WIP: adis16477 debug

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -20,7 +20,7 @@ A clear and concise description of what you expected to happen.
 
 ## Log Files and Screenshots
 *Always* provide a link to the flight log file:
-- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
 - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
 - Share the link to the log (Copy and paste the URL of the log)
 

CONTRIBUTING.md

@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
 
 ### Create a feature branch
 
-*Always* branch off master for new features.
+*Always* branch off main for new features.
 
 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
 
 ### Commit your changes
 

Jenkinsfile

@@ -7,7 +7,8 @@ pipeline {
     stage('Analysis') {
       when {
         anyOf {
-          branch 'master'
+          branch 'main'
+          branch 'master' // should be removed, but in case there is something going on...
           branch 'pr-jenkins' // for testing
         }
       }
@@ -204,20 +205,21 @@ pipeline {
             unstash 'msg_documentation'
             unstash 'uorb_graph'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
-              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md px4_user_guide/en/modules/')
-              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
-              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd px4_user_guide; git push origin master || true')
-              sh('rm -rf px4_user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
+              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd PX4-user_guide; git push origin main || true')
+              sh('rm -rf PX4-user_guide')
             }
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -245,7 +247,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -278,7 +281,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -307,7 +311,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -350,7 +355,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -373,7 +379,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }

README.md

@@ -10,8 +10,8 @@ This repository holds the [PX4](http://px4.io) flight control solution for drone
 
 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+* 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/)

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -13,12 +13,9 @@ param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
 
-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 
 param set-default FW_RR_FF 0.1

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -13,12 +13,9 @@ param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
 
-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 
 param set-default FW_RR_FF 0.1

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -49,11 +49,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -44,11 +44,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
 param set-default FW_THR_TRIM 0.33

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -56,11 +56,9 @@ param set-default PWM_MAIN_FUNC10 202
 param set-default PWM_MAIN_FUNC11 203
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -8,11 +8,9 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -38,7 +38,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30
 
-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0
 
 param set-default FW_THR_TRIM 0.8

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -44,7 +44,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30
 
-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0
 
 param set-default FW_THR_CRUISE 0.8

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5
 
 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -31,7 +31,6 @@ param set-default MC_YAWRATE_I 0.04
 param set-default MC_YAWRATE_MAX 40
 
 param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40
 

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -34,8 +34,6 @@ param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
 param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11
 
@@ -74,4 +72,4 @@ then
 	set PWM_OUT 1234
 else
 	set PWM_OUT 3456
-fi	
+fi

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -55,7 +55,6 @@ param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
 param set-default FW_P_LIM_MIN -25
 param set-default FW_P_RMAX_NEG 45
@@ -90,7 +89,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_HOLD_MAX_XY 0.5
 param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -31,7 +31,6 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -71,7 +70,6 @@ param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2
 
 param set-default NAV_ACC_RAD 3

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -2,7 +2,7 @@
 #
 # @name Phantom FPV Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -2,7 +2,7 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -28,7 +28,6 @@ param set-default FW_L1_PERIOD 15
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 8
 param set-default FW_P_LIM_MAX 20
-param set-default FW_P_LIM_MIN -30
 param set-default FW_R_LIM 45
 param set-default FW_PR_FF 0.45
 param set-default FW_PR_P 0.005

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -1,7 +1,7 @@
 #!/bin/sh
 #
 # @name Spedix S250AQ
-# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
+# @url https://docs.px4.io/main/en/frames_multicopter/spedix_s250_pixracer.html
 #
 # @type Quadrotor asymmetric
 # @class Copter

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -2,7 +2,7 @@
 #
 # @name HolyBro QAV250
 #
-# @url https://docs.px4.io/master/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
 #
 # @type Quadrotor x
 # @class Copter

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -21,16 +21,20 @@ param set-default HTE_VXY_THR 2.0
 param set-default MIS_DIST_WPS 5000
 
 param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
-param set-default MPC_XY_VEL_MAX 4
-param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5
 param set-default MPC_YAW_MODE 4
 
