Update submodule fuzztest to latest Thu Sep 11 00:39:37 UTC 2025

- fuzztest in PX4/Firmware (eb1f3465a6): https://github.com/google/fuzztest/commit/1e47f9d7437de5c3ee4cb0ac860d5ec875478059 - fuzztest current upstream: https://github.com/google/fuzztest/commit/3bf45cbe0843d5a1805b37103c0c286a2f9e0a83 - Changes: https://github.com/google/fuzztest/compare/1e47f9d7437de5c3ee4cb0ac860d5ec875478059...3bf45cbe0843d5a1805b37103c0c286a2f9e0a83 3bf45cb 2025-09-10 FuzzTest Team - Implement printer autodetection for smart pointers. 3741e31 2025-09-10 Filip Niksic - Implement printer autodetection for smart pointers. d8f299d 2025-09-10 László Szekeres - Split fuzz_tests_with_proto_inputs into a library and a binary. 4ff90b7 2025-09-08 Xinhao Yuan - Add a static library to generate a self-contained archive. 3194801 2025-09-08 Xinhao Yuan - Process the execution metadata when finalizing coverage. 55c908f 2025-09-08 Xinhao Yuan - Add configs to avoid single job timeout for running multiple configs. 61015dd 2025-09-02 Ivo Ristovski List - No public description 70d96c4 2025-09-02 Ivo Ristovski List - No public description d897f74 2025-08-27 Xinhao Yuan - Pass runner flags to the Sancov runtime. 62174b5 2025-08-27 Xinhao Yuan - Add MSAN support with a functional test. 8b93bbe 2025-08-26 Xinhao Yuan - Add compact mode to comparison tables to not sample from unpopulated entries. 169baf1 2025-08-26 Filip Niksic - Report crash summary when replaying a corpus or a crashing input. b87fa7d 2025-08-26 Xinhao Yuan - Prioritize higher scores in CMP features. e9b49f3 2025-08-21 László Szekeres - A few more LOG macro cleanup. 73721c6 2025-08-21 László Szekeres - Remove unused batch fuzz example. f6aa6f6 2025-08-20 László Szekeres - Simplify some log statements with FUZZTEST_PCHECK. b742bb0 2025-08-20 László Szekeres - Change instances of FUZZTEST_CHECK(false) to FUZZTEST_LOG(FATAL). e91ddf2 2025-08-19 Yamil Morales - Implement sancov runtime API to be able to emit features for other frameworks, and add a new interface to the dispatcher for exposed feature compatibility. c086c98 2025-08-19 Xinhao Yuan - Allow infinite time limit when there is only one test. 0bf1031 2025-08-19 László Szekeres - Remove redundant and stale metadata files from Centipede codebase. 3623860 2025-08-18 Xinhao Yuan - Fix runner/sancov state lifetime by adding manual lifetime wrappers. 4c66517 2025-08-18 László Szekeres - Consolidate CHECK and LOG implementations. a1840dc 2025-08-15 Xinhao Yuan - Replace fuzztest_single_test_mode with ..._multi_test_mode_soon_to_be_removed. fd61d9a 2025-08-15 Xinhao Yuan - Revert an accidentally flipped prediction. 805f32c 2025-08-15 Dan Snyder - Add ability to exclude specific sets of features when creating a seed corpus. 2bdfb36 2025-08-15 Xinhao Yuan - Fix logging. eca35cc 2025-08-15 Hadi Ravanbakhsh - Mutate newly added fields to protobuf because they can have empty value (e.g., nullopt). 2bc3312 2025-08-14 Xinhao Yuan - Add thread level tracing control and disable tracing for FuzzTest runtime. ad40838 2025-08-14 Hadi Ravanbakhsh - Add pointer stability to flash_hash_map-s used for caches. 5132f07 2025-08-12 Xinhao Yuan - Implement persistent mode in runner and `CentipedeCallbacks`. b8a1c8c 2025-08-12 FuzzTest Team - Add Flatbuffers table nested support. d08c250 2025-08-11 Yamil Morales - Revert HasDefaultFlag: Some instrumentation behaviors were enabled by default causing test failures 9598f90 2025-08-11 Xinhao Yuan - Attempt to fix a potential ASAN false positive of "initialization-order-fiasco". fb61507 2025-08-11 Xinhao Yuan - Introduce `EXPECT_THAT_LOG` macro to improve test failure messages. dff1bd3 2025-08-11 Filip Niksic - Use the same seed for mutation runs when testing parallel efficiency. 3aa1c32 2025-08-11 Filip Niksic - Correctly initialize `fields_cache_` in the protobuf domain. 1d21791 2025-08-08 FuzzTest Team - No public description 4bb9339 2025-08-08 Dan Snyder - Add a tool for analyzing feature files from centipede. 85f38ce 2025-08-08 Hadi Ravanbakhsh - Avoid reading from files in construction time of the protobuf domain. a2f4cc5 2025-08-08 Xinhao Yuan - Add more logging to help explain failures. 4864826 2025-08-08 Xinhao Yuan - No public description fd67d41 2025-08-08 Hadi Ravanbakhsh - Cache fields of proto descriptors. 81f0e30 2025-08-08 FuzzTest Team - Add GetStderrFdDup() for logging in signal handler. 2019a35 2025-08-08 Xinhao Yuan - Add GetStderrFdDup() for logging in signal handler. 97d508a 2025-08-08 Hadi Ravanbakhsh - Create a cache for recursive analysis in proto policy and is passed-down by pointer for nested protos. 691fac2 2025-08-08 Hadi Ravanbakhsh - Add a parallel mutation efficiency test for protobuf mutation. 0a6f95e 2025-08-07 Yamil Morales - No public description a4725f0 2025-08-07 Filip Niksic - No public description deebe22 2025-08-07 Ali Hijazi - Pass the `seed` by reference to `print_one_arg`. cedea38 2025-08-06 Xinhao Yuan - Create a public mutex for atomically printing execution logs. c89794a 2025-08-06 Xinhao Yuan - Make execution log printing less verbose in command. 67642ca 2025-08-06 Ali Hijazi - Minor: Remove stray semicolon 2d6ca21 2025-08-05 Yamil Morales - Refactor sancov related objects and coverage processing functions out of the runner with the purpose of sharing it with other frameworks for emitting features. a292a7b 2025-08-05 Dan Snyder - Clear features when the input is rejected be7434d 2025-08-04 Xinhao Yuan - Abort on external failures in runner mode instead of keep running. f0ba189 2025-08-01 Xinhao Yuan - Fix test filtering when running FuzzTest with the separate Centipede binary. c1c656a 2025-07-31 Alex Light - Add fuzztest::unstable::ParseReproducerValue function. bdb32e6 2025-07-28 Yamil Morales - No public description afcef76 2025-07-28 Copybara-Service - Merge pull request #1791 from ShadowBearVR:main a183551 2025-07-28 Collin MacDonald - Ensure Corpus Telemetry is correctly collected 81e4fbd 2025-07-25 Alex Light - Allow fuzz test users to define source-code printers ff0ac29 2025-07-22 László Szekeres - No public description b8817b3 2025-07-22 Hadi Ravanbakhsh - No public description 33ad8c0 2025-07-21 Hadi Ravanbakhsh - No public description 4f2e879 2025-07-21 FuzzTest Team - Add flatbuffers enum domain 391c34a 2025-07-17 Hadi Ravanbakhsh - No public description 0f82dad 2025-07-15 Copybara-Service - Merge pull request #1774 from backes:fix-invalid-seed-typo 41aff1b 2025-07-15 Clemens Backes - Fix reporting invalid multi-value seeds 7bab06f 2025-07-12 FuzzTest Team - No public description 5b5b1af 2025-07-11 FuzzTest Team - No public description e22ceff 2025-07-10 FuzzTest Team - Add flatbuffers domain 1d26596 2025-07-09 Xinhao Yuan - Extend Command for more control over a single exectuion. #Centipede 3cb8569 2025-07-09 Xinhao Yuan - No public description d5857a5 2025-07-01 FuzzTest Team - No public description 62dfb3a 2025-06-30 Filip Niksic - Add the ability to set an external crash reporter for crash summaries. 31ca9be 2025-06-30 Filip Niksic - Report a summary of crashes at the end of an "update corpus database" session. 45a1c3a 2025-06-20 FuzzTest Team - Fix a potential race condition when incrementing static counters. 6c64b55 2025-06-17 FuzzTest Team - No public description 4dda385 2025-06-17 Xinhao Yuan - Add a test for crash deduplication. 3a04e5c 2025-06-17 Xinhao Yuan - Basic dispatcher prototype. dad90ee 2025-06-17 Xinhao Yuan - No public description 69cac4b 2025-06-17 Hadi Ravanbakhsh - Limit the input size when printing in human-readable format. 466e457 2025-06-17 Xinhao Yuan - Add new experimental result types for the Dispatcher prototype. 7618998 2025-06-13 Samuel Freilich - Also bump Protobuf to latest version 18b45b9 2025-06-13 Ali Hijazi - Remove Deprecated Call to FieldDescriptor::is_optional 8c215ac 2025-06-12 Xinhao Yuan - Make Centipede calls aware of termination. 2546e95 2025-06-12 Xinhao Yuan - Fix MacOS build. 27eb467 2025-06-11 Copybara-Service - Merge pull request #1742 from sfreilich:patch-1 b0db9fd 2025-06-11 Filip Niksic - Split crash metadata into description and signature. c2b8c85 2025-06-11 Samuel Freilich - Update Abseil and Riegeli
[DOCS] accton godwit ga1, a new manufacture board (#25411 )
2026-05-31 16:20:05 +08:00 · 2025-09-11 00:39:37 +00:00 · 2025-09-11 09:34:13 +10:00 · 2025-09-11 08:30:54 +10:00 · 2025-09-11 08:30:05 +10:00 · 2025-09-11 08:29:25 +10:00
300 changed files with 7229 additions and 3496 deletions
@@ -36,6 +36,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
+    px4_sitl_zenoh:
+      short: px4_sitl_zenoh
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -43,7 +43,7 @@
        "files.watcherExclude": {
                "**/build/**": true
        },
-        "git.detectSubmodulesLimit": 20,
+        "git.detectSubmodulesLimit": 25,
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
@@ -73,6 +73,11 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

+    config BOARD_ADDITIONAL_INIT
+        string "Additional init file"
+        help
+            additional configurable init file to include in the ROMFS
+
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -19,7 +19,7 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
 | Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
 | Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


@@ -511,6 +511,7 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
@@ -202,6 +202,31 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

+if(config_additional_init)
+	if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/init.d/rc.additional_init
+				${config_additional_init}.stamp
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
+			COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
+			DEPENDS
+				${PX4_BOARD_DIR}/init/${config_additional_init}
+				romfs_copy.stamp
+			COMMENT "ROMFS: copying ${config_additional_init}"
+		)
+
+		list(APPEND extras_dependencies
+			${config_additional_init}.stamp
+			)
+	else()
+		message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
+	endif()
+endif()
+

 # board extras
 set(OPTIONAL_BOARD_EXTRAS)
@@ -56,6 +56,17 @@ then
 fi
 unset BOARD_RC_DEFAULTS

+#
+# Optional additional init file: rc.additional_init
+#
+set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
+if [ -f $BOARD_RC_ADDITIONAL_INIT ]
+then
+	echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
+	. $BOARD_RC_ADDITIONAL_INIT
+fi
+unset BOARD_RC_ADDITIONAL_INIT
+
 #
 # Start system state indicator.
 #
@@ -34,7 +34,6 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -1,10 +1,21 @@
 #!/bin/sh
 #
-# @name 3DoF Spacecraft Model
+# @name KTH-ATMOS
 #
-# @type 2D Freeflyer with 8 thrusters - Planar motion
+# @type Free-Flyer
+# @class Spacecraft
 #
-# @maintainer Pedro Roque <padr@kth.se>
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
+# @maintainer discower-io
+# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -34,7 +45,6 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -324,6 +324,11 @@ fi

 uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns

+if param greater -s ZENOH_ENABLE 0
+then
+	zenoh start
+fi
+
 if param greater -s MNT_MODE_IN -1
 then
 	gimbal start
@@ -45,7 +45,6 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -5,7 +5,17 @@
 # @type Free-Flyer
 # @class Spacecraft
 #
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
 # @maintainer DISCOWER
+# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -25,7 +35,6 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2

 # Set Mocap Vision frame
 param set EKF2_EV_CTRL 15
@@ -8,6 +8,9 @@
 #                 End Setup for board specific configurations.                #
 ###############################################################################

+#
+# Set SD logging mode
+#
 if param compare SDLOG_MODE 1
 then
 	set LOGGER_ARGS "${LOGGER_ARGS} -e"
@@ -28,8 +31,28 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -a"
 fi

+#
+# Set logging backend
+#
+if param compare SDLOG_BACKEND 1
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -m file"
+fi

-if ! param compare SDLOG_MODE -1
+if param compare SDLOG_BACKEND 2
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -m mavlink"
+fi
+
+if param compare SDLOG_BACKEND 3
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -m all"
+fi
+
+#
+# Start logger if any logging backend is enabled
+#
+if ! param compare SDLOG_BACKEND 0
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 fi
@@ -237,6 +237,7 @@ then
 	qmc5883p -X -q start
 	rm3100 -X -q start
 	bmm350 -X -q start
+	iis2mdc -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
@@ -217,6 +217,17 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

+	#
+	# Optional additional init file: rc.additional_init
+	#
+	set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
+	if [ -f $BOARD_RC_ADDITIONAL_INIT ]
+	then
+		echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
+		. $BOARD_RC_ADDITIONAL_INIT
+	fi
+	unset BOARD_RC_ADDITIONAL_INIT
+
 	# Load airframe configuration based on SYS_AUTOSTART parameter
 	if ! param compare SYS_AUTOSTART 0
 	then
@@ -49,14 +49,14 @@ for field in spec.parsed_fields():
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package

