
   - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.

 7. Check that the serial port is available.
@@ -214,7 +214,6 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti

 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
   In the **Script Editor** tab, add following scripts in the appropriate sections:
-
   - **Global code, executed once:**

     ```lua
@@ -33,7 +33,6 @@ The instructions below might be used to create a task named _MyTask_:
   - FlightTaskMyTask.cpp

 3. Update **CMakeLists.txt** for the new task
-
   - Copy the contents of the **CMakeLists.txt** for another task - e.g. [Orbit/CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt)

   - Update the copyright to the current year
@@ -84,16 +84,9 @@ The test steps are:
   If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.

   </div></div>
-
   1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:

-      ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
-
-   2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
-
-   3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
-
-   4. Read the warning popup and click on **OK** to start tuning.
+   ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.

 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">

@@ -22,7 +22,6 @@ Performing this calibration step is only recommended if the autopilot's orientat
 :::

 4. Place the vehicle in its level flight orientation on a level surface:
-
   - For planes this is the position during level flight (planes tend to have their wings slightly pitched up!)
   - For copters this is the hover position.

@@ -77,7 +77,6 @@ To setup and configure a helicopter:
 3. Remove the rotor blades and propellers

 4. Assign motors and servos to outputs and test (also in [Actuator configuration](../config/actuators.md)):
-
   1. Assign the [motors and servos to the outputs](../config/actuators.md#actuator-outputs).
   2. Power the vehicle with a battery and use the [actuator testing sliders](../config/actuators.md#actuator-testing) to validate correct servo and motor assignment and direction.

@@ -140,7 +140,6 @@ Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switche
 13. 모든 축에서 자세 콘트롤러에 대하여 튜닝 프로세스를 반복하십시오.

 14. Repeat the tuning process for the velocity and positions controllers (on all the axes).
-
    - Use Position mode when tuning these controllers
    - Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)

@@ -18,28 +18,37 @@ A drive mode will only work properly if all the configuration for the preceding

 ## Flashing the Rover Build

-Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
+Rover is built as a [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets), and must be installed as "Custom Firmware" in QGC (other vehicles are present in the default variant).

-1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).
+The release versions of Rover firmware for different boards are attached to the associated GitHub release tag.
+For example, you can find `px4_fmu-v5x_rover.px4` on [PX4-Autopilot/releases/tag/v1.16.1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.16.1).
+For the `main` branch version of Rover you will need to [build the firmware](#building-rover).

-   To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
-   For example, to build rover for px4_fmu-v6x boards, you would use the command:
+Load the firmware onto your flight controller as "Custom Firmware" (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).

-   ```sh
-   make px4_fmu-v6x_rover
-   ```
+## Building Rover

-   ::: info
-   You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+Rover is built as the `rover` [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets).
+What this means is that when building the firmware with the `make` command, you replace the `_default` suffix in the configuration target with `_rover`.

-   ```sh
-   CONFIG_MODULES_ROVER_ACKERMANN=y
-   CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-   CONFIG_MODULES_ROVER_MECANUM=y
-   ```
+For example, to build rover for `px4_fmu-v6x` boards, you would use the following command:

-   Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
+```sh
+make px4_fmu-v6x_rover
+```

+Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
+
+The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+
+:::info
+You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+
+```sh
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+```
+
+Adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
 :::
-
-2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
@@ -307,7 +307,6 @@ If the airframe is for a **new group** you additionally need to:
   ```

 3. Update _QGroundControl_:
-
   - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images)
   - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below:

@@ -39,16 +39,6 @@ Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gaz
 make px4_sitl gz_x500
 ```

-:::details
-If you installed Gazebo Classic
-Start  [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command:
-
-```sh
-make px4_sitl gazebo-classic
-```
-
-:::
-
 This will bring up the PX4 console:

 ![PX4 Console](../../assets/toolchain/console_gazebo.png)
@@ -89,6 +79,16 @@ cd PX4-Autopilot
 make px4_fmu-v4_default
 ```

+:::tip
+You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally.
+From the PX4-Autopilot directory:
+
+```sh
+./Tools/docker_run.sh 'make px4_fmu-v5_default'
+```
+
+:::
+
 A successful run will end with similar output to:

 ```sh
@@ -145,7 +145,8 @@ The following list shows the build commands for the [Pixhawk standard](../flight
 - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default`

  :::warning
-  You **must** use a supported version of GCC to build this board (e.g. the same as used by [CI/docker](../test_and_ci/docker.md)) or remove modules from the build. PX4가 보드의 1MB 플래시 제한에 가깝기 때문에, 지원되지 않는 GCC로 빌드가 실패할 수 있습니다.
+  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build.
+  PX4가 보드의 1MB 플래시 제한에 가깝기 때문에, 지원되지 않는 GCC로 빌드가 실패할 수 있습니다.

 :::

@@ -211,7 +212,7 @@ The `region 'flash' overflowed by XXXX bytes` error indicates that the firmware
 This is common for `make px4_fmu-v2_default` builds, where the flash size is limited to 1MB.

 If you're building the _vanilla_ master branch, the most likely cause is using an unsupported version of GCC.
-In this case, install the version specified in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.
+In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.

 If building your own branch, it is possible that you have increased the firmware size over the 1MB limit.
 PX4 빌드 시스템은 많은 수의 파일을 오픈하므로, 이 갯수를 초과할 수 있습니다.
@@ -224,7 +225,7 @@ The PX4 build system opens a large number of files, so you may exceed this numbe
 The build toolchain will then report `Too many open files` for many files, as shown below:

 ```sh
-/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
+arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
 ```

 The solution is to increase the maximum allowed number of open files (e.g. to 300).
@@ -247,34 +248,9 @@ xcode-select --install
 sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/
 ```

-### Ubuntu 18.04: arm_none_eabi_gcc와 관련된 컴파일 오류
-
-Build issues related to `arm_none_eabi_gcc`may be due to a broken g++ toolchain installation.
-You can verify that this is the case by checking for missing dependencies using:
-
-```sh
-arm-none-eabi-gcc --version
-arm-none-eabi-g++ --version
-arm-none-eabi-gdb --version
-arm-none-eabi-size --version
-```
-
-Example of bash output with missing dependencies:
-
-```sh
-arm-none-eabi-gdb --version
-arm-none-eabi-gdb: command not found
-```
-
-This can be resolved by removing and [reinstalling the compiler](https://askubuntu.com/questions/1243252/how-to-install-arm-none-eabi-gdb-on-ubuntu-20-04-lts-focal-fossa).
-
-### Ubuntu 18.04: Visual Studio Code는 이 큰 작업 영역에서 파일 변경 사항을 감시할 수 없습니다.
-
-See [Visual Studio Code IDE (VSCode) > Troubleshooting](../dev_setup/vscode.md#troubleshooting).
-
 ### Python 패키지를 가져오지 못했습니다.

-"Failed to import" errors when running the `make px4_sitl jmavsim` command indicates that some Python packages are not installed (where expected).
+"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected).