-param set-default NAV_ACC_RAD 3
+# reduce aggressiveness around roll and yaw axis,
+# as VTOLs usually have high intertia and lot af drag due to wings
+param set-default MC_ROLL_P 5
+param set-default MC_ROLLRATE_MAX 120
+param set-default MC_YAW_P 2
+param set-default MC_YAWRATE_MAX 120
+param set-default MPC_MAN_Y_MAX 90
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 400

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix

@@ -5,7 +5,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
 

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -4,7 +4,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
 

Tools/astyle/files_to_check_code_style.sh

@@ -17,6 +17,7 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \

Tools/mavlink_px4.py

@@ -3019,7 +3019,7 @@ class MAVLink(object):
                 time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                 press_abs                 : Absolute pressure (hectopascal) (float)
                 press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)
 
                 '''
                 msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
@@ -3035,7 +3035,7 @@ class MAVLink(object):
                 time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                 press_abs                 : Absolute pressure (hectopascal) (float)
                 press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)
 
                 '''
                 return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
@@ -4879,7 +4879,7 @@ class MAVLink(object):
                 abs_pressure              : Absolute pressure in millibar (float)
                 diff_pressure             : Differential pressure in millibar (float)
                 pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                 fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
 
                 '''
@@ -4904,7 +4904,7 @@ class MAVLink(object):
                 abs_pressure              : Absolute pressure in millibar (float)
                 diff_pressure             : Differential pressure in millibar (float)
                 pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                 fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
 
                 '''

Tools/module_config/generate_actuators_metadata.py

@@ -330,7 +330,7 @@ def get_mixers(yaml_config, output_functions, verbose):
         option = select_param + '==' + str(type_index)
         mixer_config = {
                 'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
+                'help-url': 'https://docs.px4.io/main/en/config/actuators.html',
             }
         for optional in ['type', 'title']:
             if optional in current_type:

Tools/px4airframes/markdownout.py

@@ -8,7 +8,7 @@ class MarkdownTablesOutput():
         result = """# Airframes Reference
 
 :::note
-**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
+**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
 :::
 
 This page lists all supported airframes and types including the motor assignment and numbering.

Tools/px4moduledoc/markdownout.py

@@ -14,12 +14,14 @@ class MarkdownOutput():
 
         result = """
 # Modules & Commands Reference
-The following pages document the PX4 modules, drivers and commands. They
-describe the provided functionality, high-level implementation overview and how
+
+The following pages document the PX4 modules, drivers and commands.
+They describe the provided functionality, high-level implementation overview and how
 to use the command-line interface.
 
-> **Note** **This is auto-generated from the source code** and contains the
-> most recent modules documentation.
+:::note
+**This is auto-generated from the source code** and contains the most recent modules documentation.
+:::
 
 It is not a complete list and NuttX provides some additional commands
 as well (such as `free`). Use `help` on the console to get a list of all
@@ -29,6 +31,7 @@ Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the PX4-Autopilot directory:
+
 ```
 make module_documentation
 ```
@@ -66,7 +69,7 @@ The generated files will be written to the `modules` directory.
         result = ''
         for module in module_list:
             result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
             doc = module.documentation()
             if len(doc) > 0:
                 result += "%s\n" % doc

Tools/px4moduledoc/srcparser.py

@@ -12,7 +12,7 @@ class ModuleDocumentation(object):
     """
 
     # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',

Tools/px_uploader.py

@@ -331,7 +331,7 @@ class uploader(object):
 
         except NotImplementedError:
             raise RuntimeError("Programing not supported for this version of silicon!\n"
-                               "See https://docs.px4.io/master/en/flight_controller/silicon_errata.html")
+                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
         except RuntimeError:
             # timeout, no response yet
             return False

Tools/setup/requirements.txt

@@ -26,3 +26,5 @@ requests
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
+symforce>=0.5.0
+sympy>=1.10.1