-            print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
+            print('typedef px4_msgs_msg_%s px4_msgs_msg_px4_msgs__msg__%s;' % (name,name))
 }@



-typedef struct @uorb_struct px4_msg_@(file_base_name);
+typedef struct @uorb_struct px4_msgs_msg_@(file_base_name);

-extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;
+extern const struct dds_cdrstream_desc px4_msgs_msg_@(file_base_name)_cdrstream_desc;

 #ifdef __cplusplus
 }
@@ -14,7 +14,6 @@ class AirframeGroup(object):
        self.af_class = af_class
        self.airframes = []

-
    def AddAirframe(self, airframe):
        """
        Add airframe to the airframe group
@@ -107,6 +106,8 @@ class AirframeGroup(object):
            return "Balloon"
        elif (self.type == "Vectored 6 DOF UUV"):
            return "Vectored6DofUUV"
+        elif self.type == "Free-Flyer":
+            return "FreeFlyer"
        return "AirframeUnknown"

    def GetAirframes(self):
@@ -42,6 +42,7 @@ import os
 import argparse
 import re
 import sys
+import json

 try:
    import em
@@ -124,7 +125,7 @@ def generate_by_template(output_file, template_file, em_globals):
    return True


-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path):
    # generate cpp file with topics list
    filenames = []
    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
@@ -138,11 +139,27 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
        full_base_names.append(filename.replace(".msg",""))

-    topics = []
-    for msg_filename in files:
-        topics.extend(get_topics(msg_filename))
+    rihs01_hashes = dict()
+    if rihs_path != '':
+        for topic in full_base_names:
+            with open(rihs_path + "/msg/" + topic + ".json") as f:
+                d = json.load(f)
+                assert d['type_hashes'][0]['hash_string'][:7] == 'RIHS01_'

-    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names}
+                rihs01_hash = d['type_hashes'][0]['hash_string'][7:]
+
+                byte_array = [f"0x{rihs01_hash[i:i+2]}" for i in range(0, len(rihs01_hash), 2)]
+                c_code = f"{{ {', '.join(byte_array)} }};"
+                rihs01_hashes[topic] = c_code
+
+    topics = []
+    datatypes_with_topics = dict()
+    for msg_filename in files:
+        datatype = re.sub(r'(?<!^)(?=[A-Z])', '_', os.path.basename(msg_filename)).lower().replace(".msg","")
+        datatypes_with_topics[datatype] = get_topics(msg_filename)
+        topics.extend(datatypes_with_topics[datatype])
+
+    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes, "datatypes_with_topics": datatypes_with_topics}
    tl_template_file = os.path.join(templatedir, template_filename)
    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))

@@ -162,13 +179,15 @@ if __name__ == "__main__":
    parser.add_argument('-p', dest='prefix', default='',
                        help='string added as prefix to the output file '
                        ' name when converting directories')
+    parser.add_argument('--rihs', dest='rihs', default='',
+                        help='path where rihs01 json files located')
    args = parser.parse_args()

    if args.zenoh_config:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs)
        exit(0)
    elif args.zenoh_pub_sub:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs)
        exit(0)
    else:
        print('Error: either --headers or --sources must be specified')
@@ -74,7 +74,7 @@ full_base_names.sort()

@[for idx, topic_name in enumerate(datatypes)]@
@{
-type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
+type_topic_count = len(datatypes_with_topics[topic_name])
 }@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 #  define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count)
@@ -88,9 +88,28 @@ type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
        CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT + \
@[end for]        0

+@[for topic_name, rihs01_hash in rihs01_hashes.items()]@
+const uint8_t @(topic_name)_hash[32] = @(rihs01_hash)
+@[end for]
+
+@[for idx, topic_name in enumerate(datatypes)]@
+#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
+@{
+topic_names = datatypes_with_topics[topic_name]
+}@
+const orb_metadata* @(topic_name)_topic_meta[@(len(topic_names))] = {
+@[for topic_name_inst in topic_names]@
+	ORB_ID(@(topic_name_inst)),
+@[end for]};
+#endif
+@[end for]
+
 typedef struct {
+	const char *data_type_name;
 	const uint32_t *ops;
-	const orb_metadata* orb_meta;
+	const uint8_t *hash;
+	const orb_metadata** orb_topic;
+	const uint8_t orb_topics_size;
 } UorbPubSubTopicBinder;

 const UorbPubSubTopicBinder _topics[ZENOH_PUBSUB_COUNT] {
@@ -100,54 +119,95 @@ uorb_id_idx = 0
@[for idx, topic_name in enumerate(datatypes)]@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
@{
-topic_names = [e for e in topic_names_all if e.startswith(topic_name)]
+topic_names = datatypes_with_topics[topic_name]
 }@
-@[for topic_name_inst in topic_names]@
 		{
-		  px4_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
-		  ORB_ID(@(topic_name_inst))
+		  "@(topic_name)",
+		  px4_msgs_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
+		  @(topic_dict[topic_name])_hash,
+		  @(topic_name)_topic_meta,
+		  @(len(topic_names)),
 		},
-@{
-uorb_id_idx += 1
-}@
-@[end for]#endif
+#endif
@[end for]
 };

-uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta) {
+uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta, int instance) {
    for (auto &pub : _topics) {
-        if(pub.orb_meta->o_id == meta->o_id) {
-            return new uORB_Zenoh_Publisher(meta, pub.ops);
+        for(int i = 0; i < pub.orb_topics_size; i++) {
+            if(pub.orb_topic[i]->o_id == meta->o_id) {
+                return new uORB_Zenoh_Publisher(meta, pub.ops, instance);
+            }
        }
    }
    return NULL;
 }


-uORB_Zenoh_Publisher* genPublisher(const char *name) {
+uORB_Zenoh_Publisher* genPublisher(const char *name, int instance) {
    for (auto &pub : _topics) {
-        if(strcmp(pub.orb_meta->o_name, name) == 0) {
-            return new uORB_Zenoh_Publisher(pub.orb_meta, pub.ops);
+        for(int i = 0; i < pub.orb_topics_size; i++) {
+            if(strcmp(pub.orb_topic[i]->o_name, name) == 0) {
+                return new uORB_Zenoh_Publisher(pub.orb_topic[i], pub.ops, instance);
+            }
        }
    }
    return NULL;
 }


-Zenoh_Subscriber* genSubscriber(const orb_metadata *meta) {
+Zenoh_Subscriber* genSubscriber(const orb_metadata *meta, int instance) {
    for (auto &sub : _topics) {
-        if(sub.orb_meta->o_id == meta->o_id) {
-            return new uORB_Zenoh_Subscriber(meta, sub.ops);
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(sub.orb_topic[i]->o_id == meta->o_id) {
+                return new uORB_Zenoh_Subscriber(meta, sub.ops, instance);
+            }
        }
    }
    return NULL;
 }


-Zenoh_Subscriber* genSubscriber(const char *name) {
+Zenoh_Subscriber* genSubscriber(const char *name, int instance) {
    for (auto &sub : _topics) {
-        if(strcmp(sub.orb_meta->o_name, name) == 0) {
-            return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return new uORB_Zenoh_Subscriber(sub.orb_topic[i], sub.ops, instance);
+            }
+        }
+    }
+    return NULL;
+}
+
+const char* getTypeName(const char *name) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return sub.data_type_name;
+            }
+        }
+    }
+    return NULL;
+}
+
+
+const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(sub.orb_topic[i]->o_id == meta->o_id) {
+                return sub.hash;
+            }
+        }
+    }
+    return NULL;
+}
+
+const uint8_t* getRIHS01_Hash(const char *name) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return sub.hash;
+            }
        }
    }
    return NULL;
@@ -21,6 +21,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -14,7 +14,7 @@ param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
 param set-default MAV_0_CONFIG 0
 # Disable logger writing to FRAM, only stream over MAVLINK
-set LOGGER_ARGS "-m mavlink"
+param set-default SDLOG_BACKEND 2

 # 200kOhm/10kOhm voltage divider on V_BAT
 param set-default BAT1_V_DIV 21
@@ -12,17 +12,20 @@ board_adc start
 bmi088 -A -R 0 -s start
 bmi088 -G -R 0 -s start

+# MAG on I2C4, ROTATION_ROLL_180=8
 if ver hwtypecmp V6S013 V6S015
 then
-	# Revision(s) with BMM150
-	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm150 -I -R 8 start
 else
-	# Revision(s) with BMM350
-	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm350 -I -R 8 start
 fi

+# BARO on I2C4
+bmp388 -I -b 4 -a 0x77 start
+
+
+# External sensors on I2C1
+
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -59,14 +62,17 @@ fi

 if param compare BAT1_V_CHANNEL -2
 then
-    if [ "$INA_CONFIGURED" != "yes" ]
-    then
-        param set BAT1_V_CHANNEL -1
-    fi
+	if [ "$INA_CONFIGURED" != "yes" ]
+	then
+		param set BAT1_V_CHANNEL -1
+	fi
 fi

-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+# External compass IST8310 on I2C1
 ist8310 -X -b 1 -R 10 start

-# BARO on I2C4
-bmp388 -I -b 4 -a 0x77 start
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start -b 1
+fi
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Don't try to log onto SD card
-param set-default SDLOG_MODE -1
+# Disable logging
+param set-default SDLOG_BACKEND 0
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Don't try to log onto SD card
-param set-default SDLOG_MODE -1
+# Disable logging
+param set-default SDLOG_BACKEND 0
@@ -14,6 +14,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -182,6 +182,7 @@ CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -207,6 +208,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=272000
 CONFIG_RAM_START=0x20400000
@@ -1,57 +0,0 @@
-# CONFIG_BOARD_ROMFSROOT is not set
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_EXAMPLES_FAKE_GPS=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODULES_ZENOH=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -49,6 +49,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_DP83825I=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -155,8 +156,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_RETRY_MOUNTPATH=10
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -167,15 +168,18 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -196,6 +200,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000
@@ -89,6 +89,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -55,6 +55,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -214,15 +215,18 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -243,6 +247,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1835008
@@ -339,6 +339,11 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		endif()
 	endif()

+	# ADDITIONAL INIT
+	if(ADDITIONAL_INIT)
+		set(config_additional_init ${ADDITIONAL_INIT} CACHE INTERNAL "additional init" FORCE)
+	endif()
+
 	if(UAVCAN_INTERFACES)
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()
@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: śŕĐýŇí
-# Version: 1.15.4 
+# Vehicle: Multi-Rotor
+# Version: 1.15.4
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -318,7 +318,6 @@
 1	1	COM_OBS_AVOID	0	6
 1	1	COM_OF_LOSS_T	1.000000000000000000	9
 1	1	COM_PARACHUTE	0	6
-1	1	COM_POSCTL_NAVL	0	6
 1	1	COM_POS_FS_DELAY	1	6
 1	1	COM_POS_FS_EPH	5.000000000000000000	9
 1	1	COM_POS_LOW_EPH	-1.000000000000000000	9
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@@ -157,6 +157,7 @@
        - [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](flight_controller/mindpx.md)
      - [AirMind MindRacer](flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
@@ -290,7 +290,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power

 Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
-This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.
+This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC receiver, and low power telemetry radio, but not for motors, actuators, and other peripherals.

 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
@@ -90,6 +90,8 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.

+#### Dynamic customization
+
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:

 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -106,7 +108,7 @@ If editing on Windows use a suitable editor.
 These files are referenced in PX4 code as `/fs/microsd/etc/config.txt` and `/fs/microsd/etc/extras.txt`, where the root folder of the microsd card is identified by the path `/fs/microsd`.
 :::

-#### Customizing the Configuration (config.txt)
+##### Customizing the Configuration (config.txt)

 The `config.txt` file can be used to modify parameters.
 It is loaded after the main system has been configured and _before_ it is booted.
@@ -118,7 +120,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```

-#### Starting Additional Applications (extras.txt)
+##### Starting Additional Applications (extras.txt)

 The `extras.txt` can be used to start additional applications after the main system boot.
 Typically these would be payload controllers or similar optional custom components.
@@ -145,3 +147,28 @@ The following example shows how to start custom applications:

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
+
+#### Additional customization
+
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+you can add a script that will be contained in the binary.
+
+**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+edge-cases such as customizing `cannode` based boards.
+
+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. For example:
+  ```sh
+  # File: boards/<vendor>/<board>/init/rc.additional
+  param set-default <param> <value>
+  ```
+
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. For example:
+  ```sh
+  # File: boards/<vendor>/<board>/var.px4board
+  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
+  ```
+
+- Compile the firmware with your new variant by appending the variant name to the compile target. For example:
+  ```sh
+  make <target>_var
+  ```
@@ -206,23 +206,13 @@ The relevant parameters shown below.

 ### Position Loss Failsafe Action

-The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):
-
- `0`: Remote control available.
-  Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
- `1`: Remote control _not_ available.
-  Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
-  _Descend mode_ is a landing mode that does not require a position estimate.
-
+Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
+ 
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.

 The relevant parameters for all vehicles shown below.