 ```sh
 Failed to import jinja2: No module named 'jinja2'
@@ -282,12 +258,12 @@ You may need to install it using:
    pip3 install --user jinja2
 ```

-다음과 같이 종속성을 명시적으로 설치하여, 이 문제를 해결할 수 있습니다.
+If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain.

-You should be able to fix this by explicitly installing the dependencies as shown:
+You should be able to fix this by installing the dependencies from the repository's requirements file:

 ```sh
-pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging
+pip3 install --user -r Tools/setup/requirements.txt
 ```

 ## PX4 빌드 타겟 만들기
@@ -23,7 +23,7 @@ A Taranis RC and a mid-range Android tablet make a very inexpensive field kit.

  - Lenovo Thinkpad with i5-core running Windows 11
  - MacBook Pro (early 2015 and later) with macOS 10.15 or later
-  - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later
+  - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later

 - **Ground control station** (computer or tablet):
  - iPad (may require Wifi telemetry adapter)
@@ -2,7 +2,7 @@

 The _supported platforms_ for PX4 development are:

- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
+- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md)
 - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
 - [macOS](../dev_setup/dev_env_mac.md)

@@ -15,9 +15,9 @@ The _supported platforms_ for PX4 development are:
 | **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |                 ✓                 |   ✓   |  ✓  |
 | **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |                 ✓                 |       |     |
 | **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |                 ✓                 |   ✓   |  ✓  |
-| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |                 ✓                 |   ✓   |  ✓  |
-| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |                 ✓                 |       |  ✓  |
 | **Simulation:** ROS 2 with Gazebo                                                                                                      |                 ✓                 |       |  ✓  |
+| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |                                   |   ✓   |  ✓  |
+| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |                                   |       |  ✓  |

 Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)

@@ -39,8 +39,9 @@ You may want to also install `python-pip` and `screen`.
 아래 스크립트로 GCC 7-2017-q4를 설치합니다.

 :::warning
-This version of GCC is out of date.
-At time of writing the current version on Ubuntu is `9-2020-q2-update` (see [focal nuttx docker file](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-focal#L28))
+This version of GCC is very outdated.
+PX4 now uses the `gcc-arm-none-eabi` package from the current Ubuntu LTS (GCC 13.2.1 on Ubuntu 24.04).
+This CentOS guide is community-maintained and may not produce working builds.
 :::

 ```sh
@@ -4,21 +4,14 @@ The following instructions use a bash script to set up the PX4 development envir

 The environment includes:

- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic")
- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
-
-On Ubuntu 22.04:
-
- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
-  Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.
+- [Gazebo Simulator](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
+- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards) using the `gcc-arm-none-eabi` compiler from the Ubuntu package manager.

 The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.

-:::details
-Can I use an older version of Ubuntu?
-PX4 supports the current and last Ubuntu LTS release where possible.
-Older releases are not supported (so you can't raise defects against them), but may still work.
-For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
+:::info
+PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported.
+Older Ubuntu versions are not supported and may not work.
 :::

 ## Simulation and NuttX (Pixhawk) Targets
@@ -52,9 +45,7 @@ The script is intended to be run on _clean_ Ubuntu LTS installations, and may no
   - 스크립트가 진행되는 동안 모든 프롬프트를 확인합니다.
   - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.

-3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
-
-4. 완료되면 컴퓨터를 재부팅합니다.
+3. 완료되면 컴퓨터를 재부팅합니다.

 :::details
 Additional notes
@@ -63,10 +54,11 @@ These notes are provided "for information only":
 - This setup is supported by the PX4 Dev Team.
  The instructions may also work on other Debian Linux based systems.

- You can verify the NuttX installation by confirming the `gcc` version as shown:
+- You can verify the NuttX installation by confirming `gcc` is available.
+  The version depends on your Ubuntu release (e.g. GCC 13.2.1 on Ubuntu 24.04):

  ```sh
-  $arm-none-eabi-gcc --version
+  $ arm-none-eabi-gcc --version

  arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009
  Copyright (C) 2023 Free Software Foundation, Inc.
@@ -61,20 +61,20 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
     wsl --install
     ```

-   - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
-
-     ```sh
-     wsl --install -d Ubuntu-20.04
-     ```
-
   - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))

     ```sh
     wsl --install -d Ubuntu-22.04
     ```

+   - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
+
+     ```sh
+     wsl --install -d Ubuntu-24.04
+     ```
+
   ::: info
-   You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
+   You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings.

 :::

@@ -110,7 +110,7 @@ To open a WSL shell using a command prompt:
   ```

   ```sh
-   wsl -d Ubuntu-20.04
+   wsl -d Ubuntu-24.04
   ```

   If you only have one version of Ubuntu, you can just use `wsl`.
@@ -61,7 +61,6 @@ You must already have installed the command line [PX4 developer environment](../
 빌드를 진행하려면:

 1. Select your build target ("cmake build config"):
-
   - The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step).
     ![Select Cmake build target](../../assets/toolchain/vscode/cmake_build_config.jpg)

@@ -134,10 +133,10 @@ In order for the code completion to work (and other IntelliSense magic) you need

 이 섹션에는 설정 및 빌드 오류에 대한 지침이 포함되어 있습니다.

-### Ubuntu 18.04: "Visual Studio Code는 이 큰 작업 영역에서 파일 변경 사항을 감시할 수 없습니다."
+### "Visual Studio Code is unable to watch for file changes in this large workspace"

 이 오류는 시작시에 나타납니다.
-On some systems, there is an upper-limit of 8192 file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
+On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.