Tools/setup/ubuntu.sh

@@ -104,7 +104,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 echo
 echo "Installing PX4 Python3 dependencies"
 if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual envrionments don't allow --user option
+	# virtual environments don't allow --user option
 	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option

Tools/uorb_graph/create.py

@@ -694,7 +694,7 @@ class OutputJSON(object):
             node['type'] = 'topic'
             node['color'] = topic_colors[topic]
             # url is opened when double-clicking on the node
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/main/msg/'+topic_filename(topic)+'.msg'
             nodes.append(node)
 
         data['nodes'] = nodes

boards/av/x-v1/src/CMakeLists.txt

@@ -41,6 +41,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

boards/cuav/nora/src/CMakeLists.txt

@@ -56,6 +56,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led

boards/cuav/x7pro/src/CMakeLists.txt

@@ -56,6 +56,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led

boards/cubepilot/cubeorange/src/CMakeLists.txt

@@ -55,6 +55,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch

boards/cubepilot/cubeyellow/src/CMakeLists.txt

@@ -42,6 +42,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

boards/holybro/durandal-v1/src/CMakeLists.txt

@@ -59,6 +59,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start

boards/holybro/kakutef7/src/CMakeLists.txt

@@ -42,6 +42,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

boards/holybro/kakuteh7/src/CMakeLists.txt

@@ -56,6 +56,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start

boards/holybro/pix32v5/src/CMakeLists.txt

@@ -47,6 +47,7 @@ add_dependencies(drivers_board arch_board_hw_info)
 target_link_libraries(drivers_board
 	PRIVATE
 		arch_board_hw_info
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

boards/matek/h743-mini/src/CMakeLists.txt

@@ -57,6 +57,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led

boards/matek/h743-slim/src/CMakeLists.txt

@@ -57,6 +57,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led

boards/matek/h743/src/CMakeLists.txt

@@ -57,6 +57,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led

boards/modalai/fc-v1/src/CMakeLists.txt

@@ -46,6 +46,7 @@ add_dependencies(drivers_board arch_board_hw_info)
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		arch_board_hw_info
 		drivers__led # drv_led_start

boards/modalai/fc-v2/src/CMakeLists.txt

@@ -60,6 +60,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start

boards/mro/ctrl-zero-f7-oem/src/CMakeLists.txt

@@ -43,6 +43,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

boards/mro/ctrl-zero-f7/src/CMakeLists.txt

@@ -43,6 +43,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

boards/mro/ctrl-zero-h7-oem/src/CMakeLists.txt

@@ -55,6 +55,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch

boards/mro/ctrl-zero-h7/src/CMakeLists.txt

@@ -55,6 +55,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch

boards/mro/pixracerpro/src/CMakeLists.txt

@@ -55,6 +55,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch

boards/nxp/fmuk66-e/src/CMakeLists.txt

@@ -46,6 +46,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		drivers__led # drv_led_start

boards/nxp/fmuk66-e/src/spi.cpp

@@ -110,7 +110,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);
 
-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */
 
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {

boards/nxp/fmuk66-v3/src/CMakeLists.txt

@@ -45,6 +45,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		drivers__led # drv_led_start

boards/nxp/fmuk66-v3/src/spi.cpp

@@ -124,7 +124,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);
 
-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */
 
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {

boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld

@@ -35,7 +35,7 @@
  ****************************************************************************/
 
 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
  * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
  * configuration.
  *
@@ -43,7 +43,7 @@
  * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM.
  * This can be changed by using a dcd by minipulating
  * IOMUX GPR16 and GPR17.
- * The configuartion we will use is 384Kib to OCRRAM, 0Kib ITCM and
+ * The configuration we will use is 384Kib to OCRRAM, 0Kib ITCM and
  * 128Kib DTCM.
  *
  * This is the OCRAM inker script.

boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld

@@ -35,7 +35,7 @@
  ****************************************************************************/
 