-| Parameter                                                                                                | Description                                                                                                   |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
-
 Parameters that only affect Fixed-wing vehicles:

 | Parameter                                                                                 | Description                                                                                                 |
@@ -35,14 +35,15 @@ The parameters you are most likely to change are listed below.

 | Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                                                      |
 | ------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.
 | [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                             |
 | [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                        |

 Useful settings for specific cases:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)
+- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)

 ### Logger module

@@ -0,0 +1,153 @@
+# Accton Godwit G-A1
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
+:::
+
+The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
+
+It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
+It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
+
+With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
+
+:::tip
+Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information.
+:::
+
+![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1")
+
+![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View")
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## Specifications
+
+### Processor
+
+- STM32H753IIK (Arm® Cortex®-M7 480MHz)
+- STM32F103 (Arm® Cortex®-M3, 72MHz)
+
+### Sensors
+
+- Bosch BMI088 (vibration isolated)
+- TDK InvenSense ICM-42688-P x 2 (one vibration isolated)
+- TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated)
+- PNI RM3100 Geomagnetic Sensor (vibration isolated)
+
+### Power
+
+- 4.6V to 5.7V
+
+### External ports
+
+- 2 CAN Buses (CAN1 and CAN2)
+- 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
+- 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2)
+- 1 PPM IN
+- 1 SBUS OUT
+- 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
+- 1 10/100Base-T Ethernet Port
+- 1 DSM/SBUS RC
+- 1 UART 4
+- 1 AD&IO Port
+- 2 Debug Ports (1 IO Debug and 1 FMU Debug)
+- 1 SPI6 Bus
+- 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2)
+- 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO)
+- Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
+
+### Size and Dimensions
+
+- 92.2 (L) x 51.2 (W) x 28.3 (H) mm
+- 77.6g (carrier board with IMU)
+
+## Where to Buy
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+
+## Pinout
+
+![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition")
+
+## UART Mapping
+
+| Serial# | Protocol  | Port   | Notes      |
+| ------- | --------- | ------ | ---------- |
+| SERIAL1 | Telem1    | UART7  | /dev/ttyS6 |
+| SERIAL2 | Telem2    | UART5  | /dev/ttyS4 |
+| SERIAL3 | GPS1      | USART1 | /dev/ttyS0 |
+| SERIAL4 | GPS2      | UART8  | /dev/ttyS7 |
+| SERIAL5 | Telem3    | USART2 | /dev/ttyS1 |
+| SERIAL6 | UART4     | UART4  | /dev/ttyS3 |
+| SERIAL7 | FMU Debug | USART3 |            |
+| SERIAL8 | OTG2      | USB    |            |
+
+## Wiring Diagram
+
+![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")
+
+## PWM Output
+
+PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
+All these 16 support normal PWM output formats.
+FMU PWM A1-A6 can support DShot and B-Directional DShot.
+A1-A8(FMU PWM) are grouped as:
+
+- Group 1: A1, A2, A3, A4
+- Group 2: A5, A6
+- Group 3: A7, A8
+
+The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
+
+![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
+
+## RC Input
+
+For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition.
+PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports.
+
+![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio")
+
+## GPS/Compass
+
+The Godwit G-A1 has a built-in compass
+Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
+
+![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
+
+## Power Connection and Battery Monitor
+
+This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries.
+To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface.
+
+This universal controller does not provide power to the servos.
+To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.
+
+![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power")
+
+## SD Card
+
+The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
+
+![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card")
+
+## Firmware
+
+The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1"
+
+To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
+
+```sh
+make accton-godwit_ga1
+```
+
+## More Information and Support
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+- [support@accton-iot.com](mailto:support@accton-iot.com)
@@ -12,6 +12,7 @@ This category includes boards that are not fully compliant with the pixhawk stan

 The boards in this category are:

+- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
@@ -5,7 +5,7 @@ PX4 uses accelerometer data for velocity estimation.
 You should not need to attach an accelometer as a stand-alone external device:

 - Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include an accelerometer as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit).
- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
+- Gyroscopes are present as part of an [external INS, AHRS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).

 The accelerometer must be calibrated before first use of the vehicle:

@@ -316,6 +316,43 @@ For SIH as SITL (no FC):

 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).

+## Controlling Actuators in SIH
+
+:::warning
+If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
+:::
+
+In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
+
+To enable actuator control in SIH:
+
+1. Configure PWM parameters in the airframe file:
+
+Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
+
+For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
+
+`param set-default PWM_MAIN_FUNC3 407`
+
+You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
+
+Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
+
+You may also configure the output as desired:
+- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
+- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
+- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
+
+2. Manually start the PWM output driver
+
+For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
+
+`pwm_out start`
+
+And to disable it again:
+
+`pwm_out stop`
+
 ## Dynamic Models

 The dynamic models for the various vehicles are:
@@ -3,12 +3,6 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 It can be purchased as a standalone unit or as part of a factory-assembled smart-battery.

-::: info
-At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
-Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
-:::
-
-
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -843,6 +843,8 @@
      - [시험 MC_04 - 안전 장치 시험](test_cards/mc_04_failsafe_testing.md)
      - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
      - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
+      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
+      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
    - [단위 테스트](test_and_ci/unit_tests.md)
      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [지속 통합](test_and_ci/continous_integration.md)
@@ -95,6 +95,8 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.

+#### Dynamic customization
+
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:

 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -111,7 +113,7 @@ Windows에서 편집하는 경우 적절한 편집기를 사용하여야 합니
 These files are referenced in PX4 code as `/fs/microsd/etc/config.txt` and `/fs/microsd/etc/extras.txt`, where the root folder of the microsd card is identified by the path `/fs/microsd`.
 :::

-#### 구성 사용자 정의(config.txt)
+##### 구성 사용자 정의(config.txt)

 The `config.txt` file can be used to modify parameters.
 It is loaded after the main system has been configured and _before_ it is booted.
@@ -123,7 +125,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```

-#### Starting Additional Applications (extras.txt)
+##### Starting Additional Applications (extras.txt)

 The `extras.txt` can be used to start additional applications after the main system boot.
 일반적으로, 페이로드 콘트롤러나 유사한 선택적 사용자 지정 구성 요소들입니다.
@@ -150,3 +152,28 @@ Calling an unknown command in system boot files may result in boot failure.

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
+
+#### Additional customization
+
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+you can add a script that will be contained in the binary.
+
+**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+edge-cases such as customizing `cannode` based boards.
+
+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. 예:
+  ```sh
+  # File: boards/<vendor>/<board>/init/rc.additional
+  param set-default <param> <value>
+  ```
+
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. 예:
+  ```sh
+  # File: boards/<vendor>/<board>/var.px4board
+  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
+  ```
+
+- Compile the firmware with your new variant by appending the variant name to the compile target. 예:
+  ```sh
+  make <target>_var
+  ```
@@ -27,10 +27,18 @@

 That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

+:::info
+The rest of the tuning on this page is not mandatory for [Manual mode](../flight_modes_rover/manual.md#manual-mode), but it will have an effect on the behaviour of the rover.
+:::
+
+:::warning
+Do not skip the rest of this setup if you intend to use more sophisticated modes!
+All parameters will be mandatory for all subsequent modes, except those tagged as `(Optional)`.
+:::
+
 ## Geometric Parameters

-Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
-These limits are mandatory for all other modes.
+First, we set up the geometric parameters of the rover:

 ![Geometric parameters](../../assets/config/rover/geometric_parameters.png)

@@ -42,7 +50,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
 2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
 3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.

-   :::tip
+   ::: tip
   This value depends on your rover and use case.
   For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
   [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
@@ -51,7 +59,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

-   :::warning
+   ::: warning
   A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.

 :::
@@ -76,7 +84,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 2. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.

-   <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>
+         <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>

   :::tip
   Your rover has a maximum possible acceleration which is determined by the maximum torque the motor can supply.
@@ -109,6 +117,39 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

+## (Optional) Stick Input Mapping
+
+Input shaping can be used to adjust the default linear mapping from stick inputs $\in [-1, 1]$ to normalized setpoints $\in [-1, 1]$. Applying this specifically to the steering input, can provide a smoother driving experience, by enabling the user to make small adjustments when the stick is close to the center, but still send large inputs when moving them to the edges.
+We provide this input shaping through the super exponential function:
+
+$$
+\delta = \frac{(f \cdot x^3 + x(1-f)) \cdot (1-g)}{1-g \cdot |x|}
+$$
+
+with:
+
+ - $\delta \in [-1, 1]=$ Normalized steering setpoint.
+ - $x \in [-1, 1]=$ Normalized stick input.
+ - $f=$ [RO_YAW_EXPO](#RO_YAW_EXPO): `0` Purely linear input curve, `1` Purely cubic input curve.
+ - $g=$ [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO): `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect.
+
+In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionally scale $\delta$ with an additional parameter $r$:
+
+ - Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
+ - Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
+
+This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+
+You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
+
+:::info
+In [Acro](../flight_modes_rover/manual.md#acro-mode), [Stabilized](../flight_modes_rover/manual.md#stabilized-mode) and [Position](../flight_modes_rover/manual.md#position-mode) Mode, $\delta$ is instead scaled by $r=$ [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) for all rovers. This leads to a yaw rate setpoint $\dot{\psi} = \delta \cdot r \in$ [-[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)]. This parameter is setup during [rate tuning](rate_tuning.md).
+:::
+
+:::info
+The input shaping through [RO_YAW_EXPO](#RO_YAW_EXPO) and [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO) applies for all manual modes, while [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)/[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN) only affects full manual mode.
+:::
+
 You can now continue the configuration process with [rate tuning](rate_tuning.md).

 ## Parameter Overview
@@ -118,6 +159,8 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
 | <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle                 | $m/s$   |
 | <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM)                                  | (Optional) Maximum allowed acceleration | $m/s^2$ |
 | <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM)                                  | (Optional) Maximum allowed deceleration | $m/s^2$ |
+| <a id="RO_YAW_EXPO"></a>[RO_YAW_EXPO](../advanced_config/parameter_reference.md#RO_YAW_EXPO)                                     | (Optional) Yaw rate expo factor         | $-$     |
+| <a id="RO_YAW_SUPEXPO"></a>[RO_YAW_SUPEXPO](../advanced_config/parameter_reference.md#RO_YAW_SUPEXPO)                            | (Optional) Yaw rate super expo factor   | $-$     |

 ### Ackermann Specific

@@ -129,12 +172,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md

 ### Differential Specific

-| 매개변수                                                                                                                                            | 설명          | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m    |
+| 매개변수                                                                                                                                                                    | 설명                                                           | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
+| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
+| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |

 ### Mecanum Specific

-| 매개변수                                                                                                                                            | 설명          | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m    |
+| 매개변수                                                                                                                                                                    | 설명                                                           | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
+| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
+| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
@@ -20,7 +20,7 @@ To tune the velocity controller configure the following [parameters](../advanced
 2. [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
   As mentioned in the [Manual mode](../flight_modes_rover/manual.md#manual-mode) configuration , a good starting point is the observed ground speed when the rover drives at maximum throttle in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

-   <a id="RA_SPEED_TUNING"></a>
+         <a id="RA_SPEED_TUNING"></a>

   ::: tip
   To further tune this parameter:
@@ -94,7 +94,7 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi

 The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).

-## Attitude Controller Structure (Info Only)
+## Velocity Controller Structure (Info Only)

 This section provides additional information for developers and people with experience in control system design.

@@ -33,16 +33,17 @@ The logging system is configured by default to collect sensible logs for [flight
 Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
 변경할 가능성이 높은 매개변수가 아래에 설명되어 있습니다.

-| 매개변수                                                                                          | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
-| --------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
-| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | 로깅 프로파일. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                                                                                                 |
-| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                                                                                           |
+| 매개변수                                                                                          | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+| --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.                                                                                                                                                                                                                                  |
+| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | 로깅 프로파일. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                                  |
+| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                            |

 Useful settings for specific cases:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)
+- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)

 ### Logger module

@@ -2,13 +2,32 @@

 PX4 typically runs on flight controllers that include an IMU, such as the Pixhawk series, and fuse the sensor data along with GNSS information in the EKF2 estimator to determine vehicle attitude, heading, position, and velocity.

-However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing the EKF.
+However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing EKF2.

-Systems that can be used in this way include:
+## Supported INS Systems
+
+INS systems that can be used as a replacement for EKF2 in PX4:

 - [InertialLabs](../sensor/inertiallabs.md)
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.

+## PX4 Firmware
+
+The driver module for your INS system may not be included in the PX4 firmware for your flight controller by default.
+
+You can check by searching the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board for either:
+
+- `CONFIG_COMMON_INS`, which includes drivers for [all INS systems](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/ins/Kconfig).
+- The key for the particular INS system you are using, such as:
+  - `CONFIG_DRIVERS_INS_ILABS`
+  - `CONFIG_DRIVERS_INS_MICROSTRAIN`
+  - `CONFIG_DRIVERS_INS_VECTORNAV`
+
+If the required key is not present you can include the module in firmware by adding the key to the `default.px4board` file, or using the [kconfig board configuration tool](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) and then select the driver you want (`Drivers -> INS`).
+Note that if you're working on a flight controller where flash memory is limited, you're better off installing just the modules you need.
+
+You will then need to rebuild the firmware.
+
 ## Glossary

 ### Inertial Measurement Unit (IMU)
@@ -71,24 +71,24 @@ To check that these are present on your flight controller:

 3. Enter the following commands in the console:

-  ```sh
-  pwm_out_sim status
-  ```
+   ```sh
+   pwm_out_sim status
+   ```

-  ```sh
-  sensor_baro_sim status
-  ```
+   ```sh
+   sensor_baro_sim status
+   ```

-  ```sh
-  sensor_gps_sim status
-  ```
+   ```sh
+   sensor_gps_sim status
+   ```

-  ```sh
-  sensor_mag_sim status
-  ```
+   ```sh
+   sensor_mag_sim status
+   ```

-  ::: tip
-  Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
+   ::: tip
+   Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).