 메모리 소비를 희생시키면서 오류를 방지하기 위해 이 제한을 늘릴 수 있습니다.
 Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc).
@@ -100,7 +100,6 @@ In order to use dual ZED-F9P GPS heading in PX4, follow these steps:
 3. Components should be visible on the left panel.
   Click on the first `_Component_<ID#>` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_).
 4. Click on the _GPS_ subsection and configure the parameters listed below:
-
   - `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_.
     One F9P MUST be _rover_, and the other MUST be _base_.
   - `GPS_AUTO_CONFIG`: set to 1 for both the rover and base
@@ -39,12 +39,10 @@ Order this module from:
 - 10 Pin JST-SH Debug

 - Motor & Battery Connectors (with-connector version)
-
  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
  - Four MR30 Motor Connectors

 - Dimensions (with connectors)
-
  - Size: 77.00mm x 42.00mm x 9.43mm
  - Mounting Pattern: 30.5mm
  - Weight: 24g
@@ -26,7 +26,6 @@ AIRLink has two computers and integrated LTE Module:
 ## 사양

 - **Sensors**
-
  - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss
  - GNSS, Rangefinders, Lidars, Optical Flow, Cameras
  - 3x-redundant IMU
@@ -34,7 +33,6 @@ AIRLink has two computers and integrated LTE Module:
  - Temperature stabilization

 - **Flight Controller**
-
  - STM32F7, ARM Cortex M7 with FPU, 216 MHz, 2MB Flash, 512 kB RAM
  - STM32F1, I/O co-processor
  - Ethernet, 10/100 Mbps
@@ -51,7 +49,6 @@ AIRLink has two computers and integrated LTE Module:
  - Safety switch / LED option

 - **AI Mission Computer**
-
  - 6-Core CPU: Dual-Core Cortex-A72 + Quad-Core Cortex-A53
  - GPU Mali-T864, OpenGL ES1.1/2.0/3.0/3.1
  - VPU with 4K VP8/9, 4K 10bits H265/H264 60fps Decoding
@@ -65,7 +62,6 @@ AIRLink has two computers and integrated LTE Module:
  - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera)

 - **LTE/5G Connectivity Module**
-
  - Up to 600 Mbps bandwidth
  - 5G sub-6 and mmWave, SA and NSA operations
  - 4G Cat 20, up to 7xCA, 256-QAM DL/UL, 2xCA UL
@@ -142,7 +138,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Left side](../../assets/flight_controller/airlink/airlink-interfaces-left.jpg)

 - **Left side interfaces:**
-
  - Power input with voltage & current monitoring
  - AI Mission Computer micro SD card
  - Flight Controller micro SD card
@@ -170,13 +165,13 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production

 - **RC Connector - JST GH SM06B-GHS-TB**

-  | Pin number | Pin name                      | 방향  | 전압                    | 기능          |   |     |    |
-  | ---------- | ----------------------------- | --- | --------------------- | ----------- | - | --- | -- |
-  | 1          | 5V                            | OUT | +5V                   | 5V output   |   |     |    |
-  | 2          | PPM_IN   | IN  | +3.3V | PPM 입력      |   |     |    |
-  | 3          | RSSI_IN  | IN  | +3.3V | RSSI 입력     |   |     |    |
-  | 4          | FAN_OUT  | OUT | +5V                   | Fan output  |   |     |    |
-  | 5          | SBUS_OUT | OUT | +3.3V | SBUS output | 6 | GND | 접지 |
+  \| Pin number | Pin name | Direction | Voltage | Function    |
+  \| ---------- | -------- | --------- | ------- | ----------- | --- | --- | ------ |
+  \| 1          | 5V       | OUT       | +5V     | 5V output   |
+  \| 2          | PPM_IN   | IN        | +3.3V   | PPM input   |
+  \| 3          | RSSI_IN  | IN        | +3.3V   | RSSI input  |
+  \| 4          | FAN_OUT  | OUT       | +5V     | Fan output  |
+  \| 5          | SBUS_OUT | OUT       | +3.3V   | SBUS output | 6   | GND | Ground |

 * **FMU SD card - microSD**

@@ -185,7 +180,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Right side](../../assets/flight_controller/airlink/airlink-interfaces-right.jpg)

 - **Right side interfaces:**
-
  - Ethernet port with power output
  - Telemetry port
  - Second GPS port
@@ -251,7 +245,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Front side](../../assets/flight_controller/airlink/airlink-interfaces-front.jpg)

 - **Front side interfaces:**
-
  - Main GNSS and compass port
  - Main telemetry port
  - CSI camera input
@@ -309,7 +302,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Back side](../../assets/flight_controller/airlink/airlink-interfaces-back.jpg)