 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
  * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
  * configuratin.
  */

boards/nxp/ucans32k146/src/spi.cpp

@@ -93,7 +93,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 		}
 	}
 
-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
 			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {

boards/px4/fmu-v5/src/CMakeLists.txt

@@ -52,6 +52,7 @@ add_dependencies(drivers_board nuttx_context)
 target_link_libraries(drivers_board
 	PRIVATE
 		arch_board_hw_info
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

boards/px4/fmu-v5x/default.px4board

@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/px4/fmu-v6c/init/rc.board_defaults

@@ -9,12 +9,3 @@ param set-default BAT2_V_DIV 18.1
 
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
-
-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550

boards/px4/fmu-v6u/src/CMakeLists.txt

@@ -60,6 +60,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start

boards/px4/fmu-v6x/src/CMakeLists.txt

@@ -60,6 +60,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start

boards/spracing/h7extreme/src/CMakeLists.txt

@@ -46,6 +46,7 @@ add_library(drivers_board
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio

cmake/gtest/CMakeLists.txt.in

@@ -4,7 +4,7 @@ project(googletest-download NONE)
 
 include(ExternalProject)
 ExternalProject_Add(googletest
-	URL https://github.com/google/googletest/archive/8b6d3f9c4a774bef3081195d422993323b6bb2e0.zip
+	URL https://github.com/google/googletest/archive/58d77fa8070e8cec2dc1ed015d66b454c8d78850.zip # 1.12.1
 	SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
 	BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
 	CONFIGURE_COMMAND ""

cmake/kconfig.cmake

@@ -310,7 +310,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	endif()
 
     if (NO_HELP)
-		add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
+		add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/main/en/modules/modules_main.html")
 	endif()
 
 	if(CONSTRAINED_MEMORY)

cmake/px4_add_module.cmake

@@ -202,6 +202,9 @@ function(px4_add_module)
 	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
 
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
+		# double the allocated stacks for 64 bit nuttx targets
+		set(STACK_MAIN "${STACK_MAIN} * (__SIZEOF_POINTER__ >> 2)")
+
 		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
 	endif()
 

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -68,7 +68,7 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
         self.att_setpoint_pub = rospy.Publisher(
             'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
 
-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
         self.att_thread = Thread(target=self.send_att, args=())
         self.att_thread.daemon = True
         self.att_thread.start()

integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py

@@ -73,7 +73,7 @@ class MavrosOffboardPosctlTest(MavrosTestCommon):
         self.pos_setpoint_pub = rospy.Publisher(
             'mavros/setpoint_position/local', PoseStamped, queue_size=1)
 
-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
         self.pos_thread = Thread(target=self.send_pos, args=())
         self.pos_thread.daemon = True
         self.pos_thread.start()

integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py

@@ -66,7 +66,7 @@ class MavrosOffboardYawrateTest(MavrosTestCommon):
         self.att_setpoint_pub = rospy.Publisher(
             'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
 
-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
         self.att_thread = Thread(target=self.send_att, args=())
         self.att_thread.daemon = True
         self.att_thread.start()

msg/airspeed.msg

@@ -5,6 +5,6 @@ float32 indicated_airspeed_m_s   # indicated airspeed in m/s
 
 float32 true_airspeed_m_s        # true filtered airspeed in m/s
 
-float32 air_temperature_celsius  # air temperature in degrees celsius, -1000 if unknown
+float32 air_temperature_celsius  # air temperature in degrees Celsius, -1000 if unknown
 
 float32 confidence               # confidence value from 0 to 1 for this sensor

msg/battery_status.msg

@@ -21,7 +21,7 @@ uint16 capacity				# actual capacity of the battery
 uint16 cycle_count			# number of discharge cycles the battery has experienced
 uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
 uint16 serial_number		# serial number of the battery pack
-uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
 uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.