 :::

@@ -141,12 +141,12 @@ To set up/start SIH:
 1. Connect the flight controller to the desktop computer with a USB cable.
 2. Open QGroundControl and wait for the flight controller too boot and connect.
 3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
-  - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
-  - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
-  - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
-  - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
-  - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
-  - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
+   - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
+   - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
+   - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
+   - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
+   - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
+   - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)

 The autopilot will then reboot.
 The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
@@ -172,19 +172,19 @@ To display the simulated vehicle:

 3. Start jMAVSim by calling the script **jmavsim_run.sh** from a terminal:

-  ```sh
-  ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
-  ```
+   ```sh
+   ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+   ```

-  where the flags are:
+   where the flags are:

-  - `-q` to allow the communication to _QGroundControl_ (optional).
-  - `-d` to start the serial device `/dev/ttyACM0` on Linux.
-    On macOS this would be `/dev/tty.usbmodem1`.
-  - `-b` to set the serial baud rate to `2000000`.
-  - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
-  - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
-    If this flag is not present a quadrotor will be displayed by default.
+   - `-q` to allow the communication to _QGroundControl_ (optional).
+   - `-d` to start the serial device `/dev/ttyACM0` on Linux.
+     On macOS this would be `/dev/tty.usbmodem1`.
+   - `-b` to set the serial baud rate to `2000000`.
+   - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
+   - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
+     If this flag is not present a quadrotor will be displayed by default.

 4. After few seconds, _QGroundControl_ can be opened again.

@@ -201,41 +201,41 @@ To run SIH as SITL:

 1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
 2. Run the appropriate make command for each vehicle type (at the root of the PX4-Autopilot repository):
-  - Quadcopter
+   - Quadcopter

-    ```sh
-    make px4_sitl sihsim_quadx
-    ```
+     ```sh
+     make px4_sitl sihsim_quadx
+     ```

-  - Hexacopter
+   - Hexacopter

-    ```sh
-    make px4_sitl sihsim_hex
-    ```
+     ```sh
+     make px4_sitl sihsim_hex
+     ```

-  - Fixed-wing (plane)
+   - Fixed-wing (plane)

-    ```sh
-    make px4_sitl sihsim_airplane
-    ```
+     ```sh
+     make px4_sitl sihsim_airplane
+     ```

-  - XVert VTOL tailsitter
+   - XVert VTOL tailsitter

-    ```sh
-    make px4_sitl sihsim_xvert
-    ```
+     ```sh
+     make px4_sitl sihsim_xvert
+     ```

-  - 표준 VTOL
+   - 표준 VTOL

-    ```sh
-    make px4_sitl sihsim_standard_vtol
-    ```
+     ```sh
+     make px4_sitl sihsim_standard_vtol
+     ```

-  - Ackermann Rover
+   - Ackermann Rover

-    ```sh
-    make px4_sitl sihsim_rover_ackermann
-    ```
+     ```sh
+     make px4_sitl sihsim_rover_ackermann
+     ```

 ### Change Simulation Speed

@@ -328,6 +328,44 @@ For SIH as SITL (no FC):

 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).

+## Controlling Actuators in SIH
+
+:::warning
+If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
+:::
+
+In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
+
+To enable actuator control in SIH:
+
+1. Configure PWM parameters in the airframe file:
+
+Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
+
+For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
+
+`param set-default PWM_MAIN_FUNC3 407`
+
+You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
+
+Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
+
+You may also configure the output as desired:
+
+- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
+- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
+- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
+
+2. Manually start the PWM output driver
+
+For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
+
+`pwm_out start`
+
+And to disable it again:
+
+`pwm_out stop`
+
 ## Dynamic Models

 The dynamic models for the various vehicles are:
@@ -3,11 +3,6 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 독립형 장치로 또는 공장에서 조립된 스마트 배터리의 일부로 구입할 수 있습니다.

-:::info
-At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
-Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
-:::
-
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -28,3 +28,5 @@ These are run by the test team as part of release testing, and for more signific
 - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
 - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
 - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
+- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
+- [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
@@ -2,11 +2,19 @@

 ## Objective

-To test that optical flow / external vision work as expected
+To test that optical flow works as expected

 ## Preflight

 Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
+([Setup Information here](../sensor/optical_flow.md))
+
+Ensure there are no other sources of positioning besides optical flow
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`

 Ensure that the drone can go into Altitude / Position flight mode while still on the ground

@@ -39,5 +47,7 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 ## 예상 결과

 - 추력을 올릴 때 서서히 이륙한다
+- Drone should hold altitude in Altitude Flight mode without wandering
+- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
 - 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
 - 지면에 착륙시, 콥터가 지면에서 튀면 안됨
@@ -0,0 +1,52 @@
+# Test MC_07 - VIO (Visual-Inertial Odometry)
+
+## Objective
+
+To test that external vision (VIO) works as expected
+
+## Preflight
+
+Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
+
+Ensure that the drone can go into Altitude / Position flight mode while still on the ground
+
+Ensure there are no other sources of positioning besides VIO:
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
+
+## Flight Tests
+
+❏ Altitude flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
+
+❏ Position flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## 착륙
+
+❏ Land in either Position or Altitude mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## 예상 결과
+
+- 추력을 올릴 때 서서히 이륙한다
+- Drone should hold altitude in Altitude Flight mode without wandering
+- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
+- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
+- 지면에 착륙시, 콥터가 지면에서 튀면 안됨
@@ -0,0 +1,46 @@
+# Test MC_08 - DSHOT ESC
+
+## Objective
+
+Regression test for DSHOT working with PX4
+
+## Preflight
+
+- Ensure vehicle is using a DSHOT ESC.
+- Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
+- Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
+- Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
+
+## Flight Tests
+
+❏ Stabilized Flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Takeoff in stabilized flight mode to ensure correct motor spin
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response 1:1
+
+❏ Position flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## 착륙
+
+❏ Land in either Position or Altitude mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## 예상 결과
+
+- Download flight logs
+- Load into Data Plot Juggler
+- Ensure data is logged for esc_status/esc.0x/esc_rpm
+
+  ![Reference frames](../../assets/test_cards/dshot_log_output.png)
@@ -843,6 +843,8 @@
      - [Тест MC_04 - Тестування відмовостійкості](test_cards/mc_04_failsafe_testing.md)
      - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
      - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
+      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
+      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
    - [Модульні Тести](test_and_ci/unit_tests.md)
      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [Безперервна інтеграція](test_and_ci/continous_integration.md)
@@ -95,6 +95,8 @@ NuttX має інтегрований інтерпретатор оболонк
 Найкращий спосіб змінити запуск системи - це ввести [нову конфігурацію планера](../dev_airframes/adding_a_new_frame.md).
 Файл конфігурації планеру може бути включений у прошивку або на SD карту.

+#### Dynamic customization
+
 Якщо вам потрібно "підлаштувати" конфігурацію що існує, наприклад запустити один або більше застосунків або встановити значення кількох параметрів, можна вказати це створивши два файли у директорії `/etc/` на SD картці:

 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -111,7 +113,7 @@ NuttX має інтегрований інтерпретатор оболонк
 Ці файли згадуються в коді PX4 як `/fs/microsd/etc/config.txt` та `/fs/microsd/etc/extras.txt`, де коренева директорія microSD карти визначається шляхом `/fs/microsd`.
 :::

-#### Налаштування конфігурації (config.txt)
+##### Налаштування конфігурації (config.txt)

 Файл `config.txt` можна використовувати для зміни параметрів.
 Він завантажується після того, як головна система була налаштована та _перед тим_ як завантажена.
@@ -123,7 +125,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```

-#### Запуск додаткових застосунків (extras.txt)
+##### Запуск додаткових застосунків (extras.txt)

 `extras.txt` можна використовувати для запуску додаткових застосунків після завантаження основної системи.
 Зазвичай це будуть контролери корисного навантаження або подібні необов'язкові користувацькі компоненти.
@@ -150,3 +152,28 @@ param set-default PWM_MAIN_MIN3 1120

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
+
+#### Additional customization
+
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+you can add a script that will be contained in the binary.
+
+**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+edge-cases such as customizing `cannode` based boards.
+
+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. Наприклад:
+  ```sh
+  # File: boards/<vendor>/<board>/init/rc.additional
+  param set-default <param> <value>
+  ```
+
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. Наприклад:
+  ```sh
+  # File: boards/<vendor>/<board>/var.px4board
+  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
+  ```
+
+- Compile the firmware with your new variant by appending the variant name to the compile target. Наприклад:
+  ```sh
+  make <target>_var
+  ```
@@ -27,10 +27,18 @@

 That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

+:::info
+The rest of the tuning on this page is not mandatory for [Manual mode](../flight_modes_rover/manual.md#manual-mode), but it will have an effect on the behaviour of the rover.
+:::
+
+:::warning
+Do not skip the rest of this setup if you intend to use more sophisticated modes!
+All parameters will be mandatory for all subsequent modes, except those tagged as `(Optional)`.
+:::
+
 ## Geometric Parameters

-Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
-These limits are mandatory for all other modes.
+First, we set up the geometric parameters of the rover:

 ![Geometric parameters](../../assets/config/rover/geometric_parameters.png)

@@ -42,7 +50,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
 2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
 3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.

-   :::tip
+   ::: tip
   This value depends on your rover and use case.
   For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
   [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
@@ -51,7 +59,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

-   :::warning
+   ::: warning
   A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.

 :::
@@ -76,7 +84,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 2. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.

-   <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>
+         <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>

   :::tip
   Your rover has a maximum possible acceleration which is determined by the maximum torque the motor can supply.
@@ -109,6 +117,39 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

+## (Optional) Stick Input Mapping
+
+Input shaping can be used to adjust the default linear mapping from stick inputs $\in [-1, 1]$ to normalized setpoints $\in [-1, 1]$. Applying this specifically to the steering input, can provide a smoother driving experience, by enabling the user to make small adjustments when the stick is close to the center, but still send large inputs when moving them to the edges.
+We provide this input shaping through the super exponential function:
+
+$$
+\delta = \frac{(f \cdot x^3 + x(1-f)) \cdot (1-g)}{1-g \cdot |x|}
+$$
+
+with:
+
+ - $\delta \in [-1, 1]=$ Normalized steering setpoint.
+ - $x \in [-1, 1]=$ Normalized stick input.
+ - $f=$ [RO_YAW_EXPO](#RO_YAW_EXPO): `0` Purely linear input curve, `1` Purely cubic input curve.
+ - $g=$ [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO): `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect.
+
+In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionally scale $\delta$ with an additional parameter $r$:
+
+ - Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
+ - Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
+
+This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+
+You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
+
+:::info
+In [Acro](../flight_modes_rover/manual.md#acro-mode), [Stabilized](../flight_modes_rover/manual.md#stabilized-mode) and [Position](../flight_modes_rover/manual.md#position-mode) Mode, $\delta$ is instead scaled by $r=$ [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) for all rovers. This leads to a yaw rate setpoint $\dot{\psi} = \delta \cdot r \in$ [-[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)]. This parameter is setup during [rate tuning](rate_tuning.md).
+:::
+
+:::info
+The input shaping through [RO_YAW_EXPO](#RO_YAW_EXPO) and [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO) applies for all manual modes, while [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)/[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN) only affects full manual mode.
+:::
+
 You can now continue the configuration process with [rate tuning](rate_tuning.md).

 ## Огляд параметрів
@@ -118,6 +159,8 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
 | <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle                 | $m/s$   |
 | <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM)                                  | (Optional) Maximum allowed acceleration | $m/s^2$ |
 | <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM)                                  | (Optional) Maximum allowed deceleration | $m/s^2$ |
+| <a id="RO_YAW_EXPO"></a>[RO_YAW_EXPO](../advanced_config/parameter_reference.md#RO_YAW_EXPO)                                     | (Optional) Yaw rate expo factor         | $-$     |
+| <a id="RO_YAW_SUPEXPO"></a>[RO_YAW_SUPEXPO](../advanced_config/parameter_reference.md#RO_YAW_SUPEXPO)                            | (Optional) Yaw rate super expo factor   | $-$     |

 ### Ackermann Specific

@@ -129,12 +172,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md

 ### Differential Specific

-| Параметр                                                                                                                                        | Опис        | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m    |
+| Параметр                                                                                                                                                                | Опис                                                         | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
+| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
+| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |

 ### Mecanum Specific

-| Параметр                                                                                                                                        | Опис        | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m    |
+| Параметр                                                                                                                                                                | Опис                                                         | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
+| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
+| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
@@ -20,7 +20,7 @@ To tune the velocity controller configure the following [parameters](../advanced
 2. [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
   As mentioned in the [Manual mode](../flight_modes_rover/manual.md#manual-mode) configuration , a good starting point is the observed ground speed when the rover drives at maximum throttle in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

-   <a id="RA_SPEED_TUNING"></a>
+         <a id="RA_SPEED_TUNING"></a>

   ::: tip
   To further tune this parameter:
@@ -94,7 +94,7 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi

 The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).

-## Attitude Controller Structure (Info Only)
+## Velocity Controller Structure (Info Only)

 This section provides additional information for developers and people with experience in control system design.

@@ -33,16 +33,17 @@ The logging system is configured by default to collect sensible logs for [flight
 Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
 Параметри, які ви найімовірніше зміните, перераховані нижче.

-| Параметр                                                                                      | Опис                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
-| --------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Журналювання. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
-| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Профіль ведення журналу. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                                                                                 |
-| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                                                                                           |
+| Параметр                                                                                      | Опис                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Журналювання. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.                                                                                                                                                                                                                                  |
+| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Профіль ведення журналу. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                  |
+| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                            |

 Корисні налаштування для конкретних випадків:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)
+- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)

 ### Модуль реєстрації

@@ -2,13 +2,32 @@

 PX4 зазвичай працює на контролерах польоту, які включають в себе ІВП, такі як серія Pixhawk, і об'єднує дані датчиків разом із інформацією ССН (супутникова система навігації) в оцінювачі EKF2 для визначення орієнтації, напрямку, позиції та швидкості транспортного засобу.

-However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing the EKF.
+However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing EKF2.

-Системи, які можуть бути використані у такий спосіб, включають в себе:
+## Supported INS Systems
+
+INS systems that can be used as a replacement for EKF2 in PX4:

 - [InertialLabs](../sensor/inertiallabs.md)
 - [VectorNav](../sensor/vectornav.md): ІВП/AHRS, ССН/INS, Dual GNSS/INS системи, котрі можуть бути використані як зовнішній INS, або джерело вхідної інформації датчиків.

+## PX4 Firmware
+
+The driver module for your INS system may not be included in the PX4 firmware for your flight controller by default.
+
+You can check by searching the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board for either:
+
+- `CONFIG_COMMON_INS`, which includes drivers for [all INS systems](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/ins/Kconfig).
+- The key for the particular INS system you are using, such as:
+  - `CONFIG_DRIVERS_INS_ILABS`
+  - `CONFIG_DRIVERS_INS_MICROSTRAIN`
+  - `CONFIG_DRIVERS_INS_VECTORNAV`
+
+If the required key is not present you can include the module in firmware by adding the key to the `default.px4board` file, or using the [kconfig board configuration tool](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) and then select the driver you want (`Drivers -> INS`).
+Note that if you're working on a flight controller where flash memory is limited, you're better off installing just the modules you need.
+
+You will then need to rebuild the firmware.
+
 ## Словник

 ### Інерційний вимірювальний пристрій (ІВП)
@@ -71,24 +71,24 @@ To check that these are present on your flight controller:

 3. Enter the following commands in the console:

