voxl2: Added components to the board build that are in the ModalAI fork but missing in mainline

.gitmodules

@@ -109,3 +109,9 @@
 [submodule "src/lib/rl_tools/rl_tools"]
 	path = src/lib/rl_tools/rl_tools
 	url = https://github.com/rl-tools/rl-tools.git
+[submodule "libmodal-json"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
+[submodule "libmodal-pipe"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git

Tools/astyle/files_to_check_code_style.sh

@@ -39,6 +39,8 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
     -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-json -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-pipe -prune -o \
     -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
     -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
     -path src/drivers/ins/sbgecom/sbgECom -prune -o \

boards/modalai/voxl2-slpi/default.px4board

@@ -5,6 +5,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
@@ -16,6 +17,7 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
@@ -29,6 +31,11 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y

boards/modalai/voxl2/default.px4board

@@ -3,6 +3,8 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ROOT_PATH="/data/px4"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_QSHELL_POSIX=y

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -128,6 +128,11 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_air_data_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensor_baro_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dps310"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-icp101xx"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_local_position_bridge"
 
 # Make sure any required directories exist
 adb shell "/bin/mkdir -p /data/px4/param"

boards/modalai/voxl2/src/CMakeLists.txt

@@ -39,12 +39,20 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
 
 add_library(drivers_board
 	board_config.h
+	i2c.cpp
 	init.c
 	boardctl.c
+	spi.cpp
     )
 
 # Add custom drivers
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
 
+# Add custom libraries
+add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa)
+
 # Add custom modules
 add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge)

boards/modalai/voxl2/src/board_config.h

@@ -42,9 +42,21 @@
 #define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
-// Define this as empty since there are no I2C buses
+// Define this as empty since i2c clock init isn't required
 #define BOARD_I2C_BUS_CLOCK_INIT
 
+/*
+ * I2C buses
+ */
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    1
+
+/*
+ * SPI buses
+ */
+#define CONFIG_SPI 1
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
+
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
 

boards/modalai/voxl2/src/i2c.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/i2c.h>
+#include <px4_arch/i2c_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(0)
+};

boards/modalai/voxl2/src/lib/mpa/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_git_submodule(TARGET git_mpa_libmodal-json PATH "libmodal-json")
+px4_add_git_submodule(TARGET git_mpa_libmodal-pipe PATH "libmodal-pipe")
+
+px4_add_library(mpa mpa.cpp)
+
+target_link_libraries(mpa PRIVATE ${CMAKE_DL_LIBS})
+
+target_include_directories(mpa PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}/libmodal-json/library/include
+	${CMAKE_CURRENT_SOURCE_DIR}/libmodal-pipe/library/include
+)