msg/cellular_status.msg

@@ -17,7 +17,7 @@ uint8 CELLULAR_STATUS_FLAG_CONNECTED=12  # One or more packet data bearers is ac
 uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
 uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
 uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usuable for connection
+uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection
 
 uint16 status 	# Status bitmap 1: Roaming is active
 uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED

msg/differential_pressure.msg

@@ -5,6 +5,6 @@ uint32 device_id                     # unique device ID for the sensor that does
 
 float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)
 
-float32 temperature                  # Temperature provided by sensor in celcius, NAN if unknown
+float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown
 
 uint32 error_count                   # Number of errors detected by driver

msg/estimator_aid_source_1d.msg

@@ -20,3 +20,4 @@ bool fused                   # true if the sample was successfully fused
 
 # TOPICS estimator_aid_source_1d
 # TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed
+# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw

msg/estimator_aid_source_3d.msg

@@ -20,3 +20,4 @@ bool[3] fused                # true if the sample was successfully fused
 
 # TOPICS estimator_aid_source_3d
 # TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel
+# TOPICS estimator_aid_src_mag estimator_aid_src_aux_vel

msg/estimator_event_flags.msg

@@ -30,7 +30,7 @@ bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stoppe
 bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
 bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
 bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           #  7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course
+bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
 bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
 bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
 bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data

msg/estimator_innovations.msg

@@ -18,8 +18,8 @@ float32 rng_vpos	# range sensor height innovation (m) and innovation variance (m
 float32 baro_vpos	# barometer height innovation (m) and innovation variance (m**2)
 
 # Auxiliary velocity
-float32[2] aux_hvel	# horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
-float32    aux_vvel	# vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32[2] aux_hvel	# horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32    aux_vvel	# vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
 
 # Optical flow
 float32[2] flow		# flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)

msg/estimator_status_flags.msg

@@ -9,7 +9,7 @@ bool cs_yaw_align             #  1 - true if the filter yaw alignment is complet
 bool cs_gps                   #  2 - true if GPS measurement fusion is intended
 bool cs_opt_flow              #  3 - true if optical flow measurements fusion is intended
 bool cs_mag_hdg               #  4 - true if a simple magnetic yaw heading fusion is intended
-bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is inteded
+bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is intended
 bool cs_mag_dec               #  6 - true if synthetic magnetic declination measurements fusion is intended
 bool cs_in_air                #  7 - true when the vehicle is airborne
 bool cs_wind                  #  8 - true when wind velocity is being estimated
@@ -65,9 +65,6 @@ bool reject_hor_vel                       #  0 - true if horizontal velocity obs
 bool reject_ver_vel                       #  1 - true if vertical velocity observations have been rejected
 bool reject_hor_pos                       #  2 - true if horizontal position observations have been rejected
 bool reject_ver_pos                       #  3 - true if vertical position observations have been rejected
-bool reject_mag_x                         #  4 - true if the X magnetometer observation has been rejected
-bool reject_mag_y                         #  5 - true if the Y magnetometer observation has been rejected
-bool reject_mag_z                         #  6 - true if the Z magnetometer observation has been rejected
 bool reject_yaw                           #  7 - true if the yaw observation has been rejected
 bool reject_airspeed                      #  8 - true if the airspeed observation has been rejected
 bool reject_sideslip                      #  9 - true if the synthetic sideslip observation has been rejected

msg/gps_dump.msg

@@ -3,7 +3,7 @@
 
 uint64 timestamp		# time since system start (microseconds)
 
-uint8 instance 		# Instance of GNSS reciever
+uint8 instance 		# Instance of GNSS receiver
 
 uint8 len			# length of data, MSB bit set = message to the gps device,
 				# clear = message from the device

msg/input_rc.msg

@@ -29,8 +29,8 @@ int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no
 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
 bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
 
-uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
-uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
+uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
+uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems
 
 uint8 input_source			# Input source

msg/iridiumsbd_status.msg

@@ -4,7 +4,7 @@ uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer
 uint16 failed_sbd_sessions			# number of failed sbd sessions
-uint16 successful_sbd_sessions      # number of successfull sbd sessions
+uint16 successful_sbd_sessions      # number of successful sbd sessions
 uint16 num_tx_buf_reset             # number of times the tx buffer was reset
 uint8 signal_quality                # current signal quality, 0 is no signal, 5 the best
 uint8 state                         # current state of the driver, see the satcom_state of IridiumSBD.h for the definition

msg/led_control.msg

@@ -24,7 +24,7 @@ uint8 MODE_BLINK_FAST = 5
 uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
 uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while
 
-uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
+uint8 MAX_PRIORITY = 2 # maximum priority (minimum is 0)
 
 
 uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all

msg/position_controller_landing_status.msg

@@ -9,8 +9,8 @@ uint8 abort_status
 
 # abort reasons
 # after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
-uint8 kNotAborted = 0
-uint8 kAbortedByOperator = 1
-uint8 kTerrainNotFound = 2 # FW_LND_ABORT (1 << 0)
-uint8 kTerrainTimeout = 3 # FW_LND_ABORT (1 << 1)
-uint8 kUnknownAbortCriterion = 4
+uint8 NOT_ABORTED = 0
+uint8 ABORTED_BY_OPERATOR = 1
+uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
+uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
+uint8 UNKNOWN_ABORT_CRITERION = 4

msg/rpm.msg

@@ -1,4 +1,4 @@
 uint64 timestamp                      # time since system start (microseconds)
 
 float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
-float32 estimated_accurancy_rpm       # estimated accurancy in Revolution per minute
+float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute

msg/sensor_hygrometer.msg

@@ -3,6 +3,6 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32  temperature      # Temperature provided by sensor (Celcius)
+float32  temperature      # Temperature provided by sensor (Celsius)
 
 float32 humidity          # Humidity provided by sensor

msg/takeoff_status.msg

@@ -1,4 +1,4 @@
-# Status of the takeoff state machine currently just availble for multicopters
+# Status of the takeoff state machine currently just available for multicopters
 
 uint64 timestamp # time since system start (microseconds)
 
@@ -11,4 +11,4 @@ uint8 TAKEOFF_STATE_FLIGHT            = 5
 
 uint8 takeoff_state
 
-float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise
+float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise

msg/tools/generate_microRTPS_bridge.py

@@ -354,7 +354,7 @@ def generate_agent(out_dir):
     # the '-typeros2' option in fastrtpsgen.
     # .. note:: This is only available in FastRTPSGen 1.0.4 and above
     gen_ros2_typename = ""
-    if ros2_distro and ros2_distro in ['dashing', 'eloquent', 'foxy', 'galactic', 'rolling'] and fastrtpsgen_version >= version.Version("1.0.4"):
+    if ros2_distro and ros2_distro in ['dashing', 'eloquent', 'foxy', 'galactic', 'humble', 'rolling'] and fastrtpsgen_version >= version.Version("1.0.4"):
         gen_ros2_typename = "-typeros2 "
 
     idl_files = []

msg/tools/generate_msg_docs.py

@@ -38,7 +38,7 @@ if __name__ == "__main__":
         print("{:} -> {:}".format(msg_filename, output_file))
 
         #Format msg url
-        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/master/msg/%s)" % msg_file
+        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
 
         msg_description = ""
         summary_description = ""
@@ -90,7 +90,7 @@ if __name__ == "__main__":
     readme_text="""# uORB Message Reference
 
 :::note
-This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/msg/tools/generate_msg_docs.py) from the source code.
+This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/msg/tools/generate_msg_docs.py) from the source code.
 :::
 
 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).

msg/tools/px_generate_uorb_topic_files.py

@@ -413,7 +413,7 @@ def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
 def copy_changed(inputdir, outputdir, prefix='', quiet=False):
     """
     Copies files from inputdir to outputdir if they don't exist in
-    ouputdir or if their content changed
+    outputdir or if their content changed
     """
 