-  ```sh
-  pwm_out_sim status
-  ```
+   ```sh
+   pwm_out_sim status
+   ```

-  ```sh
-  sensor_baro_sim status
-  ```
+   ```sh
+   sensor_baro_sim status
+   ```

-  ```sh
-  sensor_gps_sim status
-  ```
+   ```sh
+   sensor_gps_sim status
+   ```

-  ```sh
-  sensor_mag_sim status
-  ```
+   ```sh
+   sensor_mag_sim status
+   ```

-  ::: tip
-  Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
+   ::: tip
+   Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).

 :::

@@ -141,12 +141,12 @@ To set up/start SIH:
 1. Connect the flight controller to the desktop computer with a USB cable.
 2. Відкрийте QGroundControl і зачекайте, поки контролер польоту також завантажиться та підключиться.
 3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
-  - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
-  - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
-  - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
-  - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
-  - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
-  - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
+   - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
+   - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
+   - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
+   - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
+   - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
+   - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)

 Потім автопілот перезавантажиться.
 The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
@@ -172,19 +172,19 @@ SIH does not _need_ a visualiser — you can connect with QGroundControl and fly

 3. Start jMAVSim by calling the script **jmavsim_run.sh** from a terminal:

-  ```sh
-  ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
-  ```
+   ```sh
+   ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+   ```

-  де прапорці такі:
+   де прапорці такі:

-  - `-q` to allow the communication to _QGroundControl_ (optional).
-  - `-d` to start the serial device `/dev/ttyACM0` on Linux.
-    On macOS this would be `/dev/tty.usbmodem1`.
-  - `-b` to set the serial baud rate to `2000000`.
-  - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
-  - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
-    Якщо цей прапорець не вказаний, за замовчуванням відображатиметься квадрокоптер.
+   - `-q` to allow the communication to _QGroundControl_ (optional).
+   - `-d` to start the serial device `/dev/ttyACM0` on Linux.
+     On macOS this would be `/dev/tty.usbmodem1`.
+   - `-b` to set the serial baud rate to `2000000`.
+   - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
+   - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
+     Якщо цей прапорець не вказаний, за замовчуванням відображатиметься квадрокоптер.

 4. After few seconds, _QGroundControl_ can be opened again.

@@ -201,41 +201,41 @@ In this case you don't need the flight controller hardware.

 1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
 2. Виконайте відповідну команду make для кожного типу транспортного засобу (в корені репозиторію PX4-Autopilot):
-  - Quadcopter
+   - Quadcopter

-    ```sh
-    make px4_sitl sihsim_quadx
-    ```
+     ```sh
+     make px4_sitl sihsim_quadx
+     ```

-  - Hexacopter
+   - Hexacopter

-    ```sh
-    make px4_sitl sihsim_hex
-    ```
+     ```sh
+     make px4_sitl sihsim_hex
+     ```

-  - Fixed-wing (plane)
+   - Fixed-wing (plane)

-    ```sh
-    make px4_sitl sihsim_airplane
-    ```
+     ```sh
+     make px4_sitl sihsim_airplane
+     ```

-  - XVert VTOL tailsitter
+   - XVert VTOL tailsitter

-    ```sh
-    make px4_sitl sihsim_xvert
-    ```
+     ```sh
+     make px4_sitl sihsim_xvert
+     ```

-  - Standard VTOL
+   - Standard VTOL

-    ```sh
-    make px4_sitl sihsim_standard_vtol
-    ```
+     ```sh
+     make px4_sitl sihsim_standard_vtol
+     ```

-  - Ackermann Rover
+   - Ackermann Rover

-    ```sh
-    make px4_sitl sihsim_rover_ackermann
-    ```
+     ```sh
+     make px4_sitl sihsim_rover_ackermann
+     ```

 ### Зміна швидкості симуляції

@@ -328,6 +328,44 @@ For SIH as SITL (no FC):

 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).

+## Controlling Actuators in SIH
+
+:::warning
+If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
+:::
+
+In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
+
+To enable actuator control in SIH:
+
+1. Configure PWM parameters in the airframe file:
+
+Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
+
+For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
+
+`param set-default PWM_MAIN_FUNC3 407`
+
+You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
+
+Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
+
+You may also configure the output as desired:
+
+- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
+- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
+- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
+
+2. Manually start the PWM output driver
+
+For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
+
+`pwm_out start`
+
+And to disable it again:
+
+`pwm_out stop`
+
 ## Dynamic Models

 Динамічні моделі для різних транспортних засобів:
@@ -3,11 +3,6 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 Його можна придбати як самостійний пристрій або як частину заводсько зібраної розумної батареї.

-:::info
-At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
-Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
-:::
-
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -28,3 +28,5 @@ When submitting [Pull Requests](../contribute/code.md#pull-requests) for new fun
 - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
 - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
 - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
+- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
+- [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
@@ -2,11 +2,19 @@

 ## Objective

-To test that optical flow / external vision work as expected
+To test that optical flow works as expected

 ## Preflight

 Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
+([Setup Information here](../sensor/optical_flow.md))
+
+Ensure there are no other sources of positioning besides optical flow
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`

 Ensure that the drone can go into Altitude / Position flight mode while still on the ground

@@ -39,5 +47,7 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 ## Очікувані результати

 - Зліт повинен бути плавним, коли газ піднято
+- Drone should hold altitude in Altitude Flight mode without wandering
+- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
 - Немає коливання в жодному з перерахованих режимів польоту
 - Після посадки, коптер не повинен підскакувати на землі
@@ -0,0 +1,52 @@
+# Test MC_07 - VIO (Visual-Inertial Odometry)
+
+## Objective
+
+To test that external vision (VIO) works as expected
+
+## Preflight
+
+Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
+
+Ensure that the drone can go into Altitude / Position flight mode while still on the ground
+
+Ensure there are no other sources of positioning besides VIO:
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
+
+## Flight Tests
+
+❏ Altitude flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
+
+❏ Position flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## Посадка
+
+❏ Land in either Position or Altitude mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## Очікувані результати
+
+- Зліт повинен бути плавним, коли газ піднято
+- Drone should hold altitude in Altitude Flight mode without wandering
+- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
+- Немає коливання в жодному з перерахованих режимів польоту
+- Після посадки, коптер не повинен підскакувати на землі
@@ -0,0 +1,46 @@
+# Test MC_08 - DSHOT ESC
+
+## Objective
+
+Regression test for DSHOT working with PX4
+
+## Preflight
+
+- Ensure vehicle is using a DSHOT ESC.
+- Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
+- Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
+- Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
+
+## Flight Tests
+
+❏ Stabilized Flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Takeoff in stabilized flight mode to ensure correct motor spin
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response 1:1
+
+❏ Position flight mode
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
+
+&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## Посадка
+
+❏ Land in either Position or Altitude mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## Очікувані результати
+
+- Download flight logs
+- Load into Data Plot Juggler
+- Ensure data is logged for esc_status/esc.0x/esc_rpm
+
+  ![Reference frames](../../assets/test_cards/dshot_log_output.png)
@@ -843,6 +843,8 @@
      - [测试 MC_04 -故障安全测试](test_cards/mc_04_failsafe_testing.md)
      - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
      - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
+      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
+      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
    - [单元测试](test_and_ci/unit_tests.md)
      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [持续集成](test_and_ci/continous_integration.md)
@@ -131,7 +131,7 @@ The on-screen gimbal control can be used to move/test a connected MAVLink camera

 2. Open QGroundControl and enable the on-screen camera control (Application settings).

-  ![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/qgc/fly/gimbal_control_x500gz.png)
+   ![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/qgc/fly/gimbal_control_x500gz.png)

 3. Make sure the vehicle is armed and flying, e.g. by entering with `commander takeoff`.

@@ -52,7 +52,7 @@ On Windows, one option is to use _Melody Master_ within _Dosbox_.
 7. 当您准备好时保存音乐：
   - Press **F2** to give the tune a name and save it in the _/Music_ sub folder of your Melody Master installation.
   - Press **F7**, the scroll down the list of output formats on the right to get to ANSI.
-      The file will be exported to the _root_ of the Melody Master directory (with the same name and a file-type specific extension).
+     The file will be exported to the _root_ of the Melody Master directory (with the same name and a file-type specific extension).

 8. 打开文件。
   输出可能看起来像这样：
@@ -23,7 +23,7 @@ You can locate the parameters in QGroundControl as shown below:
 1. Open QGroundControl menu: **Settings > Parameters > Sensor Calibration**.
 2. The parameters as located in the section as shown below (or you can search for them):

-  ![FC Orientation QGC v2](../../assets/qgc/setup/sensor/fc_orientation_qgc_v2.png)
+   ![FC Orientation QGC v2](../../assets/qgc/setup/sensor/fc_orientation_qgc_v2.png)

 ## Parameter Summary

@@ -37,8 +37,8 @@ You can enable this key in your own custom firmware if needed.

 2. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.

-  ::: info
-  The updated bootloader might be included the default firmware for your board or supplied in custom firmware.
+   ::: info
+   The updated bootloader might be included the default firmware for your board or supplied in custom firmware.

 :::

@@ -47,7 +47,7 @@ You can enable this key in your own custom firmware if needed.
 4. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).

 5. 重新启动（断开/重新连接飞控板）。
-  Bootloader 更新只需要几秒钟即可完成。
+   Bootloader 更新只需要几秒钟即可完成。

 Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.

@@ -89,80 +89,80 @@ The following steps explain how you can "manually" update the bootloader using a
 1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).

 2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
-  Connect the probe your PC via USB and setup the `gdbserver`.
+   Connect the probe your PC via USB and setup the `gdbserver`.

 3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:

-  - FMUv6X
+   - FMUv6X

-    ```sh
-    arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
-    ```
+     ```sh
+     arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
+     ```

-  - FMUv6X-RT
+   - FMUv6X-RT

-    ```sh
-    arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
-    ```
+     ```sh
+     arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
+     ```

-  - FMUv5
+   - FMUv5

-    ```sh
-    ```
+     ```sh
+     ```

-  ::: info
-  H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
-  Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
+   ::: info
+   H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
+   Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.

 :::

 4. The _gdb terminal_ appears and it should display (something like) the following output:

-  ```sh
-  GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
-  Copyright (C) 2017 Free Software Foundation, Inc.
-  License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
-  This is free software: you are free to change and redistribute it.
-  There is NO WARRANTY, to the extent permitted by law.
-  Type "show copying"    and "show warranty" for details.
-  This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
-  Type "show configuration" for configuration details.
-  For bug reporting instructions, please see:
-  <https://www.sourceware.org/gdb/bugs/>.
-  Find the GDB manual and other documentation resources online at:
-  <https://www.sourceware.org/gdb/documentation/>.
-  For help, type "help".
-  Type "apropos word" to search for commands related to "word"...
-  Reading symbols from px4fmuv5_bl.elf...done.
-  ```
+   ```sh
+   GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
+   Copyright (C) 2017 Free Software Foundation, Inc.
+   License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
+   This is free software: you are free to change and redistribute it.
+   There is NO WARRANTY, to the extent permitted by law.
+   Type "show copying"    and "show warranty" for details.
+   This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
+   Type "show configuration" for configuration details.
+   For bug reporting instructions, please see:
+   <https://www.sourceware.org/gdb/bugs/>.
+   Find the GDB manual and other documentation resources online at:
+   <https://www.sourceware.org/gdb/documentation/>.
+   For help, type "help".
+   Type "apropos word" to search for commands related to "word"...
+   Reading symbols from px4fmuv5_bl.elf...done.
+   ```

 5. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.

 6. Now connect to the debug probe with the following command:

-  ```sh
-  tar ext /dev/serial/by-id/<dronecode-probe-id>
-  ```
+   ```sh
+   tar ext /dev/serial/by-id/<dronecode-probe-id>
+   ```

 7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.

-  ::: info
-  If using a Zubax BugFace BF1 you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
+   ::: info
+   If using a Zubax BugFace BF1 you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).

 :::

 8. Use the following command to scan for the Pixhawk\`s SWD and connect to it:

-  ```sh
-  (gdb) mon swdp_scan
-  (gdb) attach 1
-  ```
+   ```sh
+   (gdb) mon swdp_scan
+   (gdb) attach 1
+   ```

 9. 将二进制文件加载到 Pixhawk 中 ：

-  ```sh
-  (gdb) load
-  ```
+   ```sh
+   (gdb) load
+   ```

 After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.

@@ -181,25 +181,25 @@ Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions
 1. 插入 SD 卡（使能引导日志记录，便于调试任何可能的问题）。

 2. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
-  _QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
+   _QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.

-  ![FMUv2 update](../../assets/qgc/setup/firmware/bootloader_update.jpg)
+   ![FMUv2 update](../../assets/qgc/setup/firmware/bootloader_update.jpg)

-  等待飞控重启。
+   等待飞控重启。

 3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).

 4. 重新启动（断开/重新连接飞控板）。
-  Bootloader 更新只需要几秒钟即可完成。
+   Bootloader 更新只需要几秒钟即可完成。

 5. Then [Update the Firmware](../config/firmware.md) again.
-  This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
+   This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.

-  ![FMUv3 update](../../assets/qgc/setup/firmware/bootloader_fmu_v3_update.jpg)
+   ![FMUv3 update](../../assets/qgc/setup/firmware/bootloader_fmu_v3_update.jpg)

-  ::: info
-  If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
-  在这种情况下，您将无法安装 FMUv3 硬件。
+   ::: info
+   If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
+   在这种情况下，您将无法安装 FMUv3 硬件。

 :::

@@ -44,7 +44,7 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
   - 解锁无人机，然后缓缓将油门推到最大。
   - 慢慢将油门降到0
   - 给无人机加锁
-      &#062; <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。
+     &#062; <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。

   ::: info
   Perform the test carefully and closely monitor the vibrations.
@@ -94,29 +94,29 @@ Flight control systems that can't power the autopilot via USB will need a [diffe

   - The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.