boards/modalai/voxl2/src/lib/mpa/libmodal-json

@@ -0,0 +1 @@
+Subproject commit a18d9eee62465b8eef52251515f7195874afa260

boards/modalai/voxl2/src/lib/mpa/libmodal-pipe

@@ -0,0 +1 @@
+Subproject commit be51027375ca4071a2c2ba7410fb2ddd4bbead0c

boards/modalai/voxl2/src/lib/mpa/mpa.cpp

@@ -0,0 +1,262 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "mpa.hpp"
+#include <dlfcn.h>
+#include <px4_log.h>
+#include <string.h>
+
+bool MPA::initialized = false;
+void *MPA::handle = nullptr;
+int MPA::current_client = 0;
+int MPA::current_server = 0;
+
+MPA::pipe_client_set_simple_helper_cb_t MPA::helper_cb = nullptr;
+MPA::pipe_client_set_connect_cb_t MPA::connect_cb = nullptr;
+MPA::pipe_client_set_disconnect_cb_t MPA::disconnect_cb = nullptr;
+MPA::pipe_client_open_t MPA::open_pipe = nullptr;
+MPA::pipe_server_create_t MPA::create_pipe = nullptr;
+MPA::pipe_server_write_t MPA::write_pipe = nullptr;
+MPA::pipe_server_set_control_cb_t MPA::set_control_cb = nullptr;
+MPA::pipe_server_close_t MPA::close_pipe = nullptr;
+MPA::mpa_data_cb_t MPA::data_cb[MAX_MPA_CLIENTS];
+
+// called whenever we connect or reconnect to the server
+void MPA::ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
+{
+	PX4_INFO("vfc status server connected");
+	return;
+}
+
+// called whenever we disconnect from the server
+void MPA::DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
+{
+	PX4_INFO("vfc status server disconnected");
+	return;
+}
+
+void MPA::HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context)
+{
+	// PX4_INFO("Got %d bytes in pipe callback", bytes);
+
+	if (data_cb[ch]) { data_cb[ch](data, bytes); }
+
+	return;
+}
+
+int MPA::PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb)
+{
+	if (!initialized) {
+		PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
+		return -1;
+	}
+
+	printf("waiting for server for pipe %s\n", pipe_name);
+
+	if (open_pipe(current_client, pipe_name, "px4", EN_PIPE_CLIENT_SIMPLE_HELPER, size * 10) < 0) {
+		PX4_ERR("Error opening pipe %s", pipe_name);
+		return -1;
+	}
+
+	data_cb[current_client] = cb;
+	current_client++;
+
+	return current_client - 1;
+}
+
+int MPA::PipeCreate(char *pipe_name, int flags)
+{
+	if (!initialized) {
+		PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
+		return -1;
+	}
+
+	pipe_info_t server_pipe;
+	strncpy(server_pipe.name, pipe_name, MODAL_PIPE_MAX_NAME_LEN);
+	server_pipe.name[MODAL_PIPE_MAX_NAME_LEN - 1] = 0;
+	server_pipe.location[0] = 0;
+	server_pipe.type[0]     = 0;
+	strncpy(server_pipe.server_name, "px4_mpa", MODAL_PIPE_MAX_NAME_LEN);
+	server_pipe.size_bytes  = MODAL_PIPE_DEFAULT_PIPE_SIZE;
+	server_pipe.server_pid  = 0;
+
+	if (create_pipe(current_server, server_pipe, flags) < 0) {
+		// remove_pid_file(server_pipe.server_name);
+		PX4_ERR("Error opening pipe %s", pipe_name);
+		return -1;
+	}
+
+	current_server++;
+
+	return current_server - 1;
+}
+
+int MPA::PipeWrite(int ch, const void *data, int bytes)
+{
+	return write_pipe(ch, data, bytes);
+}
+
+int MPA::PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context)
+{
+	return set_control_cb(ch, cb, context);
+}
+
+void MPA::PipeServerClose(int ch)
+{
+	if (close_pipe) {
+		close_pipe(ch);
+	}
+}
+
+int MPA::Initialize()
+{
+	if (initialized) {
+		// Already successfully initialized
+		return 0;
+	}
+
+	char libname[] = "libmodal_pipe.so";
+	handle = dlopen(libname, RTLD_LAZY | RTLD_GLOBAL);
+
+	if (!handle) {
+		PX4_ERR("Error opening library %s: %s\n", libname, dlerror());
+		return -1;
+
+	} else {
+		PX4_INFO("Successfully loaded library %s", libname);
+	}
+
+	// set up all our MPA callbacks
+	char helper_cb_name[] = "pipe_client_set_simple_helper_cb";
+	helper_cb = (pipe_client_set_simple_helper_cb_t) dlsym(handle, helper_cb_name);
+
+	if (!helper_cb) {
+		PX4_ERR("Error finding symbol %s: %s\n", helper_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", helper_cb_name);
+	}
+
+	helper_cb(0, HelperCB, NULL);
+
+	char connect_cb_name[] = "pipe_client_set_connect_cb";
+	connect_cb = (pipe_client_set_connect_cb_t) dlsym(handle, connect_cb_name);
+
+	if (!connect_cb) {
+		PX4_ERR("Error finding symbol %s: %s", connect_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", connect_cb_name);
+	}
+
+	connect_cb(0, ConnectCB, NULL);
+
+	char disconnect_cb_name[] = "pipe_client_set_disconnect_cb";
+	disconnect_cb = (pipe_client_set_disconnect_cb_t) dlsym(handle, disconnect_cb_name);
+
+	if (!disconnect_cb) {
+		PX4_ERR("Error finding symbol %s: %s", disconnect_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", disconnect_cb_name);
+	}
+
+	disconnect_cb(0, DisconnectCB, NULL);
+
+	// request a new pipe from the server
+	char open_pipe_name[] = "pipe_client_open";
+	open_pipe = (pipe_client_open_t) dlsym(handle, open_pipe_name);
+
+	if (!open_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", open_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", open_pipe_name);
+	}
+
+	// Create a new server pipe
+	char create_pipe_name[] = "pipe_server_create";
+	create_pipe = (pipe_server_create_t) dlsym(handle, create_pipe_name);
+
+	if (!create_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", create_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", create_pipe_name);
+	}
+
+	// Write to a server pipe
+	char write_pipe_name[] = "pipe_server_write";
+	write_pipe = (pipe_server_write_t) dlsym(handle, write_pipe_name);
+
+	if (!write_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", write_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", write_pipe_name);
+	}
+
+	// Set control callback for server pipe
+	char set_control_cb_name[] = "pipe_server_set_control_cb";
+	set_control_cb = (pipe_server_set_control_cb_t) dlsym(handle, set_control_cb_name);
+
+	if (!set_control_cb) {
+		PX4_ERR("Error finding symbol %s: %s", set_control_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", set_control_cb_name);
+	}
+
+	// Close server pipe
+	char close_pipe_name[] = "pipe_server_close";
+	close_pipe = (pipe_server_close_t) dlsym(handle, close_pipe_name);
+
+	if (!close_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", close_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", close_pipe_name);
+	}
+
+	initialized = true;
+
+	return 0;
+}