     # Make sure output directory exists:

msg/uwb_distance.msg

@@ -8,8 +8,8 @@ uint32 	sessionid		# UWB SessionID
 uint32 	time_offset		# Time between Ranging Rounds in ms
 uint16 	status			# status feedback #
 
-uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device wich takes part in Ranging)
+uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
 bool[12] nlos			# Visual line of sight yes/no
-float32[12] aoafirst		# Angle of arrival of first incomming RX msg
+float32[12] aoafirst		# Angle of arrival of first incoming RX msg
 
 float32[3] position		# Position of the Landing point in relation to the Drone (x,y,z in Meters NED)

msg/vehicle_command.msg

@@ -99,7 +99,7 @@ uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibrati
 
 # PX4 vehicle commands (beyond 16 bit mavlink commands)
 uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
-uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
+uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
 
 uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
 uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1			# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |

msg/vehicle_local_position.msg

@@ -62,7 +62,7 @@ uint8 DIST_BOTTOM_SENSOR_FLOW = 2	# (1 << 1) a flow sensor is used to estimate d
 float32 eph				# Standard deviation of horizontal position error, (metres)
 float32 epv				# Standard deviation of vertical position error, (metres)
 float32 evh				# Standard deviation of horizontal velocity error, (metres/sec)
-float32 evv				# Standard deviation of horizontal velocity error, (metres/sec)
+float32 evv				# Standard deviation of vertical velocity error, (metres/sec)
 
 bool dead_reckoning                     # True if this position is estimated through dead-reckoning
 

msg/vehicle_odometry.msg

@@ -1,68 +1,31 @@
 # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
 uint64 timestamp		# time since system start (microseconds)
-
 uint64 timestamp_sample
 
-# Covariance matrix index constants
-uint8 COVARIANCE_MATRIX_X_VARIANCE=0
-uint8 COVARIANCE_MATRIX_Y_VARIANCE=6
-uint8 COVARIANCE_MATRIX_Z_VARIANCE=11
-uint8 COVARIANCE_MATRIX_ROLL_VARIANCE=15
-uint8 COVARIANCE_MATRIX_PITCH_VARIANCE=18
-uint8 COVARIANCE_MATRIX_YAW_VARIANCE=20
-uint8 COVARIANCE_MATRIX_VX_VARIANCE=0
-uint8 COVARIANCE_MATRIX_VY_VARIANCE=6
-uint8 COVARIANCE_MATRIX_VZ_VARIANCE=11
-uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE=15
-uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE=18
-uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20
+uint8 POSE_FRAME_UNKNOWN = 0
+uint8 POSE_FRAME_NED     = 1 # NED earth-fixed frame
+uint8 POSE_FRAME_FRD     = 2 # FRD world-fixed frame, arbitrary heading reference
+uint8 pose_frame            # Position and orientation frame of reference
 
-# Position and linear velocity frame of reference constants
-uint8 LOCAL_FRAME_NED=0         # NED earth-fixed frame
-uint8 LOCAL_FRAME_FRD=1         # FRD earth-fixed frame, arbitrary heading reference
-uint8 LOCAL_FRAME_OTHER=2       # Not aligned with the std frames of reference
-uint8 BODY_FRAME_FRD=3          # FRD body-fixed frame
+float32[3] position         # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
+float32[4] q                # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
 
-# Position and linear velocity local frame of reference
-uint8 local_frame
+uint8 VELOCITY_FRAME_UNKNOWN  = 0
+uint8 VELOCITY_FRAME_NED      = 1 # NED earth-fixed frame
+uint8 VELOCITY_FRAME_FRD      = 2 # FRD world-fixed frame, arbitrary heading reference
+uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
+uint8 velocity_frame        # Reference frame of the velocity data
 
-# Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
-float32 x			# North position
-float32 y			# East position
-float32 z			# Down position
+float32[3] velocity         # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
 
-# Orientation quaternion. First value NaN if invalid/unknown
-float32[4] q			# Quaternion rotation from FRD body frame to refernce frame
-float32[4] q_offset		# Quaternion rotation from odometry reference frame to navigation frame
+float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
 