 - **Rear side interfaces:**
-
  - SBUS input
  - 16 PWM output channels
  - 2x LTE antenna sockets (MIMO)
@@ -25,6 +25,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
 - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
 - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
+- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md)
 - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
 - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
@@ -0,0 +1,96 @@
+# Gear Up AirBrainH743
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://takeyourgear.com/) for hardware support.
+:::
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+Purchase from [takeyourgear.com](https://takeyourgear.com/pages/products/airbrain).
+
+For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743).
+
+## 주요 특징
+
+- MCU: STM32H743 32-bit processor running at 480 MHz
+- IMU: ICM42688P
+- Barometer: DPS310
+- Magnetometer: LIS2MDL (internal)
+- 128MB NAND Flash for logging (W25N)
+- 7x UARTs
+- I2C, SPI
+- 9x PWM Outputs (8 Motor outputs, 1 LED strip)
+- Battery input voltage: 3S-10S
+- Battery voltage/current monitoring
+- 5V@2A and 10V@2.5A BEC outputs
+- USB Type-C (IP68)
+- EMC and ESD protection
+
+## 커넥터 및 핀
+
+:::warning
+The pin order is different from the Pixhawk standard (compatible to the Betaflight standard).
+:::
+
+### UART
+
+Current UART configuration:
+
+| UART   | 장치         | 기능                                      |
+| ------ | ---------- | --------------------------------------- |
+| USART1 | /dev/ttyS0 | Console/Debug                           |
+| USART2 | /dev/ttyS1 | RC Input                                |
+| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)       |
+| UART4  | /dev/ttyS3 | TEL1                                    |
+| UART5  | /dev/ttyS4 | TEL2                                    |
+| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry) |
+| UART8  | /dev/ttyS6 | GPS1                                    |
+
+### Motor/Servo Outputs
+
+| 커넥터 | 핀  | 기능                           |
+| --- | -- | ---------------------------- |
+| ESC | M1 | Motor 1                      |
+| ESC | M2 | Motor 2                      |
+| ESC | M3 | Motor 3                      |
+| ESC | M4 | Motor 4                      |
+| PWM | M5 | Motor 5                      |
+| PWM | M6 | Motor 6                      |
+| PWM | M7 | Motor 7                      |
+| PWM | M8 | Motor 8                      |
+| AUX | M9 | LED/PWM/etc. |
+
+<a id="bootloader"></a>
+
+## 부트로더 업데이트
+
+Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
+Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+
+## 펌웨어 빌드
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```
+make gearup_airbrainh743_default
+```
+
+## 펌웨어 설치
+
+Firmware can be installed in any of the normal ways:
+
+- Build and upload the source:
+
+  ```
+  make gearup_airbrainh743_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.
+
+### 시스템 콘솔
+
+UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md).
@@ -231,7 +231,7 @@ The following MAVLink messages and their particular fields and field values are

    - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller).

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - 다음 입력 조합이 지원됩니다.
@@ -278,7 +278,7 @@ The following MAVLink messages and their particular fields and field values are
        - 12288 : Loiter 설정점 (설정점을 중심으로 선회 비행합니다).
        - 16384 : 유휴 설정점 (제로 스로틀, 제로 롤/피치).

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - 다음 입력 조합이 지원됩니다.
@@ -287,7 +287,29 @@ The following MAVLink messages and their particular fields and field values are

 ### 탐사선

-Rover does not support a MAVLink offboard API (ROS2 is supported).
+Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below.
+These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes.
+For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2.
+
+:::info
+Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages).
+:::
+
+- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
+  - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules).
+  - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
+  - `yaw`/`yaw_rate`:
+    - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction).
+    - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`.
+  - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules.
+
+- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
+  - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components).
+  - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
+
+- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
+  - Not supported for rover offboard control.

 ## 오프보드 매개변수

@@ -28,7 +28,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:

 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
-
   - If flying the vehicle will loiter.
   - If landed the vehicle will "wait".

@@ -115,7 +115,6 @@ The altitude control mode determine whether the vehicle altitude is relative to
  The relative distance to the drone to the target will change as you ascend and descend (use with care in hilly terrain).

 - `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor.
-
  - If the vehicle does not have a distance sensor following will be identical to `2D tracking`.
  - Distance sensors aren't always accurate and vehicles may be "jumpy" when flying in this mode.
  - Note that that height is relative to the ground underneath the vehicle, not the follow target.
@@ -30,7 +30,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:

 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
-
   - If flying the vehicle will hold.
   - If landed the vehicle will "wait".

@@ -49,7 +49,6 @@ If returning as a fixed-wing, the vehicle:
  A mission landing pattern for a VTOL vehicle consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND).

 - If the destination is a rally point or home it will:
-
  - Loiter/spiral down to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT).
  - Circle for a short time, as defined by [RTL_LAND_DELAY](#RTL_LAND_DELAY).
  - Yaw towards the destination (centre of loiter).
@@ -30,7 +30,7 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac

  ::: info
  The IMU pipeline is:
-  gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (_filtered angular acceleration used by the D controller_)
+  gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_)

  ![IMU pipeline](../../assets/diagrams/px4_imu_pipeline.png)

@@ -177,7 +177,7 @@ The angular position of the control effectors (ailerons, elevators, rudders, ...
 또한 제어 표면은 고속에서 더 효과적이고 저속에서는 덜 효과적이기 때문에, 순항 속도에 맞게 조정된 컨트롤러는 속도 측정을 사용하여 조정됩니다(이러한 센서가 사용되는 경우).

 :::info
-If no airspeed sensor is used then gain scheduling for the FW attitude controller is  disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback.
+If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback.
 :::

 피드포워드 이득은 공기역학적 감쇠를 보상합니다.
@@ -187,7 +187,7 @@ If no airspeed sensor is used then gain scheduling for the FW attitude controlle
 ### Turn coordination

 롤 및 피치 컨트롤러는 동일한 구조를 가지며, 종방향 역학과 횡방향 역학은 독립적으로 작동하기에 충분히 분리되어 있다고 가정합니다.
-그러나, 요 콘트롤러는 항공기가 미끄러질 때 생성되는 측면 가속도를 최소화하기 위해 선회 조정 제약 조건을 사용하여 요 각속도 설정점을 계산합니다.  The turn coordination algorithm is based solely on coordinated turn geometry calculation.
+그러나, 요 콘트롤러는 항공기가 미끄러질 때 생성되는 측면 가속도를 최소화하기 위해 선회 조정 제약 조건을 사용하여 요 각속도 설정점을 계산합니다. The turn coordination algorithm is based solely on coordinated turn geometry calculation.

 $$\dot{\Psi}_{sp} = \frac{g}{V_T} \tan{\phi_{sp}} \cos{\theta_{sp}}$$

@@ -33,7 +33,6 @@ To create a package delivery mission (with a Gripper):
 1. Create a normal mission with a `Takeoff` mission item, and additional waypoints for your required flight path.

 2. Add a waypoint on the map for where you'd like to release the package.
-
   - To drop the package while flying set an appropriate altitude for the waypoint (and ensure the waypoint is at a safe location to drop the package).

   - If you'd like to land the vehicle to make the delivery you will need to change the `Waypoint` to a `Land` mission item.
@@ -7,6 +7,12 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles)
 Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
 :::

+:::tip
+Rover is not in the default PX4 firmware downloaded from QGC.
+Unlike for other vehicle types you will need to install it as custom firmware.
+For more information see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build).
+:::
+
 ![Rovers](../../assets/airframes/rover/rovers.png)

 PX4 provides support for the three most common types of rovers:
@@ -20,7 +20,7 @@ It is possible to have a GPS lock (Green LED) and still not be able to arm the v
 :::

 :::tip
-In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green),   check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md).
+In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md).
 또한 GPS 모듈이 연결 여부, Pixhawk와 GPS 연동 여부, 정확한 GPS 위치를 전송 여부를 확인하십시오.
 :::

@@ -47,7 +47,8 @@ In the event of an error (blinking red), or if the vehicle can't achieve GPS loc
  사고 방지 모드에서는 기체는 이륙 위치로 복귀하거나, 현재 위치에 착륙할 수 있습니다.

 - **[Solid Amber] Low Battery Warning:** Indicates your vehicle's battery is running dangerously low.
-  특정 시점이 지나면, 차량은 안전 방지 모드로 전환됩니다. 그러나, 이 모드는 종료시점에는 경고 메시지를 표시합니다.
+  특정 시점이 지나면, 차량은 안전 방지 모드로 전환됩니다. However, this mode should signal caution that it's time to end
+  this flight.

 - **[Blinking Red] Error / Setup Required:** Indicates that your autopilot needs to be configured or calibrated before flying.
  자동조종장치를 지상관제국에 연결하여 무슨 문제인지를 확인하십시오.
@@ -77,11 +78,11 @@ The LED labels shown above are commonly used, but might differ on some boards.

 LED가 의미하는 메시지에 관한  자세한 정보는 아래에서 설명합니다( "x"는 "모든 상태"를 의미).

-| 적색/황색 | 청색  | 녹색    | 설명                                                                                                                                                                                   |
-| ----- | --- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| 10Hz  | x   | x     | Overload CPU load > 80%, or RAM usage > 98%                                                                                                                                          |
-| OFF   | x   | x     | Overload CPU load <= 80%, or RAM usage <= 98%                                                                                      |
-| NA    | OFF | 4 Hz  | actuator_armed->armed && failsafe                                                                                       |
-| NA    | ON  | 4 Hz  | actuator_armed->armed && !failsafe                                                                                      |
-| NA    | OFF | 1 Hz  | !actuator_armed-> armed && actuator_armed->ready_to_arm  |
-| NA    | OFF | 10 Hz | !actuator_armed->armed  && !actuator_armed->ready_to_arm |