boards/modalai/voxl2/src/lib/mpa/mpa.hpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <modal_pipe.h>
+
+#pragma once
+
+class MPA
+{
+public:
+	static int Initialize();
+
+	typedef void (*mpa_data_cb_t)(char *data, int bytes);
+	typedef void (*mpa_control_cb_t)(int ch, char *data, int bytes, void *context);
+
+	static int PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb);
+
+	static int PipeCreate(char *pipe_name, int flags = 0);
+	static int PipeWrite(int ch, const void *data, int bytes);
+	static int PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context);
+	static void PipeServerClose(int ch);
+
+private:
+	static void HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context);
+	static void DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
+	static void ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
+
+	typedef int (*pipe_client_set_simple_helper_cb_t)(int ch, client_simple_cb *cb, void *context);
+	typedef int (*pipe_client_set_connect_cb_t)(int ch, client_connect_cb *cb, void *context);
+	typedef int (*pipe_client_set_disconnect_cb_t)(int ch, client_disc_cb *cb, void *context);
+	typedef int (*pipe_client_open_t)(int ch, const char *name_or_location, const char *client_name, int flags, int buf_len);
+	typedef int (*pipe_server_create_t)(int ch, pipe_info_t info, int flags);
+	typedef int (*pipe_server_write_t)(int ch, const void *data, int bytes);
+	typedef int (*pipe_server_set_control_cb_t)(int ch, server_control_cb *cb, void *context);
+	typedef void (*pipe_server_close_t)(int ch);
+
+	static pipe_client_set_simple_helper_cb_t helper_cb;
+	static pipe_client_set_connect_cb_t connect_cb;
+	static pipe_client_set_disconnect_cb_t disconnect_cb;
+	static pipe_client_open_t open_pipe;
+	static pipe_server_create_t create_pipe;
+	static pipe_server_write_t write_pipe;
+	static pipe_server_set_control_cb_t set_control_cb;
+	static pipe_server_close_t close_pipe;
+
+	static bool initialized;
+	static void *handle;
+
+	static int current_client;
+	static int current_server;
+
+	static const int MAX_MPA_CLIENTS{8};
+	static mpa_data_cb_t data_cb[MAX_MPA_CLIENTS];
+};

boards/modalai/voxl2/src/modules/sensor_baro_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__sensor_baro_bridge
+	MAIN sensor_baro_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		sensor_baro_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/sensor_baro_bridge/sensor_baro_bridge.cpp