-      You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
-      当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。
+     You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
+     当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。

-      要找到“最佳”最小值，请将滑块移动到底部(禁用)。
-      Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
-      Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
+     要找到“最佳”最小值，请将滑块移动到底部(禁用)。
+     Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
+     Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.

   - The maximum value for a motor (default: `1900us`) should be chosen such that increasing the value doesn't make the motor spin any faster.

-      You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
+     You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.

-      To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
-      Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
-      Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
-      The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
-      Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
+     To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
+     Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
+     Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
+     The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
+     Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.

   - The disarmed value for a motor (default: `1000us`) should make the motor stop and stay stopped.

-      You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
+     You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.

-      If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
-      If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
+     If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
+     If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).

   ::: info
   VTOL and fixed-wing motors do not need any special PWM configuration.
@@ -87,14 +87,14 @@ To set the above "example" configuration using the _QGroundControl_:

 3. Enter commands "like" the ones below into the _MAVLink Console_ (to write the values to the configuration file):

-  ```sh
-  echo DEVICE=eth0 > /fs/microsd/net.cfg
-  echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
-  echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
-  echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
-  echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
-  echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
-  ```
+   ```sh
+   echo DEVICE=eth0 > /fs/microsd/net.cfg
+   echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
+   echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
+   echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
+   echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
+   echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
+   ```

 4. 一旦设置了网络配置，您可以断开 USB 电缆。

@@ -113,36 +113,36 @@ Note that there are many more [examples](https://github.com/canonical/netplan/tr
 设置Ubuntu计算机：

 1. In a terminal, create and open a `netplan` configuration file: `/etc/netplan/01-network-manager-all.yaml`
-  Below we do this using the _nano_ text editor.
+   Below we do this using the _nano_ text editor.

-  ```
-  sudo nano /etc/netplan/01-network-manager-all.yaml
-  ```
+   ```
+   sudo nano /etc/netplan/01-network-manager-all.yaml
+   ```

 2. 将以下配置信息复制并粘贴到文件中（注意：缩进很重要！）:

-  ```
-  network:
-    version: 2
-    renderer: NetworkManager
-    ethernets:
-        enp2s0:
-            addresses:
-                - 10.41.10.1/24
-            nameservers:
-                addresses: [10.41.10.1]
-            routes:
-                - to: 10.41.10.1
-                  via: 10.41.10.1
-  ```
+   ```
+   network:
+     version: 2
+     renderer: NetworkManager
+     ethernets:
+         enp2s0:
+             addresses:
+                 - 10.41.10.1/24
+             nameservers:
+                 addresses: [10.41.10.1]
+             routes:
+                 - to: 10.41.10.1
+                   via: 10.41.10.1
+   ```

-  保存并退出编辑器。
+   保存并退出编辑器。

 3. Apply the _netplan_ configuration by entering the following command into the Ubuntu terminal.

-  ```
-  sudo netplan apply
-  ```
+   ```
+   sudo netplan apply
+   ```

 ### 机载计算机以太网网络设置

@@ -189,9 +189,9 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet

 3. Start QGroundControl and [define a comm link](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/settings_view.html) (**Application Settings > Comm Links**) specifying the _server address_ and port as the IP address and port assigned in PX4, respectively.

-  假设值已按本主题其余部分所述设置，设置将如下所示：
+   假设值已按本主题其余部分所述设置，设置将如下所示：

-  ![QGC comm link for ethernet setup](../../assets/qgc/settings/comm_link/px4_ethernet_link_config.png)
+   ![QGC comm link for ethernet setup](../../assets/qgc/settings/comm_link/px4_ethernet_link_config.png)

 4. 如果你选择这个链接，QGroundControl 应该会连接。

@@ -205,14 +205,14 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet

 1. [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your companion computer and PX4 run on the same network.
 2. Modify the [PX4 Ethernet Port Configuration](#px4-ethernet-network-setup) to connect to a companion computer.
-  You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
+   You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
 3. Follow the instructions in [MAVSDK-python](https://github.com/mavlink/MAVSDK-Python) to install and use MAVSDK.

-  例如，您的代码将使用以下方式连接到PX4：
+   例如，您的代码将使用以下方式连接到PX4：

-  ```python
-  await drone.connect(system_address="udp://10.41.10.2:14540")
-  ```
+   ```python
+   await drone.connect(system_address="udp://10.41.10.2:14540")
+   ```

 :::info
 MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethernet port configuration.
@@ -235,38 +235,38 @@ MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethern
 1. 通过以太网连接您的飞行控制器和机载计算机。

 2. [Start the uXRCE-DDS client on PX4](../middleware/uxrce_dds.md#starting-the-client), either manually or by customizing the system startup script.
-  Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
+   Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).

 3. [Start the micro XRCE-DDS agent on the companion computer](../middleware/uxrce_dds.md#starting-the-agent).
-  For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
+   For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.

-  ```sh
-  MicroXRCEAgent udp4 -p 8888
-  ```
+   ```sh
+   MicroXRCEAgent udp4 -p 8888
+   ```

 4. Run a [listener node](../ros2/user_guide.md#running-the-example) in a new terminal to confirm the connection is established:

-  ```sh
-  source ~/ws_sensor_combined/install/setup.bash
-  ros2 launch px4_ros_com sensor_combined_listener.launch.py
-  ```
+   ```sh
+   source ~/ws_sensor_combined/install/setup.bash
+   ros2 launch px4_ros_com sensor_combined_listener.launch.py
+   ```

-  如果所有设置都正确，终端应显示如下输出:
+   如果所有设置都正确，终端应显示如下输出:

-  ```sh
-  RECEIVED SENSOR COMBINED DATA
-  =============================
-  ts: 855801598
-  gyro_rad[0]: -0.00339938
-  gyro_rad[1]: 0.00440091
-  gyro_rad[2]: 0.00513893
-  gyro_integral_dt: 4997
-  accelerometer_timestamp_relative: 0
-  accelerometer_m_s2[0]: -0.0324082
-  accelerometer_m_s2[1]: 0.0392213
-  accelerometer_m_s2[2]: -9.77914
-  accelerometer_integral_dt: 4997
-  ```
+   ```sh
+   RECEIVED SENSOR COMBINED DATA
+   =============================
+   ts: 855801598
+   gyro_rad[0]: -0.00339938
+   gyro_rad[1]: 0.00440091
+   gyro_rad[2]: 0.00513893
+   gyro_integral_dt: 4997
+   accelerometer_timestamp_relative: 0
+   accelerometer_m_s2[0]: -0.0324082
+   accelerometer_m_s2[1]: 0.0392213
+   accelerometer_m_s2[2]: -9.77914
+   accelerometer_integral_dt: 4997
+   ```

 ## See Also

@@ -153,14 +153,14 @@ It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CB
 The default startup sequence is:

 1. Power-up.
-  - All actuators locked into disarmed position
-  - Not possible to arm.
+   - All actuators locked into disarmed position
+   - Not possible to arm.
 2. Safety switch is pressed.
-  - System now prearmed: non-throttling actuators can move (e.g. ailerons).
-  - System safety is off: Arming possible.
+   - System now prearmed: non-throttling actuators can move (e.g. ailerons).
+   - System safety is off: Arming possible.
 3. Arm command is issued.
-  - The system is armed.
-  - All motors and actuators can move.
+   - The system is armed.
+   - All motors and actuators can move.

 ### COM_PREARM_MODE=Disabled and Safety Switch

@@ -170,14 +170,14 @@ This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_I
 The startup sequence is:

 1. Power-up.
-  - All actuators locked into disarmed position
-  - Not possible to arm.
+   - All actuators locked into disarmed position
+   - Not possible to arm.
 2. Safety switch is pressed.
-  - _All actuators stay locked into disarmed position (same as disarmed)._
-  - System safety is off: Arming possible.
+   - _All actuators stay locked into disarmed position (same as disarmed)._
+   - System safety is off: Arming possible.
 3. Arm command is issued.
-  - The system is armed.
-  - All motors and actuators can move.
+   - The system is armed.
+   - All motors and actuators can move.

 ### COM_PREARM_MODE=Always and Safety Switch

@@ -188,13 +188,13 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
 The startup sequence is:

 1. Power-up.
-  - System now prearmed: non-throttling actuators can move (e.g. ailerons).
-  - Not possible to arm.
+   - System now prearmed: non-throttling actuators can move (e.g. ailerons).
+   - Not possible to arm.
 2. Safety switch is pressed.
-  - System safety is off: Arming possible.
+   - System safety is off: Arming possible.
 3. Arm command is issued.
-  - The system is armed.
-  - All motors and actuators can move.
+   - The system is armed.
+   - All motors and actuators can move.

 ### COM_PREARM_MODE=Safety or Disabled and No Safety Switch

@@ -204,11 +204,11 @@ This corresponds to [COM_PREARM_MODE=0 or 1](#COM_PREARM_MODE) (Disabled/Safety
 The startup sequence is:

 1. Power-up.
-  - All actuators locked into disarmed position
-  - System safety is off: Arming possible.
+   - All actuators locked into disarmed position
+   - System safety is off: Arming possible.
 2. Arm command is issued.
-  - The system is armed.
-  - All motors and actuators can move.
+   - The system is armed.
+   - All motors and actuators can move.

 ### COM_PREARM_MODE=Always and No Safety Switch

@@ -218,11 +218,11 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
 The startup sequence is:

 1. Power-up.
-  - System now prearmed: non-throttling actuators can move (e.g. ailerons).
-  - System safety is off: Arming possible.
+   - System now prearmed: non-throttling actuators can move (e.g. ailerons).
+   - System safety is off: Arming possible.
 2. Arm command is issued.
-  - The system is armed.
-  - All motors and actuators can move.
+   - The system is armed.
+   - All motors and actuators can move.

 ### 参数

@@ -94,11 +94,11 @@ To perform an offboard calibration:

 9. Open a terminal window in the **Firmware/Tools** directory and run the python calibration script:

-  ```sh
-  python process_sensor_caldata.py <full path name to .ulog file>
-  ```
+   ```sh
+   python process_sensor_caldata.py <full path name to .ulog file>
+   ```

-  This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
+   This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.

 10. Power the board, connect _QGroundControl_ and load the parameter from the generated **.params** file onto the board using _QGroundControl_. 由于参数的数量，加载它们可能需要一些时间。

@@ -157,29 +157,29 @@ Three axis body fixed magnetometer data at a minimum rate of 5Hz is required to
 Magnetometer data fusion can be configured using [EKF2_MAG_TYPE](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE):

 0. Automatic:
-  - The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
-  - Heading and tilt errors are compensated when using this method.
-  - Incorrect magnetic field measurements can degrade the tilt estimate.
-  - The magnetometer biases are estimated whenever observable.
+   - The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
+   - Heading and tilt errors are compensated when using this method.
+   - Incorrect magnetic field measurements can degrade the tilt estimate.
+   - The magnetometer biases are estimated whenever observable.
 1. Magnetic heading:
-  - Only the heading is corrected.
-    The tilt estimate is never affected by incorrect magnetic field measurements.
-  - Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
-  - The magnetometer biases are estimated whenever observable.
+   - Only the heading is corrected.
+     The tilt estimate is never affected by incorrect magnetic field measurements.
+   - Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
+   - The magnetometer biases are estimated whenever observable.
 2. Deprecated
 3. Deprecated
 4. Deprecated
 5. None:
-  - Magnetometer data is never used.
-    This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
-  - The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
-  - When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
-    See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
+   - Magnetometer data is never used.
+     This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
+   - The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
+   - When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
+     See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
 6. Init only:
-  - Magnetometer data is only used to initialize the heading estimate.
-    This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
-  - After initialization, the heading is constrained using other observations.
-  - Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
+   - Magnetometer data is only used to initialize the heading estimate.
+     This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
+   - After initialization, the heading is constrained using other observations.
+   - Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.

 The following selection tree can be used to select the right option:

@@ -241,8 +241,8 @@ EKF2模块将误差建模为与机体固连的椭球体，在将其转换为高

 2. Extract the `.ulg` log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)

-  ::: info
-  The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
+   ::: info
+   The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).

 :::

@@ -457,8 +457,8 @@ The amount of specific force observation noise is set by the [EKF2_DRAG_NOISE](.

 1. Fly once in [Position mode](../flight_modes_mc/position.md) repeatedly forwards/backwards/left/right/up/down between rest and maximum speed (best results are obtained when this testing is conducted in still conditions).
 2. Extract the **.ulg** log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
-  ::: info
-  The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
+   ::: info
+   The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).

 :::
 3. Use the log with the [mc_wind_estimator_tuning.py](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator) Python script to obtain the optimal set of parameters.
@@ -38,14 +38,14 @@ If it is not visible the vehicle immediately performs a _normal_ landing at the
 A precision landing has three phases:

 1. **Horizontal approach:** The vehicle approaches the target horizontally while keeping its current altitude.
-  Once the position of the target relative to the vehicle is below a threshold ([PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD)), the next phase is entered.
-  If the target is lost during this phase (not visible for longer than [PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT)), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
+   Once the position of the target relative to the vehicle is below a threshold ([PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD)), the next phase is entered.
+   If the target is lost during this phase (not visible for longer than [PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT)), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).

 2. **Descent over target:** The vehicle descends, while remaining centered over the target.
-  If the target is lost during this phase (not visible for longer than `PLD_BTOUT`), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
+   If the target is lost during this phase (not visible for longer than `PLD_BTOUT`), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).