+| 적색/황색 | 청색  | 녹색    | 설명                                                                                                                                                                                  |
+| ----- | --- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 10Hz  | x   | x     | Overload CPU load > 80%, or RAM usage > 98%                                                                                                                                         |
+| OFF   | x   | x     | Overload CPU load <= 80%, or RAM usage <= 98%                                                                                     |
+| NA    | OFF | 4 Hz  | actuator_armed->armed && failsafe                                                                                      |
+| NA    | ON  | 4 Hz  | actuator_armed->armed && !failsafe                                                                                     |
+| NA    | OFF | 1 Hz  | !actuator_armed-> armed && actuator_armed->ready_to_arm |
+| NA    | OFF | 10 Hz | !actuator_armed->armed && !actuator_armed->ready_to_arm |
@@ -13,7 +13,7 @@ You can search for tune use using the string `TUNE_ID_name`(e.g. \`TUNE_ID_PARAC

 부팅중에 재생되는 톤들입니다.

-<!-- https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS --> 
+<!-- https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS -->

 #### 시작 톤

@@ -153,7 +153,6 @@ RTK GPS 연결은 기본적으로 플러그앤플레이입니다.
   ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)

 4. Survey-in이 완료되면 :
-
   - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:

     ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
@@ -3,20 +3,11 @@ import { useData } from 'vitepress'
 const { site } = useData();
 </script>

-<div style="float:right; padding:10px; margin-right:20px;"><a href="https://px4.io/"><img src="../assets/site/logo_pro_small.png" title="PX4 Logo" width="180px" /></a></div>
-
 # PX4 Autopilot 사용자 안내서

 [![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

-PX4 is the _Professional Autopilot_.
-세계적인 수준의 개발자들이 산업계와 학계에서 참여하여 개발하였으며,
-세계 각국에서 활동중인 여러 단체들의 지원을 받을 수 있습니다. PX4는 레이싱 드론, 운송용 드론, 자동차와 선박 등의 다양한 운송체에 적용하여 사용할 수 있습니다.
-
-:::tip
-This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle.
-이 프로젝트에 기여하시려면,  Check out the [Development](development/development.md) section.
-:::
+PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.

 <div v-if="site.title == 'PX4 Guide (main)'">

@@ -30,83 +21,43 @@ Documented changes since the stable release are captured in the evolving [releas

 </div>

+## For Developers
+
+:::tip
+Building on PX4 or extending the platform? Start here: [Development Guide](development/development.md). Set up your [dev environment](dev_setup/config_initial.md), [build from source](dev_setup/building_px4.md), run [SITL simulation](simulation/index.md), or integrate via [ROS 2](ros2/index.md) and [MAVSDK](https://mavsdk.mavlink.io/).
+:::
+
 ## 시작하기

-[Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users!
-비행 스택(비행 모드 및 안전 기능)과 지원 하드웨어(비행 제어장치, 기체 형식, 텔레메트리, 원격 제어 시스템) 등 PX4의 전반적인 내용을 설명합니다.
+Start with [Basic Concepts](getting_started/px4_basic_concepts.md) for an overview of the flight stack, flight modes, safety features, and supported hardware.

-이 안내서를 위한 팁들은 아래과 같습니다.
+## Build a Vehicle

-### PX4로 동작하는 기체를 만들려고 합니다
+Pick your frame type: [Multicopter](frames_multicopter/index.md), [Fixed-Wing](frames_plane/index.md), [VTOL](frames_vtol/index.md), [Helicopter](frames_helicopter/index.md), or [Rover](frames_rover/index.md). Each section covers complete vehicles, kits, and DIY builds. For assembly instructions see [Assembling a Multicopter](assembly/assembly_mc.md) or the equivalent for your frame.

-In the [Multicopter](frames_multicopter/index.md), [VTOL](frames_vtol/index.md), and [Plane (Fixed-Wing)](frames_plane/index.md) sections you'll find topics like the following (these links are for multicopter):
+## Configure and Tune

- [Complete Vehicles](complete_vehicles_mc/index.md) list "Ready to Fly" (RTF) pre-built vehicles
- [Kits](frames_multicopter/kits.md) lists drones that you have to build yourself from a set of preselected parts
- [DIY Builds](frames_multicopter/diy_builds.md) shows some examples of drones that have been built using parts that were sourced individually
+Once assembled, follow the configuration guide for your vehicle type (e.g. [Multicopter Configuration](config_mc/index.md)). This covers sensor calibration, flight mode setup, and tuning.

-Both kits and complete vehicles usually include everything you need except for a battery and RC System.
-Kits are usually not hard to build, provide a good introduction to how drones fit together, and are relatively inexpensive.
-We provide generic instructions for assembly, such as [Assembling a Multicopter](assembly/assembly_mc.md), and most kits come with specific instructions too.
+## 하드웨어

-If the kits and complete drones aren't quite right for you then you can build a vehicle from scratch, but this requires more knowledge.
-[Airframe Builds](airframes/index.md) lists the supported frame starting points to give you some idea of what is possible.
+The [Hardware Selection & Setup](hardware/drone_parts.md) section covers flight controllers, sensors, telemetry, RC systems, and payloads. See [Payloads](payloads/index.md) for camera and delivery integrations.

-Once you have a vehicle that supports PX4 you will need to configure it and calibrate the sensors.
-Each vehicle type has its own configuration section that explains the main steps, such as [Multicopter Configuration/Tuning](config_mc/index.md).
+## Fly

-### I want to add a payload/camera
+Read [Operations](config/operations.md) to understand safety features and failsafe behavior before your first flight. Then see [Basic Flying (Multicopter)](flying/basic_flying_mc.md) or the equivalent for your frame type.

-The [Payloads](payloads/index.md) section describes how to add a camera and how to configure PX4 to enable you to deliver packages.
+## 지원

-### I am modifying a supported vehicle
-
-The [Hardware Selection & Setup](hardware/drone_parts.md) section provides both high level and product-specific information about hardware that you might use with PX4 and its configuration.
-This is the first place you should look if you want to modify a drone and add new components.
-
-### I want to fly
-
-Before you fly you should read [Operations](config/operations.md) to understand how to set up the safety features of your vehicle and the common behaviours of all frame types.
-Once you've done that you're ready to fly.
-
-Basic instructions for flying each vehicle type are provided in the respective sections, such as [Basic Flying (Multicopter)](flying/basic_flying_mc.md).
-
-### I want to run PX4 on a new Flight Controller and extend the platform
-
-The [Development](development/development.md) section explains how to support new airframes and types of vehicles, modify flight algorithms, add new modes, integrate new hardware, communicate with PX4 from outside the flight controller, and contribute to PX4.
-
-## 도움 받기
-
-The [Support](contribute/support.md) page explains how to get help from the core dev team and the wider community.
-
-다음과 같은 내용을 다룹니다.
-
- [Forums where you can get help](contribute/support.md#forums-and-chat)
- [Diagnosing issues](contribute/support.md#diagnosing-problems)
- [How to report bugs](contribute/support.md#issue-bug-reporting)
- [Weekly dev call](contribute/support.md#weekly-dev-call)
-
-## Reporting Bugs & Issues
-
-If you have any problems using PX4 first post them on the [support forums](contribute/support.md#forums-and-chat) (as they may be caused by vehicle configuration).
-
-If directed by the development team, code issues may be raised on [Github here](https://github.com/PX4/PX4-Autopilot/issues).
-Where possible provide [flight logs](getting_started/flight_reporting.md) and other information requested in the issue template.
+Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).

 ## 기여

-Information on how to contribute to code and documentation can be found in the [Contributing](contribute/index.md) section:
-
- [Code](contribute/index.md)
- [Documentation](contribute/docs.md)
- [Translation](contribute/translation.md)
+See the [Contributing](contribute/index.md) section for code, [documentation](contribute/docs.md), and [translation](contribute/translation.md) guidelines.

 ## 번역

-There are several [translations](contribute/translation.md) of this guide.
-우상단의 언어 메뉴에서 원하시는 번역본을 선택할 수 있습니다:
-
-![Language Selector](../assets/vuepress/language_selector.png)
+There are several [translations](contribute/translation.md) of this guide. Use the language selector in the top navigation.

 <!--@include: _contributors.md-->

@@ -143,9 +94,9 @@ The calendar default timezone is Central European Time (CET).

 ## 운영 방법

-The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://dronecode.org/).
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.

-<a href="https://dronecode.org/" style="padding:20px" ><img src="../assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
+<a href="https://www.dronecode.org/" style="padding:20px"><img src="../assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="140px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>

 <div style="padding:10px">&nbsp;</div>

@@ -95,192 +95,200 @@ They are not build into the module, and hence are neither published or subscribe
 :::details
 See messages

- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Mission](../msg_docs/Mission.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Ping](../msg_docs/Ping.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [Event](../msg_docs/Event.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
 - [GpioIn](../msg_docs/GpioIn.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugValue](../msg_docs/DebugValue.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
 - [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [EscReport](../msg_docs/EscReport.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EventV0](../msg_docs/EventV0.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
 - [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [Mission](../msg_docs/Mission.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
 - [IrlockReport](../msg_docs/IrlockReport.md)
+- [Ping](../msg_docs/Ping.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [Event](../msg_docs/Event.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)

 :::
@@ -35,8 +35,8 @@ PX4-Autopilot contains a template for writing a new application (module) that ru

   ```cpp
   WorkItemExample::WorkItemExample() :
-       ModuleParams(nullptr),
-       ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
+      ModuleParams(nullptr),
+      ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
   {
   }
   ```
@@ -45,6 +45,26 @@ atxxxx <command> [arguments...]
   status        print status info
 ```