@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_baro.h>
+
+class SensorBaroBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	SensorBaroBridge();
+	~SensorBaroBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
+
+	sensor_baro_s _sensor_baro{};
+
+	int baro_pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor SensorBaroBridge::desc{task_spawn, custom_command, print_usage};
+
+SensorBaroBridge::SensorBaroBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool SensorBaroBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char baro_pipe_name[] = "px4_sensor_baro";
+	baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
+
+	if (baro_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", baro_pipe_name);
+		return false;
+	}
+
+	if (!_sensor_baro_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void SensorBaroBridge::Run()
+{
+	if (should_exit()) {
+		_sensor_baro_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_sensor_baro_sub.updated()) {
+		if (_sensor_baro_sub.update(&_sensor_baro)) {
+			baro_data_t baro;
+			memset(&baro, 0, sizeof(baro));
+
+			baro.magic_number = BARO_MAGIC_NUMBER;
+			baro.pressure_pa = _sensor_baro.pressure;
+			baro.temp_c = _sensor_baro.temperature;
+			baro.alt_amsl_m = 0.0f; // sensor_baro does not include altitude
+			baro.timestamp_ns = _sensor_baro.timestamp * 1000; // Convert µs to ns
+			baro.reserved_1 = 0;
+			baro.reserved_2 = 0;
+
+			if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
+			}
+		}
+	}
+}
+
+int SensorBaroBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorBaroBridge::task_spawn(int argc, char *argv[])
+{
+	SensorBaroBridge *instance = new SensorBaroBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorBaroBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Sensor baro bridge
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_baro_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_baro_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(SensorBaroBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__vehicle_air_data_bridge
+	MAIN vehicle_air_data_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		vehicle_air_data_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/vehicle_air_data_bridge.cpp

@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_air_data.h>
+
+class VehicleAirDataBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	VehicleAirDataBridge();
+	~VehicleAirDataBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_air_data_sub{this, ORB_ID(vehicle_air_data)};
+
+	vehicle_air_data_s _vehicle_air_data{};
+
+	int baro_pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor VehicleAirDataBridge::desc{task_spawn, custom_command, print_usage};
+
+VehicleAirDataBridge::VehicleAirDataBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool VehicleAirDataBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char baro_pipe_name[] = "px4_vehicle_air_data";
+	baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
+
+	if (baro_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", baro_pipe_name);
+		return false;
+	}
+
+	if (!_vehicle_air_data_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void VehicleAirDataBridge::Run()
+{
+	if (should_exit()) {
+		_vehicle_air_data_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_vehicle_air_data_sub.updated()) {
+		if (_vehicle_air_data_sub.update(&_vehicle_air_data)) {
+			baro_data_t baro;
+			memset(&baro, 0, sizeof(baro));
+
+			baro.magic_number = BARO_MAGIC_NUMBER;
+			baro.pressure_pa = _vehicle_air_data.baro_pressure_pa;
+			baro.temp_c = _vehicle_air_data.ambient_temperature;
+			baro.alt_amsl_m = _vehicle_air_data.baro_alt_meter;
+			baro.timestamp_ns = _vehicle_air_data.timestamp * 1000; // Convert µs to ns
+			baro.reserved_1 = 0;
+			baro.reserved_2 = 0;
+
+			if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
+			}
+		}
+	}
+}
+
+int VehicleAirDataBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VehicleAirDataBridge::task_spawn(int argc, char *argv[])
+{
+	VehicleAirDataBridge *instance = new VehicleAirDataBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VehicleAirDataBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Vehicle air data bridge
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vehicle_air_data_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int vehicle_air_data_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(VehicleAirDataBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__vehicle_local_position_bridge
+	MAIN vehicle_local_position_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		vehicle_local_position_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/vehicle_local_position_bridge.cpp