 3. **Final approach:** When the vehicle is close to the ground (closer than [PLD_FAPPR_ALT](../advanced_config/parameter_reference.md#PLD_FAPPR_ALT)), it descends while remaining centered over the target.
-  If the target is lost during this phase, the descent is continued independent of the kind of precision landing.
+   If the target is lost during this phase, the descent is continued independent of the kind of precision landing.

 Search procedures are initiated in the first and second steps, and will run at most [PLD_MAX_SRCH](../advanced_config/parameter_reference.md#PLD_MAX_SRCH) times.
 Landing Phases Flow Diagram
@@ -54,19 +54,19 @@ If an external antenna is used always make sure that the antenna is connected to
 The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).

 1. Connect to the module with using a 19200/8-N-1 setting and check if the communication is working using the command: `AT`.
-  The response should be: `OK`.
+   The response should be: `OK`.

 2. Change the baud rate:

-  ```
-  AT+IPR=9
-  ```
+   ```
+   AT+IPR=9
+   ```

 3. Reconnect to the model now with a 115200/8-N-1 setting and save the configuration using:

-  ```
-  AT&W0
-  ```
+   ```
+   AT&W0
+   ```

 The module is now ready to be used with PX4.

@@ -101,55 +101,55 @@ Set up a delivery group for the message relay server and add the module to that
 The relay server should be run on either Ubuntu 16.04 or 14.04 OS.

 1. The server working as a message relay should have a static IP address and two publicly accessible, open, TCP ports:
-  - `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings)
-  - `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file)
+   - `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings)
+   - `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file)

 2. Install the required python modules:

-  ```sh
-  sudo pip install pika tornado future
-  ```
+   ```sh
+   sudo pip install pika tornado future
+   ```

 3. Install the `rabbitmq` message broker:

-  ```sh
-  sudo apt install rabbitmq-server
-  ```
+   ```sh
+   sudo apt install rabbitmq-server
+   ```

 4. Configure the broker's credentials (change PWD to your preferred password):

-  ```sh
-  sudo rabbitmqctl add_user iridiumsbd PWD
-  sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
-  ```
+   ```sh
+   sudo rabbitmqctl add_user iridiumsbd PWD
+   sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
+   ```

 5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure) repository:

-  ```sh
-  git clone https://github.com/acfloria/SatComInfrastructure.git
-  ```
+   ```sh
+   git clone https://github.com/acfloria/SatComInfrastructure.git
+   ```

 6. Go to the location of the _SatComInfrastructure_ repo and configure the broker's queues:

-  ```sh
-  ./setup_rabbit.py localhost iridiumsbd PWD
-  ```
+   ```sh
+   ./setup_rabbit.py localhost iridiumsbd PWD
+   ```

 7. Verify the setup:

-  ```sh
-  sudo rabbitmqctl list_queues
-  ```
+   ```sh
+   sudo rabbitmqctl list_queues
+   ```

-  This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`
+   This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`

 8. Edit the `relay.cfg` configuration file to reflect your settings.

 9. Start the relay script in the detached mode:

-  ```sh
-  screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
-  ```
+   ```sh
+   screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
+   ```

 Other instructions include:

@@ -177,15 +177,15 @@ To setup the ground station:

 1. Install the required python modules:

-  ```sh
-  sudo pip install pika tornado future
-  ```
+   ```sh
+   sudo pip install pika tornado future
+   ```

 2. Clone the SatComInfrastructure repository:

-  ```sh
-  git clone https://github.com/acfloria/SatComInfrastructure.git
-  ```
+   ```sh
+   git clone https://github.com/acfloria/SatComInfrastructure.git
+   ```

 3. Edit the **udp2rabbit.cfg** configuration file to reflect your settings.

@@ -193,20 +193,20 @@ To setup the ground station:

 5. Add a UDP connection in QGC with the parameters:

-  - Listening port: 10000
-  - Target hosts: 127.0.0.1:10001
-  - High Latency: checked
+   - Listening port: 10000
+   - Target hosts: 127.0.0.1:10001
+   - High Latency: checked

-  ![High Latency Link Settings](../../assets/satcom/linksettings.png)
+   ![High Latency Link Settings](../../assets/satcom/linksettings.png)

 ### 验证

 1. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
-  Then start the **udp2rabbit.py** script:
+   Then start the **udp2rabbit.py** script:

-  ```sh
-  ./udp2rabbit.py
-  ```
+   ```sh
+   ./udp2rabbit.py
+   ```

 2. Send a test message from [RockBlock Account](https://rockblock.rock7.com/Operations) to the created delivery group in the `Test Delivery Groups` tab.

@@ -217,36 +217,36 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
 ## Running the System

 1. Start _QGroundControl_.
-  Manually connect the high latency link first, then the regular telemetry link:
+   Manually connect the high latency link first, then the regular telemetry link:

-  ![Connect the High Latency link](../../assets/satcom/linkconnect.png)
+   ![Connect the High Latency link](../../assets/satcom/linkconnect.png)

 2. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
-  Then start the **udp2rabbit.py** script:
+   Then start the **udp2rabbit.py** script:

-  ```sh
-  ./udp2rabbit.py
-  ```
+   ```sh
+   ./udp2rabbit.py
+   ```

 3. Power up the vehicle.

 4. Wait until the first `HIGH_LATENCY2` message is received on QGC.
-  This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
-  If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:
+   This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
+   If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:

-  ![Link Toolbar](../../assets/satcom/linkindicator.jpg)
+   ![Link Toolbar](../../assets/satcom/linkindicator.jpg)

-  The link indicator always shows the name of the priority link.
+   The link indicator always shows the name of the priority link.

 5. The satellite communication system is now ready to use.
-  The priority link, which is the link over which commands are send, is determined the following ways:
-  - If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
-  - The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).
-    As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it.
-  - The user can select a priority link over the `LinkIndicator` on the toolbar.
-    This link is kept as the priority link as long as this link is active or the user selects another priority link:
+   The priority link, which is the link over which commands are send, is determined the following ways:
+   - If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
+   - The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).
+     As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it.
+   - The user can select a priority link over the `LinkIndicator` on the toolbar.
+     This link is kept as the priority link as long as this link is active or the user selects another priority link:

-    ![Prioritylink Selection](../../assets/satcom/linkselection.png)
+     ![Prioritylink Selection](../../assets/satcom/linkselection.png)

 ## 故障处理

@@ -188,16 +188,16 @@ The following sections are out of date and need retesting.

 1. On the PX4 console:

-  ```shell
-  camera_trigger test
-  ```
+   ```shell
+   camera_trigger test
+   ```

 2. From _QGroundControl_:

-  Click on **Trigger Camera** in the main instrument panel.
-  These shots are not logged or counted for geotagging.
+   Click on **Trigger Camera** in the main instrument panel.
+   These shots are not logged or counted for geotagging.

-  ![QGC Test Camera](../../assets/camera/qgc_test_camera.png)
+   ![QGC Test Camera](../../assets/camera/qgc_test_camera.png)

 ## Sony QX-1 example (Photogrammetry)

@@ -86,7 +86,7 @@ PX4 重新使用与自驾仪相同的系统 ID 和组件 ID [MAV_COMP_ID_ALL](ht

 1. 修改一个未使用的 `MAV_n_CONFIG` 参数，例如[MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG)，使其分配给相机连接的端口。
 2. 将对应的 [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) 设置为 `2` (板载)。
-  这确保正确的 MAVLink 消息集被发出和转发。
+   这确保正确的 MAVLink 消息集被发出和转发。
 3. 您可能需要设置一些其他参数，取决于您的连接 - 例如波特率。

 然后按照其用户指南中的建议连接和配置相机。
@@ -112,7 +112,7 @@ The linked document explains how, but in summary:

 1. Modify an unused `MAV_n_CONFIG` parameter, such as [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG), so that it is assigned to port to which you connected the camera/companion computer.
 2. 将对应的 [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) 设置为 `2` (板载)。
-  This ensures that the right set of MAVLink messages are emitted for a companion computer (or camera).
+   This ensures that the right set of MAVLink messages are emitted for a companion computer (or camera).
 3. Set [MAV_2_FORWARD](../advanced_config/parameter_reference.md#MAV_2_FORWARD) to enable forwarding of communications from the port to other ports, such as the one that is connected to the ground station.
 4. You may need to set some of the other parameters, depending on your connection type and any particular requirements of the camera on the expected baud rate, and so on.

@@ -892,95 +892,95 @@ These instructions approximately mirror the [PX4 Ethernet setup](../advanced_con
 Next we modify the Jetson IP address to be on the same network as the Pixhawk:

 1. Make sure `netplan` is installed.
-  You can check by running the following command:
+   You can check by running the following command:

-  ```sh
-  netplan -h
-  ```
+   ```sh
+   netplan -h
+   ```

-  If not, install it using the commands:
+   If not, install it using the commands:

-  ```sh
-  sudo apt update
-  sudo apt install netplan.io
-  ```
+   ```sh
+   sudo apt update
+   sudo apt install netplan.io
+   ```

 2. Check `system_networkd` is running:

-  ```sh
-  sudo systemctl status systemd-networkd
-  ```
+   ```sh
+   sudo systemctl status systemd-networkd
+   ```

-  You should see output like below if it is active:
+   You should see output like below if it is active:

-  ```sh
-  ● systemd-networkd.service - Network Configuration
-       Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
-       Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
-  TriggeredBy: ● systemd-networkd.socket
-         Docs: man:systemd-networkd.service(8)
-     Main PID: 2452 (systemd-network)
-       Status: "Processing requests..."
-        Tasks: 1 (limit: 18457)
-       Memory: 2.7M
-          CPU: 157ms
-       CGroup: /system.slice/systemd-networkd.service
-               └─2452 /lib/systemd/systemd-networkd
+   ```sh
+   ● systemd-networkd.service - Network Configuration
+        Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
+        Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
+   TriggeredBy: ● systemd-networkd.socket
+          Docs: man:systemd-networkd.service(8)
+      Main PID: 2452 (systemd-network)
+        Status: "Processing requests..."
+         Tasks: 1 (limit: 18457)
+        Memory: 2.7M
+           CPU: 157ms
+        CGroup: /system.slice/systemd-networkd.service
+                └─2452 /lib/systemd/systemd-networkd

-  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
-  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
-  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
-  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
-  Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
-  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
-  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
-  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
-  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
-  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
-  ```
+   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
+   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
+   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
+   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
+   Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
+   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
+   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+   ```

-  If `system_networkd` is not running, it can be enabled using:
+   If `system_networkd` is not running, it can be enabled using:

-  ```sh
-  sudo systemctl start systemd-networkd
-  sudo systemctl enable systemd-networkd
-  ```
+   ```sh
+   sudo systemctl start systemd-networkd
+   sudo systemctl enable systemd-networkd
+   ```

 3. Open the Netplan configuration file (so we can set up a static IP for the Jetson).

-  The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
-  Below we use `nano` to open the file, but you can use your preferred text editor:
+   The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
+   Below we use `nano` to open the file, but you can use your preferred text editor:

-  ```sh
-  sudo nano /etc/netplan/01-netcfg.yaml
-  ```
+   ```sh
+   sudo nano /etc/netplan/01-netcfg.yaml
+   ```

 4. Modify the yaml configuration, by overwriting the contents with the following information and then saving:

-  ```sh
-  network:
-    version: 2
-    renderer: networkd
-    ethernets:
-      eth0:
-        dhcp4: no
-        addresses:
-          - 10.41.10.1/24
-        routes:
-          - to: 0.0.0.0/0
-            via: 10.41.10.254
-        nameservers:
-          addresses:
-            - 10.41.10.254
-  ```
+   ```sh
+   network:
+     version: 2
+     renderer: networkd
+     ethernets:
+       eth0:
+         dhcp4: no
+         addresses:
+           - 10.41.10.1/24
+         routes:
+           - to: 0.0.0.0/0
+             via: 10.41.10.254
+         nameservers:
+           addresses:
+             - 10.41.10.254
+   ```

-  This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
+   This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .

 5. Apply the changes using the following command:

-  ```sh
-  sudo netplan apply
-  ```
+   ```sh
+   sudo netplan apply
+   ```

 The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet.
 We can test our changes above by pinging the Pixhawk from within the Jetson terminal:
@@ -69,15 +69,15 @@ To install the RPi CM4 companion computer:

 1. Disconnect the `FAN` wiring.

-  ![HB_Pixhawk_CM4_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)
+   ![HB_Pixhawk_CM4_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)

 2. Remove these 4 screws on the back side of the baseboard.

-  ![Bottom of the board showing screws in corners holding the cover](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_bottom.jpg)
+   ![Bottom of the board showing screws in corners holding the cover](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_bottom.jpg)

 3. Remove the baseboard case, install the CM4, and use the 4 screws to attach it (as shown):

-  ![HB_Pixhawk_CM4_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)
+   ![HB_Pixhawk_CM4_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)

 4. Reattach the cover.

@@ -115,29 +115,29 @@ To flash a RPi image onto EMMC.

 1. Switch Dip-Switch to `RPI`.

-  ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_dip_switch.png)
+   ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_dip_switch.png)

 2. Connect computer to USB-C _CM4 Slave_ port used to power & flash the RPi.

-  ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_usbc_slave_port.png)
+   ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_usbc_slave_port.png)

 3. Get `usbboot`, build it and run it.

-  ```sh
-  sudo apt install libusb-1.0-0-dev
-  git clone --depth=1 https://github.com/raspberrypi/usbboot
-  cd usbboot
-  make
-  sudo ./rpiboot
-  ```
+   ```sh
+   sudo apt install libusb-1.0-0-dev
+   git clone --depth=1 https://github.com/raspberrypi/usbboot
+   cd usbboot
+   make
+   sudo ./rpiboot
+   ```

 4. You can now install your preferred Linux distro using The `rpi-imager`.
-  Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).
+   Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).