+## auterion_autostarter
+
+Source: [drivers/auterion_autostarter](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/auterion_autostarter)
+
+### 설명
+
+Driver for starting and auto-detecting different power monitors.
+
+### Usage {#auterion_autostarter_usage}
+
+```
+auterion_autostarter <command> [arguments...]
+ Commands:
+   start
+
+   stop
+
+   status        print status info
+```
+
 ## batmon

 Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/smart_battery/batmon)
@@ -925,26 +945,6 @@ pca9685_pwm_out <command> [arguments...]
   status        print status info
 ```

-## pm_selector_auterion
-
-Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/pm_selector_auterion)
-
-### 설명
-
-Driver for starting and auto-detecting different power monitors.
-
-### Usage {#pm_selector_auterion_usage}
-
-```
-pm_selector_auterion <command> [arguments...]
- Commands:
-   start
-
-   stop
-
-   status        print status info
-```
-
 ## pmw3901

 Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/pmw3901)
@@ -1109,7 +1109,7 @@ px4io <command> [arguments...]

 ## rgbled

-Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
+Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)

 ### Usage {#rgbled_usage}

@@ -1124,9 +1124,7 @@ rgbled <command> [arguments...]
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
-                 default: 57
-     [-o <val>]  RGB PWM Assignment
-                 default: 123
+                 default: 85

   stop

@@ -1438,6 +1436,30 @@ tap_esc <command> [arguments...]
                 default: 4
 ```

+## tmp102
+
+Source: [drivers/temperature_sensor/tmp102](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/tmp102)
+
+### Usage {#tmp102_usage}
+
+```
+tmp102 <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-a <val>]  I2C address
+                 default: 72
+
+   stop
+
+   status        print status info
+```
+
 ## tone_alarm

 Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tone_alarm)
@@ -1627,6 +1649,76 @@ voxlpm [arguments...]
   status        print status info
 ```

+## vtx
+
+Source: [drivers/vtx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtx)
+
+### 설명
+
+This module communicates with a VTX camera via serial port. It can be used to
+configure the camera settings and to control the camera's video transmission.
+Supported protocols are:
+
+- SmartAudio v1, v2.0, v2.1
+- Tramp
+
+### Usage {#vtx_usage}
+
+```
+vtx <command> [arguments...]
+ Commands:
+   start
+     -d <val>    VTX device
+                 values: <file:dev>
+
+   <int>         Sets an entry in the mapping table: <index> <aux channel>
+                 <band> <channel> <power level> <start range> <end range>
+
+   stop
+
+   status        print status info
+```
+
+## vtxtable
+
+Source: [drivers/vtxtable](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtxtable)
+
+### 설명
+
+Manages the VTX frequency, power level and RC mapping table for VTX configuration.
+
+### Usage {#vtxtable_usage}
+
+```
+vtxtable <command> [arguments...]
+ Commands:
+   status        Shows the current VTX table configuration.
+
+   name          Sets the VTX table name: <string>
+
+   bands         Sets the number of bands: <int>
+
+   band          Sets the band frequencies: <1-index> <name> <letter>
+                 <attribute> <frequencies...>
+
+   channels      Sets the number of channels: <int>
+
+   powerlevels   Sets number of power levels: <int>
+
+   powervalues   Sets the power level values: <int...>
+
+   powerlabels   Sets the power level labels: <3 chars...>
+
+   <int>         Sets an entry in the mapping table: <0-index> <aux channel>
+                 <band> <channel> <power level> <start range> <end range>
+
+   clear         Clears the VTX table configuration.
+
+   save          Saves the VTX config to a file: <file>
+
+   load          Loads the VTX config from a file: <file>
+```
+
 ## zenoh

 Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/zenoh)
@@ -1,5 +1,36 @@
 # 모듈 참고: 템플릿

+## mc_raptor
+
+Source: [modules/mc_raptor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_raptor)
+
+### 설명
+
+RAPTOR Policy Flight Mode
+
+### Usage {#mc_raptor_usage}
+
+```
+mc_raptor <command> [arguments...]
+ Commands:
+   start
+
+   intref        Modify internal reference
+     lissajous   Set Lissajous trajectory parameters
+     <A>         Amplitude X [m]
+     <B>         Amplitude Y [m]
+     <C>         Amplitude Z [m]
+     <fa>        Frequency a
+     <fb>        Frequency b
+     <fc>        Frequency c
+     <duration>  Total duration [s]
+     <ramp>      Ramp duration [s]
+
+   stop
+
+   status        print status info
+```
+
 ## module

 Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)
@@ -1,12 +1,57 @@
+---
+pageClass: is-wide-page
+---
+
 # ActionRequest (UORB message)

-Action request for the vehicle's main state
+Action request for the vehicle's main state.

 Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
 It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
 Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
+**TOPICS:** action_request
+
+## Fields
+
+| 명칭        | 형식       | Unit [Frame] | Range/Enum        | 설명                                                                                                                                                                                                               |
+| --------- | -------- | ---------------------------------------------------------------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us                                                               |                   | Time since system start                                                                                                                                                                                          |
+| action    | `uint8`  |                                                                  | [ACTION](#ACTION) | Requested action                                                                                                                                                                                                 |
+| source    | `uint8`  |                                                                  | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture                                                                                                                                                        |
+| mode      | `uint8`  |                                                                  |                   | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. |
+
+## Enums
+
+### ACTION {#ACTION}
+
+| 명칭                                                                                                                                                                              | 형식      | Value | 설명                                                                                       |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------- |
+| <a href="#ACTION_DISARM"></a> ACTION_DISARM                                                                                                                | `uint8` | 0     | Disarm vehicle                                                                           |
+| <a href="#ACTION_ARM"></a> ACTION_ARM                                                                                                                      | `uint8` | 1     | Arm vehicle                                                                              |
+| <a href="#ACTION_TOGGLE_ARMING"></a> ACTION_TOGGLE_ARMING                                                                             | `uint8` | 2     | Toggle arming                                                                            |
+| <a href="#ACTION_UNKILL"></a> ACTION_UNKILL                                                                                                                | `uint8` | 3     | Revert a kill action                                                                     |
+| <a href="#ACTION_KILL"></a> ACTION_KILL                                                                                                                    | `uint8` | 4     | Kill vehicle (instantly stop the motors)                              |
+| <a href="#ACTION_SWITCH_MODE"></a> ACTION_SWITCH_MODE                                                                                 | `uint8` | 5     | Switch mode. The target mode is set in the `mode` field. |
+| <a href="#ACTION_VTOL_TRANSITION_TO_MULTICOPTER"></a> ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6     | Transition to hover flight                                                               |
+| <a href="#ACTION_VTOL_TRANSITION_TO_FIXEDWING"></a> ACTION_VTOL_TRANSITION_TO_FIXEDWING     | `uint8` | 7     | Transition to fast forward flight                                                        |
+| <a href="#ACTION_TERMINATION"></a> ACTION_TERMINATION                                                                                                      | `uint8` | 8     | Irreversibly output failsafe values on all outputs, trigger parachute                    |
+
+### SOURCE {#SOURCE}
+
+| 명칭                                                                                                                     | 형식      | Value | 설명                                                              |
+| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- |
+| <a href="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE                    | `uint8` | 0     | Triggered by holding the sticks in a certain position           |
+| <a href="#SOURCE_RC_SWITCH"></a> SOURCE_RC_SWITCH                            | `uint8` | 1     | Triggered by an RC switch moving into a certain position        |
+| <a href="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON                            | `uint8` | 2     | Triggered by a momentary button on the RC being pressed or held |
+| <a href="#SOURCE_RC_MODE_SLOT"></a> SOURCE_RC_MODE_SLOT | `uint8` | 3     | Mode change through the RC mode selection mechanism             |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
+
+:::details
+Click here to see original file