@@ -0,0 +1,238 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <math.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_local_position.h>
+
+class VehicleLocalPositionBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	VehicleLocalPositionBridge();
+	~VehicleLocalPositionBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
+
+	vehicle_local_position_s _vehicle_local_position{};
+
+	int _pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor VehicleLocalPositionBridge::desc{task_spawn, custom_command, print_usage};
+
+VehicleLocalPositionBridge::VehicleLocalPositionBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool VehicleLocalPositionBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char pipe_name[] = "px4_vehicle_local_position";
+	_pipe_ch = MPA::PipeCreate(pipe_name);
+
+	if (_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", pipe_name);
+		return false;
+	}
+
+	if (!_vehicle_local_position_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void VehicleLocalPositionBridge::Run()
+{
+	if (should_exit()) {
+		_vehicle_local_position_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_vehicle_local_position_sub.updated()) {
+		if (_vehicle_local_position_sub.update(&_vehicle_local_position)) {
+			// Only publish if we have valid position data
+			if (!_vehicle_local_position.xy_valid && !_vehicle_local_position.z_valid) {
+				return;
+			}
+
+			pose_vel_6dof_t pose;
+
+			pose.magic_number = POSE_VEL_6DOF_MAGIC_NUMBER;
+			pose.timestamp_ns = _vehicle_local_position.timestamp * 1000; // Convert µs to ns
+
+			// Position (NED frame)
+			if (_vehicle_local_position.xy_valid) {
+				pose.T_child_wrt_parent[0] = _vehicle_local_position.x;
+				pose.T_child_wrt_parent[1] = _vehicle_local_position.y;
+
+			} else {
+				pose.T_child_wrt_parent[0] = NAN;
+				pose.T_child_wrt_parent[1] = NAN;
+			}
+
+			if (_vehicle_local_position.z_valid) {
+				pose.T_child_wrt_parent[2] = _vehicle_local_position.z;
+
+			} else {
+				pose.T_child_wrt_parent[2] = NAN;
+			}
+
+			// Rotation matrix from heading (yaw rotation around Z axis)
+			// R_z(heading) = [cos(h)  -sin(h)  0]
+			//                [sin(h)   cos(h)  0]
+			//                [0        0       1]
+			float cos_h = cosf(_vehicle_local_position.heading);
+			float sin_h = sinf(_vehicle_local_position.heading);
+			pose.R_child_to_parent[0][0] = cos_h;
+			pose.R_child_to_parent[0][1] = -sin_h;
+			pose.R_child_to_parent[0][2] = 0.0f;
+			pose.R_child_to_parent[1][0] = sin_h;
+			pose.R_child_to_parent[1][1] = cos_h;
+			pose.R_child_to_parent[1][2] = 0.0f;
+			pose.R_child_to_parent[2][0] = 0.0f;
+			pose.R_child_to_parent[2][1] = 0.0f;
+			pose.R_child_to_parent[2][2] = 1.0f;
+
+			// Velocity (NED frame)
+			if (_vehicle_local_position.v_xy_valid) {
+				pose.v_child_wrt_parent[0] = _vehicle_local_position.vx;
+				pose.v_child_wrt_parent[1] = _vehicle_local_position.vy;
+
+			} else {
+				pose.v_child_wrt_parent[0] = NAN;
+				pose.v_child_wrt_parent[1] = NAN;
+			}
+
+			if (_vehicle_local_position.v_z_valid) {
+				pose.v_child_wrt_parent[2] = _vehicle_local_position.vz;
+
+			} else {
+				pose.v_child_wrt_parent[2] = NAN;
+			}
+
+			// Angular velocity not available in vehicle_local_position
+			pose.w_child_wrt_child[0] = NAN;
+			pose.w_child_wrt_child[1] = NAN;
+			pose.w_child_wrt_child[2] = NAN;
+
+			if (MPA::PipeWrite(_pipe_ch, (void *)&pose, sizeof(pose_vel_6dof_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", _pipe_ch);
+			}
+		}
+	}
+}
+
+int VehicleLocalPositionBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VehicleLocalPositionBridge::task_spawn(int argc, char *argv[])
+{
+	VehicleLocalPositionBridge *instance = new VehicleLocalPositionBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VehicleLocalPositionBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Vehicle local position bridge - publishes vehicle_local_position to MPA pipe as pose_vel_6dof_t
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vehicle_local_position_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int vehicle_local_position_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(VehicleLocalPositionBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/spi.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <px4_platform_common/spi.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, 0), }),
+};

boards/modalai/voxl2/target/voxl-px4

@@ -2,10 +2,12 @@
 
 CONFIG_FILE="/etc/modalai/voxl-px4.conf"
 
