From 43f5a713dbe874b871f5e9db33a0b08d03ccf453 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 15 Apr 2025 16:10:11 +1200
Subject: [PATCH 1/2] stm32_common: add timer 12 (#24680)

---
 platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c b/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
index ea903eaf4d..86d806b4f6 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
@@ -156,8 +156,17 @@
 # if CONFIG_STM32_TIM11
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
 # endif
+#elif HRT_TIMER == 12
+# define HRT_TIMER_BASE		STM32_TIM12_BASE
+# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
+# define HRT_TIMER_POWER_BIT	RCC_APB1LENR_TIM12EN
+# define HRT_TIMER_VECTOR	STM32_IRQ_TIM12
+# define HRT_TIMER_CLOCK	STM32_APB1_TIM12_CLKIN
+# if CONFIG_STM32_TIM12
+#  error must not set CONFIG_STM32_TIM12=y and HRT_TIMER=12
+# endif
 #else
-# error HRT_TIMER must be a value between 1 and 11
+# error HRT_TIMER must be a value between 1 and 12
 #endif
 
 /*

From 9027dc146eb77045474b745b5c0e8101be350eb0 Mon Sep 17 00:00:00 2001
From: Pedro Roque <padr@kth.se>
Date: Tue, 15 Apr 2025 10:24:03 +0200
Subject: [PATCH 2/2] feat: add  6 DoF trajectory setpoints message

* feat: add attitude to trajectory setpoints

* feat: proposed new trajectory message for fully actuated vehicles

* fix: moved to unversioned and changed naming scheme

* feat: added space between translation and attitude control

* fix: change cmakelists
---
 msg/CMakeLists.txt             |  1 +
 msg/TrajectorySetpoint6dof.msg | 13 +++++++++++++
 2 files changed, 14 insertions(+)
 create mode 100644 msg/TrajectorySetpoint6dof.msg

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index e48e01ecfa..56e5523fbb 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -210,6 +210,7 @@ set(msg_files
 	TelemetryStatus.msg
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
+	TrajectorySetpoint6dof.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg
diff --git a/msg/TrajectorySetpoint6dof.msg b/msg/TrajectorySetpoint6dof.msg
new file mode 100644
index 0000000000..4374d1685e
--- /dev/null
+++ b/msg/TrajectorySetpoint6dof.msg
@@ -0,0 +1,13 @@
+# Trajectory setpoint in NED frame
+# Input to position controller.
+
+uint64 timestamp # time since system start (microseconds)
+
+# NED local world frame
+float32[3] position               # in meters
+float32[3] velocity               # in meters/second
+float32[3] acceleration           # in meters/second^2
+float32[3] jerk                   # in meters/second^3 (for logging only)
+
+float32[4] quaternion             # unit quaternion
+float32[3] angular_velocity       # angular velocity in radians/second