 ```c
 # Action request for the vehicle's main state
@@ -35,5 +80,6 @@ uint8 SOURCE_RC_BUTTON = 2      # Triggered by a momentary button on the RC bein
 uint8 SOURCE_RC_MODE_SLOT = 3   # Mode change through the RC mode selection mechanism

 uint8 mode  # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
-
 ```
+
+:::
@@ -1,6 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorArmed (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg)
+**TOPICS:** actuator_armed
+
+## Fields
+
+| 명칭                                                                                     | 형식       | Unit [Frame] | Range/Enum | 설명                                                                                                 |
+| -------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------- |
+| timestamp                                                                              | `uint64` |                                                                  |            | time since system start (microseconds)                                          |
+| armed                                                                                  | `bool`   |                                                                  |            | Set to true if system is armed                                                                     |
+| prearmed                                                                               | `bool`   |                                                                  |            | Set to true if the actuator safety is disabled but motors are not armed                            |
+| ready_to_arm                                 | `bool`   |                                                                  |            | Set to true if system is ready to be armed                                                         |
+| lockdown                                                                               | `bool`   |                                                                  |            | Set to true if actuators are forced to being disabled (due to emergency or HIL) |
+| kill                                                                                   | `bool`   |                                                                  |            | Set to true if manual throttle kill switch is engaged                                              |
+| termination                                                                            | `bool`   |                                                                  |            | Send out failsafe (by default same as disarmed) output                          |
+| in_esc_calibration_mode | `bool`   |                                                                  |            | IO/FMU should ignore messages from the actuator controls topics                                    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp	# time since system start (microseconds)
@@ -12,5 +36,6 @@ bool lockdown		# Set to true if actuators are forced to being disabled (due to e
 bool kill               # Set to true if manual throttle kill switch is engaged
 bool termination        # Send out failsafe (by default same as disarmed) output
 bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
-
 ```
+
+:::
@@ -1,6 +1,24 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorControlsStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg)
+**TOPICS:** actuator_controls_status_0 actuator_controls_status_1
+
+## Fields
+
+| 명칭                                 | 형식           | Unit [Frame] | Range/Enum | 설명                                                        |
+| ---------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                          | `uint64`     |                                                                  |            | time since system start (microseconds) |
+| control_power | `float32[3]` |                                                                  |            |                                                           |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp			# time since system start (microseconds)
@@ -8,5 +26,6 @@ uint64 timestamp			# time since system start (microseconds)
 float32[3] control_power

 # TOPICS actuator_controls_status_0 actuator_controls_status_1
-
 ```
+
+:::
@@ -1,11 +1,39 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorMotors (UORB message)

-Motor control message
+Motor control message.

 Normalised thrust setpoint for up to 12 motors.
 Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
+**TOPICS:** actuator_motors
+
+## Fields
+
+| 명칭                                    | 형식            | Unit [Frame] | Range/Enum                                                                   | 설명                                                                                                                                                                                                                                                                    |
+| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                             | `uint64`      | us                                                               |                                                                              | Time since system start                                                                                                                                                                                                                                               |
+| timestamp_sample | `uint64`      | us                                                               |                                                                              | Sampling timestamp of the data this control response is based on                                                                                                                                                                                                      |
+| reversible_flags | `uint16`      |                                                                  |                                                                              | Bitset indicating which motors are configured to be reversible                                                                                                                                                                                                        |
+| control                               | `float32[12]` |                                                                  | [-1 : 1] | Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
+
+## Constants
+
+| 명칭                                                                                                          | 형식       | Value | 설명 |
+| ----------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                        | `uint32` | 0     |    |
+| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8`  | 101   |    |
+| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS                                              | `uint8`  | 12    |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
+
+:::details
+Click here to see original file

 ```c
 # Motor control message
@@ -24,5 +52,6 @@ uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #

 uint8 NUM_CONTROLS = 12  #
 float32[12] control      # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
-
 ```
+
+:::
@@ -1,6 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorOutputs (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
+**TOPICS:** actuator_outputs actuator_outputs_sim actuator_outputs_debug
+
+## Fields
+
+| 명칭        | 형식            | Unit [Frame] | Range/Enum | 설명                                                        |
+| --------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp | `uint64`      |                                                                  |            | time since system start (microseconds) |
+| noutputs  | `uint32`      |                                                                  |            | valid outputs                                             |
+| output    | `float32[16]` |                                                                  |            | output data, in natural output units                      |
+
+## Constants
+
+| 명칭                                                                                                                                    | 형식      | Value | 설명                  |
+| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------- |
+| <a href="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS                                   | `uint8` | 16    |                     |
+| <a href="#NUM_ACTUATOR_OUTPUT_GROUPS	"></a> NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4     | for sanity checking |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp				# time since system start (microseconds)
@@ -11,5 +37,6 @@ float32[16] output				# output data, in natural output units

 # actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
 # TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
-
 ```
+
+:::
@@ -1,11 +1,37 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorServos (UORB message)

-Servo control message
+Servo control message.

 Normalised output setpoint for up to 8 servos.
 Published by the vehicle's allocation and consumed by the actuator output drivers.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
+**TOPICS:** actuator_servos
+
+## Fields
+
+| 명칭                                    | 형식           | Unit [Frame] | Range/Enum                                                                   | 설명                                                                                                                                                                                                                                                                     |
+| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                             | `uint64`     | us                                                               |                                                                              | Time since system start                                                                                                                                                                                                                                                |
+| timestamp_sample | `uint64`     | us                                                               |                                                                              | Sampling timestamp of the data this control response is based on                                                                                                                                                                                                       |
+| control                               | `float32[8]` |                                                                  | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. |
+
+## Constants
+
+| 명칭                                                                   | 형식       | Value | 설명 |
+| -------------------------------------------------------------------- | -------- | ----- | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |    |
+| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS       | `uint8`  | 8     |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
+
+:::details
+Click here to see original file

 ```c
 # Servo control message
@@ -20,5 +46,6 @@ uint64 timestamp_sample  # [us] Sampling timestamp of the data this control resp

 uint8 NUM_CONTROLS = 8  #
 float32[8] control      # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
-
 ```
+
+:::
@@ -1,8 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorServosTrim (UORB message)

-Servo trims, added as offset to servo outputs
+Servo trims, added as offset to servo outputs.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg)
+**TOPICS:** actuator_servostrim
+
+## Fields
+
+| 명칭        | 형식           | Unit [Frame] | Range/Enum | 설명                                                                                 |
+| --------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------- |
+| timestamp | `uint64`     |                                                                  |            | time since system start (microseconds)                          |
+| trim      | `float32[8]` |                                                                  |            | range: [-1, 1] |
+
+## Constants
+
+| 명칭                                                             | 형식      | Value | 설명 |
+| -------------------------------------------------------------- | ------- | ----- | -- |
+| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8     |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg)
+
+:::details
+Click here to see original file

 ```c
 # Servo trims, added as offset to servo outputs
@@ -10,5 +34,6 @@ uint64 timestamp			# time since system start (microseconds)

 uint8 NUM_CONTROLS = 8
 float32[8] trim    # range: [-1, 1]
-
 ```
+
+:::
--- a/Show More
+++ b/Show More