+AIRFRAME=MULTICOPTER
 GPS=NONE
 RC=SPEKTRUM
 ESC=VOXL_ESC
 POWER_MANAGER=VOXLPM
+AIRSPEED_SENSOR=NONE
 DISTANCE_SENSOR=NONE
 OSD=DISABLE
 DAEMON_MODE=DISABLE
@@ -39,12 +41,14 @@ else
 fi
 
 print_usage() {
-    echo -e "\nUsage: voxl-px4 [-b (Specify Holybro GPS unit)]"
+    echo -e "\nUsage: voxl-px4 [-a (Specify Airspeed Sensor)]"
+    echo "                [-b (Specify Holybro GPS unit)]"
     echo "                [-c delete configuration file and exit]"
     echo "                [-d start px4 without daemon mode]"
     echo "                [-f (Use fake rc input instead of from a real transmitter)]"
     echo "                [-m (Specify Matek GPS unit)]"
     echo "                [-o (Start OSD module on the apps processor)]"
+    echo "                [-p (Specify Fixed Wing airframe selected)]"
     echo "                [-r (Specify TBS Crossfire RC receiver, MAVLINK)]"
     echo "                [-w (Specify TBS Crossfire RC receiver, raw)]"
     echo "                [-z (Use fake sensor calibration values)]"
@@ -55,10 +59,12 @@ print_usage() {
 
 print_config_settings(){
     echo -e "\n*************************"
+    echo "AIRFRAME=$AIRFRAME"
     echo "GPS=$GPS"
     echo "RC=$RC"
     echo "ESC=$ESC"
     echo "POWER MANAGER=$POWER_MANAGER"
+    echo "AIRSPEED SENSOR=$AIRSPEED_SENSOR"
     echo "DISTANCE SENSOR=$DISTANCE_SENSOR"
     echo "OSD=$OSD"
     echo "DAEMON_MODE=$DAEMON_MODE"
@@ -71,9 +77,13 @@ print_config_settings(){
     echo -e "*************************\n"
 }
 
-while getopts "bcdhfmorwz" flag
+while getopts "abcdhfmoprwz" flag
 do
     case "${flag}" in
+        a)
+            echo "[INFO] MRO AIRSPEED Sensor selected"
+            AIRSPEED_SENSOR=MS4525DO
+            ;;
         b)
             echo "[INFO] Holybro GPS selected"
             GPS=HOLYBRO
@@ -104,6 +114,10 @@ do
             echo "[INFO] OSD module selected"
             OSD=ENABLE
             ;;
+        p)
+            echo "[INFO] Airframe Selected as Fixed Wing"
+            AIRFRAME=FIXED_WING
+            ;;
         r)
             echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
             RC=CRSF_MAV
@@ -137,5 +151,6 @@ fi
 
 print_config_settings
 
-GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
+AIRFRAME=$AIRFRAME GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
-OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start
+AIRSPEED_SENSOR=$AIRSPEED_SENSOR OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS \
+px4 $DAEMON -s /usr/bin/voxl-px4-start

boards/modalai/voxl2/target/voxl-px4-start

@@ -4,10 +4,12 @@
 . px4-alias.sh
 
 echo -e "\n*************************"
+echo "AIRFRAME: $AIRFRAME"
 echo "GPS: $GPS"
 echo "RC: $RC"
 echo "ESC: $ESC"
 echo "POWER MANAGER: $POWER_MANAGER"
+echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
 echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
 echo "OSD: $OSD"
 echo "EXTRA STEPS:"
@@ -23,6 +25,8 @@ echo -e "*************************\n"
 # and modules manually from the px4 command shell
 if [ ! -z $MINIMAL_PX4 ]; then
     /bin/echo "Running minimal script"
+    param select /data/px4/param/parameters
+    param load
     exit 0
 fi
 
@@ -33,16 +37,21 @@ if [ $RETURNCODE -ne 0 ]; then
     # If we couldn't get the platform from the voxl-platform utility then check
     # /etc/version to see if there is an M0052 substring in the version string. If so,
     # then we assume that we are on M0052.
-    VERSIONSTRING=$(</etc/version)
+    VERSIONSTRING=""
+    if [ -f /etc/version ]; then
+        VERSIONSTRING=$(</etc/version)
+    fi
     M0052SUBSTRING="M0052"
     if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
         PLATFORM="M0052"
     fi
 fi
 