-# Row-major representation of 6x6 pose cross-covariance matrix URT.
-# NED earth-fixed frame.
-# Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis
-# If position covariance invalid/unknown, first cell is NaN
-# If orientation covariance invalid/unknown, 16th cell is NaN
-float32[21] pose_covariance
-
-# Reference frame of the velocity data
-uint8 velocity_frame
-
-# Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
-float32 vx 			# North velocity
-float32 vy			# East velocity
-float32 vz			# Down velocity
-
-# Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown
-float32 rollspeed		# Angular velocity about X body axis
-float32 pitchspeed		# Angular velocity about Y body axis
-float32 yawspeed		# Angular velocity about Z body axis
-
-# Row-major representation of 6x6 velocity cross-covariance matrix URT.
-# Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame.
-# Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis
-# If linear velocity covariance invalid/unknown, first cell is NaN
-# If angular velocity covariance invalid/unknown, 16th cell is NaN
-float32[21] velocity_covariance
+float32[3] position_variance
+float32[3] orientation_variance
+float32[3] velocity_variance
 
 uint8 reset_counter
+int8 quality
 
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry estimator_visual_odometry_aligned

platforms/common/include/px4_platform_common/board_common.h

@@ -854,7 +854,7 @@ __EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use boar
  *
  * Input Parameters:
  *   format_buffer - A pointer to a bufferer of at least PX4_CPU_UUID_WORD32_FORMAT_SIZE
- *                   that will contain a 0 terminated string formated as described
+ *                   that will contain a 0 terminated string formatted as described
  *                   the format string and optional separator.
  *   size          - The size of the buffer (should be atleaset PX4_CPU_UUID_WORD32_FORMAT_SIZE)
  *   format        - The fort mat specifier for the hex digit see CPU_UUID_FORMAT
@@ -870,7 +870,7 @@ __EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use boar
  *                               3238333641203833355110
  *
  * Returned Value:
- *   The format buffer is populated with a 0 terminated string formated as described.
+ *   The format buffer is populated with a 0 terminated string formatted as described.
  *   Zero (OK) is returned on success;
  *
  ************************************************************************************/
@@ -907,7 +907,7 @@ int board_get_mfguid(mfguid_t mfgid);
  *
  * Input Parameters:
  *   format_buffer - A pointer to a bufferer of at least PX4_CPU_MFGUID_FORMAT_SIZE
- *                   that will contain a 0 terminated string formated as 0 prefixed
+ *                   that will contain a 0 terminated string formatted as 0 prefixed
  *                   lowercase hex. 2 charaters per digit of the mfguid_t.
  *
  * Returned Value:
@@ -964,7 +964,7 @@ int board_get_px4_guid(px4_guid_t guid);
  *   manufactures Unique ID or define BOARD_OVERRIDE_PX4_GUID
  *
  * Input Parameters:
- * format_buffer - A buffer to receive the 0 terminated formated px4
+ * format_buffer - A buffer to receive the 0 terminated formatted px4
  *                 guid string.
  * size          - Size of the buffer provided. Normally this would
  *                 be PX4_GUID_FORMAT_SIZE.

platforms/common/include/px4_platform_common/log.h

@@ -33,7 +33,7 @@
 
 /**
  * @file log.h
- * Platform dependant logging/debug implementation
+ * Platform dependent logging/debug implementation
  */
 
 #pragma once

platforms/nuttx/cmake/init.cmake

@@ -33,7 +33,7 @@
 
 if("${CMAKE_CXX_COMPILER_ID}" MATCHES "GNU")
 	if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS_EQUAL 7)
-		message(FATAL_ERROR "GCC 7 or older no longer supported. https://docs.px4.io/master/en/dev_setup/dev_env.html")
+		message(FATAL_ERROR "GCC 7 or older no longer supported. https://docs.px4.io/main/en/dev_setup/dev_env.html")
 	endif()
 endif()