-# We can only run on M0052, M0054, M0104, or M0197 so exit with error if that is not the case
+# We can only run on M0054, M0104, or M0197 so exit with error if that is not the case
 if [ $PLATFORM = "M0052" ]; then
     /bin/echo "Running on M0052"
+    /bin/echo "Error M0052 is no longer supported!!!"
+    exit 1
 elif [ $PLATFORM = "M0054" ]; then
     /bin/echo "Running on M0054"
 elif [ $PLATFORM = "M0104" ]; then
@@ -51,7 +60,7 @@ elif [ $PLATFORM = "M0197" ]; then
     /bin/echo "Running on M0197"
 else
     /bin/echo "Error, cannot determine platform!"
-    exit 0
+    exit 1
 fi
 
 # Sleep a little here. A lot happens when the uorb and muorb start
@@ -87,13 +96,33 @@ else
     qshell icm42688p start -s -C 32768
 fi
 
-# Start onboard barometer
+# First look for any external barometers connected to the apps proc
-if [ "$PLATFORM" == "M0197" ]; then
+EXTERNAL_BAROMETER=0
-    /bin/echo "Starting dps368 barometer on M0197"
+
-    qshell dps310 start -I -b 5
+/bin/echo "Looking for external DPS368 barometer"
-else
+if dps310 start -X -b /dev/i2c-0; then
-    # Start Invensense ICP 101xx barometer built on to VOXL 2
+	/bin/echo "Detected external DPS368 barometer"
-    qshell icp101xx start -I -b 5
+	EXTERNAL_BAROMETER=1
+fi
+
+if (( EXTERNAL_BAROMETER == 0 )); then
+	/bin/echo "Looking for external ICP10100 barometer"
+	if icp101xx start -X -b /dev/i2c-0; then
+		/bin/echo "Detected external ICP10100 barometer"
+		EXTERNAL_BAROMETER=1
+	fi
+fi
+
+# If no external barometers found, use the builtin barometer
+if (( EXTERNAL_BAROMETER == 0 )); then
+    /bin/echo "Did not detect an external barometer, starting onboard barometer"
+    if [ "$PLATFORM" == "M0197" ]; then
+       /bin/echo "Starting dps368 barometer on M0197"
+       qshell dps310 start -I -b 5
+    else
+        # Start Invensense ICP 101xx barometer built on to VOXL 2
+        qshell icp101xx start -I -b 5
+    fi
 fi
 
 # Auto detect the magnetometer. If one or both of these devices
@@ -102,18 +131,19 @@ fi
 qshell qmc5883l start -R 10 -X -b 1
 /bin/echo "Looking for ist8310 magnetometer"
 qshell ist8310 start -R 10 -X -b 1
+/bin/echo "Looking for ist8308 magnetometer"
+# Rotation 12 = PITCH_180
+qshell ist8308 start -R 12 -X -b 1
+/bin/echo "Looking for iis2mdc magnetometer"
+# Note: Rotation may not be correct
+qshell iis2mdc start -R 10 -X -b 1
 
 # GPS and magnetometer
 if [ "$GPS" != "NONE" ]; then
-    # On M0052 the GPS driver runs on the apps processor
+    if [ "$PLATFORM" == "M0197" ]; then
-    if [ $PLATFORM = "M0052" ]; then
+	gps start -d /dev/ttyHS7
-        gps start -d /dev/ttyHS2
-    # On M0197 the GPS driver runs on the apps processor
-    elif [ $PLATFORM = "M0197" ]; then
-        gps start -d /dev/ttyHS7
-    # On M0054 and M0104 the GPS driver runs on SLPI DSP
     else
-        qshell gps start -d 6
+	qshell gps start
     fi
 fi
 
@@ -158,20 +188,12 @@ elif [ "$RC" == "CRSF_MAV" ]; then
     qshell mavlink_rc_in start -m -p 7 -b 115200
 elif [ "$RC" == "SPEKTRUM" ]; then
     /bin/echo "Starting Spektrum RC"
-    # On M0052 the RC driver runs on the apps processor
+    qshell spektrum_rc start
-    if [ $PLATFORM = "M0052" ]; then
-        rc_input start -d /dev/ttyHS1
-    # On M0054 and M0104 the RC driver runs on SLPI DSP
-    else
-        qshell spektrum_rc start
-    fi
 elif [ "$RC" == "GHST" ]; then
     /bin/echo "Starting GHST RC driver"
     qshell ghst_rc start -d 7
 elif [ "$RC" == "M0065_SBUS" ]; then
-    if [ $PLATFORM = "M0052" ]; then
+    if [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
-        apps_sbus start
-    elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
         /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
         qshell dsp_sbus start
         retVal=$?
@@ -195,6 +217,10 @@ if [ "$POWER_MANAGER" == "VOXLPM" ]; then
     qshell voxlpm start -X -b 2
 fi
 
+if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
+	qshell ms4525do start -X -b 4
+fi
+
 # Optional distance sensor on spare i2c
 # qshell vl53l0x start -X -b 4
 # qshell vl53l1x start -X -b 4
@@ -202,22 +228,27 @@ fi
 # Start all of the processing modules on DSP
 qshell sensors start
 qshell ekf2 start
-qshell mc_pos_control start
+
-qshell mc_att_control start
+if [ "$AIRFRAME" == "FIXED_WING" ]; then
-qshell mc_rate_control start
+	qshell fw_pos_control start
-qshell mc_hover_thrust_estimator start
+	qshell fw_att_control start
-qshell mc_autotune_attitude_control start
+	qshell fw_rate_control start
-qshell land_detector start multicopter
+	qshell airspeed_selector start
+	qshell fw_autotune_attitude_control start
+	qshell land_detector start fixedwing
+elif [ $AIRFRAME = "MULTICOPTER" ]; then
+	qshell mc_pos_control start
+	qshell mc_att_control start
+	qshell mc_rate_control start
+	qshell mc_hover_thrust_estimator start
+	qshell mc_autotune_attitude_control start
+	qshell land_detector start multicopter
+fi
+
 qshell manual_control start
 qshell control_allocator start
 qshell load_mon start
-
+qshell rc_update start
-# Only start the rc_update module if an actual RC driver
-# is publishing input_rc topics. Otherwise for external RC
-# over Mavlink this isn't needed.
-if [ "$RC" != "EXTERNAL" ]; then
-    qshell rc_update start
-fi
 
 qshell commander start
 
@@ -227,21 +258,15 @@ qshell flight_mode_manager start
 # Start all of the processing modules on the applications processor
 dataman start
 navigator start
-
+vehicle_air_data_bridge start
-# This bridge allows raw data packets to be sent over UART to the ESC
+sensor_baro_bridge start
-# voxl2_io_bridge start
+vehicle_local_position_bridge start
 
 # Start uxrce_dds_client for ros2 offboard messages from agent over localhost
 uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
 
 voxl_save_cal_params start
 
-# On M0052 there is only one IMU. So, PX4 needs to
-# publish IMU samples externally for VIO to use.
-if [ $PLATFORM = "M0052" ]; then
-    imu_server start
-fi
-
 # start the onboard fast link to connect to voxl-mavlink-server
 mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
 
@@ -252,17 +277,12 @@ mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
 mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
 mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
 
+# Increase heartbeat rate so VFC can get faster mode updates
+mavlink stream -u 14556 -s HEARTBEAT -r 10
+
 # start the slow normal mode for voxl-mavlink-server to forward to GCS
 mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
 
-# Start logging and use timestamps for log files when possible.
-# Add the "-e" option to start logging immediately. Default is
-# to log only when armed. Caution must be used with the "-e" option
-# because if power is removed without stopping the logger gracefully then
-# the log file may be corrupted. Rather than using "-e" option it's better
-# to use the SDLOG_MODE to do that.
-logger start -t -b 256
-
 mavlink boot_complete
 
 # Optional MSP OSD driver for DJI goggles
@@ -277,3 +297,9 @@ for i in "${EXTRA_STEPS[@]}"
 do
     $i
 done
+
+# Start logging module. This is done as the last step because any topics
+# marked as optional will only be logged if they have been advertised when
+# this is started. By starting it last it makes sure to see those
+# advertisements as the other modules are starting before it.
+logger start

src/drivers/barometer/dps310/CMakeLists.txt

@@ -40,5 +40,6 @@ px4_add_module(
 		DPS310_SPI.cpp
 		dps310_main.cpp
 	DEPENDS
+		drivers__device
 		px4_work_queue
 	)