-  ```sh
-  sudo apt install rpi-imager
-  rpi-imager
-  ```
+   ```sh
+   sudo apt install rpi-imager
+   rpi-imager
+   ```

 5. Once done, unplugging USB-C CM4 Slave (this will unmount the volumes, and power off the CM4).

@@ -146,8 +146,8 @@ To flash a RPi image onto EMMC.
 7. Power on CM4 by providing power to USB-C CM4 Slave port.

 8. To check if it's booting/working you can either:
-  - Check there is HDMI output
-  - Connect via SSH (if set up in rpi-imager, and WiFi is available).
+   - Check there is HDMI output
+   - Connect via SSH (if set up in rpi-imager, and WiFi is available).

 ## Configure PX4 to CM4 MAVLink Serial Connection

@@ -167,13 +167,13 @@ To enable this MAVLink instance on the FC:

 1. Connect a computer running QGroundControl via USB Type C port on the baseboard labeled `FC`

-  ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)
+   ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)

 2. [Set the parameters](../advanced_config/parameters.md):

-  - `MAV_1_CONFIG` = `102`
-  - `MAV_1_MODE = 2`
-  - `SER_TEL2_BAUD` = `921600`
+   - `MAV_1_CONFIG` = `102`
+   - `MAV_1_MODE = 2`
+   - `SER_TEL2_BAUD` = `921600`

 3. Reboot the FC.

@@ -185,13 +185,13 @@ On the RPi side:

 2. Enable the RPi serial port by running `RPi-config`

-  - Go to `3 Interface Options`, then `I6 Serial Port`.
-    Then choose:
-    - `login shell accessible over serial → No`
-    - `serial port hardware enabled` → `Yes`
+   - Go to `3 Interface Options`, then `I6 Serial Port`.
+     Then choose:
+     - `login shell accessible over serial → No`
+     - `serial port hardware enabled` → `Yes`

 3. Finish, and reboot.
-  This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.
+   This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.

 4. Now MAVLink traffic should be available on `/dev/serial0` at a baudrate of 921600.

@@ -201,9 +201,9 @@ On the RPi side:

 2. Install MAVSDK Python:

-  ```sh
-  python3 -m pip install mavsdk
-  ```
+   ```sh
+   python3 -m pip install mavsdk
+   ```

 3. Copy an example from the [MAVSDK-Python examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples).

@@ -132,50 +132,50 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP

 1. Install `raspi-config`:

-  ```sh
-  sudo apt update
-  sudo apt upgrade
-  sudo apt-get install raspi-config
-  ```
+   ```sh
+   sudo apt update
+   sudo apt upgrade
+   sudo apt-get install raspi-config
+   ```

 2. Open `raspi-config`:

-  ```sh
-  sudo raspi-config
-  ```
+   ```sh
+   sudo raspi-config
+   ```

 3. Go to the **Interface Option** and then click **Serial Port**.

-  - Select **No** to disable serial login shell.
-  - Select **Yes** to enable the serial interface.
-  - Click **Finish** and restart the RPi.
+   - Select **No** to disable serial login shell.
+   - Select **Yes** to enable the serial interface.
+   - Click **Finish** and restart the RPi.

 4. Open the firmware boot configuration file in the `nano` editor on RPi:

-  ```sh
-  sudo nano /boot/firmware/config.txt
-  ```
+   ```sh
+   sudo nano /boot/firmware/config.txt
+   ```

 5. Append the following text to the end of the file (after the last line):

-  ```sh
-  enable_uart=1
-  dtoverlay=disable-bt
-  ```
+   ```sh
+   enable_uart=1
+   dtoverlay=disable-bt
+   ```

 6. Then save the file and restart the RPi.

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

 7. Check that the serial port is available.
-  In this case we use the following terminal commands to list the serial devices:
+   In this case we use the following terminal commands to list the serial devices:

-  ```sh
-  cd /
-  ls /dev/ttyAMA0
-  ```
+   ```sh
+   cd /
+   ls /dev/ttyAMA0
+   ```

-  The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).
+   The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).

 The RPi is now setup to work with RPi and communicate using the `/dev/ttyAMA0` serial port.
 Note that we'll install more software in the following sections to work with MAVLink and ROS 2.
@@ -199,39 +199,39 @@ First check the Pixhawk `TELEM 2` configuration:
 2. Open QGroundControl (the vehicle should connect).
 3. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:

-  ```ini
-  MAV_1_CONFIG = TELEM2
-  UXRCE_DDS_CFG = 0 (Disabled)
-  SER_TEL2_BAUD = 57600
-  ```
+   ```ini
+   MAV_1_CONFIG = TELEM2
+   UXRCE_DDS_CFG = 0 (Disabled)
+   SER_TEL2_BAUD = 57600
+   ```

-  Note that the parameters may already be set appropriately.
-  For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).
+   Note that the parameters may already be set appropriately.
+   For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).

 Then install setup MAVProxy on the RPi using the following terminal commands:

 1. Install MAVProxy:

-  ```sh
-  sudo apt install python3-pip
-  sudo pip3 install mavproxy
-  sudo apt remove modemmanager
-  ```
+   ```sh
+   sudo apt install python3-pip
+   sudo pip3 install mavproxy
+   sudo apt remove modemmanager
+   ```

 2. Run MAVProxy, setting the port to connect to `/dev/ttyAMA0` and the baud rate to match the PX4:

-  ```sh
-  sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
-  ```
+   ```sh
+   sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
+   ```

-  ::: info
-  Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
-  If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:
+   ::: info
+   Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
+   If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:

-  ```sh
-  sudo chmod a+rw /dev/ttyACM0
-  sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
-  ```
+   ```sh
+   sudo chmod a+rw /dev/ttyACM0
+   sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
+   ```


 :::
@@ -259,27 +259,27 @@ The configuration steps are:

 2. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:

-  ```ini
-  MAV_1_CONFIG = 0 (Disabled)
-  UXRCE_DDS_CFG = 102 (TELEM2)
-  SER_TEL2_BAUD = 921600
-  ```
+   ```ini
+   MAV_1_CONFIG = 0 (Disabled)
+   UXRCE_DDS_CFG = 102 (TELEM2)
+   SER_TEL2_BAUD = 921600
+   ```

-  [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
-  The `SER_TEL2_BAUD` rate sets the comms link data rate.\
-  You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
+   [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
+   The `SER_TEL2_BAUD` rate sets the comms link data rate.\
+   You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.

-  ::: info
-  You will need to reboot the flight controller to apply any changes to these parameters.
+   ::: info
+   You will need to reboot the flight controller to apply any changes to these parameters.

 :::

 3. Check that the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module is now running.
-  YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
+   YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):

-  ```sh
-  uxrce_dds_client status
-  ```
+   ```sh
+   uxrce_dds_client status
+   ```

 :::info
 If the client module is not running you can start it manually in the MAVLink console:
@@ -300,32 +300,32 @@ The steps to setup ROS 2 and the Micro XRCE-DDS Agent on the RPi are:

 2. Install the git using the RPi terminal:

-  ```sh
-  sudo apt install git
-  ```
+   ```sh
+   sudo apt install git
+   ```

 3. Install the uXRCE_DDS agent:

-  ```sh
-  git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-  cd Micro-XRCE-DDS-Agent
-  mkdir build
-  cd build
-  cmake ..
-  make
-  sudo make install
-  sudo ldconfig /usr/local/lib/
-  ```
+   ```sh
+   git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+   cd Micro-XRCE-DDS-Agent
+   mkdir build
+   cd build
+   cmake ..
+   make
+   sudo make install
+   sudo ldconfig /usr/local/lib/
+   ```

-  See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.
+   See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.

 4. Start the agent in the RPi terminal:

-  ```sh
-  sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
-  ```
+   ```sh
+   sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
+   ```

-  Note how we use the serial port set up earlier and the same baud rate as for PX4.
+   Note how we use the serial port set up earlier and the same baud rate as for PX4.

 Now that both the agent and client are running, you should see activity on both the MAVLink console and the RPi terminal.
 You can view the available topics using the following command on the RPi:
@@ -80,18 +80,18 @@ If you use a special "very" high power cards from Taobao/Aliexpress then you MUS
 5. Setup camera pipeline. Open `/etc/systemd/system/fpv-camera.service` and uncomment pipeline according to your camera (PI camera or Logitech camera)
 6. Open `/etc/wifibroadcast.cfg` and configure WiFi channel according to your antenna setup (or use default #165 for 5.8GHz)
 7. Configure PX4 to output telemetry stream at speed 1500 Kbps (other UART speeds doesn't match well to RPi frequency dividers).
-  Connect Pixhawk UART to Raspberry Pi UART.
-  In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.
+   Connect Pixhawk UART to Raspberry Pi UART.
+   In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.

 ### Using a Linux Laptop as GCS (Harder than using a RPi)

 1. On **ground** Linux development computer:

-  ```sh
-  sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
-  git clone -b stable https://github.com/svpcom/wfb-ng.git
-  cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
-  ```
+   ```sh
+   sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
+   git clone -b stable https://github.com/svpcom/wfb-ng.git
+   cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
+   ```

 2. Follow the [Setup HOWTO](https://github.com/svpcom/wfb-ng/wiki/Setup-HOWTO) to complete installation

@@ -22,7 +22,7 @@ It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version m
   - Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development.
   - Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V).
   - Pc-SDK support.
-      This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
+     This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
   - The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options.
 7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove.
   It provides accurate power estimates, but does not have some more advanced "smart battery" features.
@@ -51,54 +51,54 @@ After setting up the PX4 development environment, follow these steps to install

 1. Download the source code of the PX4 Bootloader:

-  ```sh
-  git clone https://github.com/PX4/PX4-Bootloader.git
-  ```
+   ```sh
+   git clone https://github.com/PX4/PX4-Bootloader.git
+   ```

 2. Navigate into the top directory of the source code and compile it using:

-  ```sh
-  make crazyflie_bl
-  ```
+   ```sh
+   make crazyflie_bl
+   ```

 3. Put the Crazyflie 2.0 into DFU mode by following these steps:
-  - Ensure it is initially unpowered.
-  - Hold down the reset button (see figure below...).
-    ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
-  - Plug into computer's USB port.
-  - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
-  - Release button.
+   - Ensure it is initially unpowered.
+   - Hold down the reset button (see figure below...).
+     ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
+   - Plug into computer's USB port.
+   - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
+   - Release button.

 4. Install _dfu-util_:

-  ```sh
-  sudo apt-get update
-  sudo apt-get install dfu-util
-  ```
+   ```sh
+   sudo apt-get update
+   sudo apt-get install dfu-util
+   ```

 5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.0 when done:

-  ```sh
-  sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
-  ```
+   ```sh
+   sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
+   ```

-  When powering on the Crazyflie 2.0 the yellow LED should blink.
+   When powering on the Crazyflie 2.0 the yellow LED should blink.

 6. Download the source code of the PX4 autopilot:

-  ```sh
-  git clone https://github.com/PX4/PX4-Autopilot.git
-  ```
+   ```sh
+   git clone https://github.com/PX4/PX4-Autopilot.git
+   ```

 7. Navigate into the top directory of the source code and compile it using:

-  ```sh
-  make bitcraze_crazyflie_default upload
-  ```
+   ```sh
+   make bitcraze_crazyflie_default upload
+   ```

 8. When prompted to plug in device, plug in Crazyflie 2.0.
-  The yellow LED should start blinking indicating bootloader mode.
-  Then the red LED should turn on indicating that the flashing process has started.
+   The yellow LED should start blinking indicating bootloader mode.
+   Then the red LED should turn on indicating that the flashing process has started.

 9. Wait for completion.

@@ -64,56 +64,56 @@ After setting up the PX4 development environment, follow these steps to install

 1. Download the source code of the PX4 Bootloader:

-  ```sh
-  git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
-  ```
+   ```sh
+   git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
+   ```

 2. Navigate into the top directory of the source code and compile it using:

-  ```sh
-  make crazyflie21_bl
-  ```
+   ```sh
+   make crazyflie21_bl
+   ```

 3. Put the Crazyflie 2.1 into DFU mode by following these steps:
-  - Ensure it is initially unpowered.
-  - Ensure battery is disconnected.
-  - Hold down the reset button (see figure below...).
-    ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
-  - Plug into computer's USB port.
-  - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
-  - Release button.
+   - Ensure it is initially unpowered.
+   - Ensure battery is disconnected.
+   - Hold down the reset button (see figure below...).
+     ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
+   - Plug into computer's USB port.
+   - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
+   - Release button.

 4. Install _dfu-util_:

-  ```sh
-  sudo apt-get update
-  sudo apt-get install dfu-util
-  ```
+   ```sh
+   sudo apt-get update
+   sudo apt-get install dfu-util
+   ```

 5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:

-  ```sh
-  sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
-  ```
+   ```sh
+   sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
+   ```

-  When powering on the Crazyflie 2.1 the yellow LED should blink.
+   When powering on the Crazyflie 2.1 the yellow LED should blink.

 6. Download the source code of the PX4 autopilot:

-  ```sh
-  git clone https://github.com/PX4/PX4-Autopilot.git
-  ```
+   ```sh
+   git clone https://github.com/PX4/PX4-Autopilot.git
+   ```

 7. Navigate into the top directory of the source code and compile it using:

-  ```sh
-  cd PX4-Autopilot/
-  make bitcraze_crazyflie21_default upload
-  ```
+   ```sh
+   cd PX4-Autopilot/
+   make bitcraze_crazyflie21_default upload
+   ```

 8. When prompted to plug in device, plug in Crazyflie 2.1.
-  The yellow LED should start blinking indicating bootloader mode.
-  Then the red LED should turn on indicating that the flashing process has started.
+   The yellow LED should start blinking indicating bootloader mode.
+   Then the red LED should turn on indicating that the flashing process has started.

 9. Wait for completion.

@@ -124,20 +124,20 @@ After setting up the PX4 development environment, follow these steps to install
 1. Download the latest [Crazyflie 2.1 bootloader](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases)

 2. Put the Crazyflie 2.1 into DFU mode by following these steps:
-  - Ensure it is initially unpowered.
-  - Ensure battery is disconnected.
-  - Hold down the reset button.
-  - Plug into computer's USB port.
-  - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
-  - Release button.
+   - Ensure it is initially unpowered.
+   - Ensure battery is disconnected.
+   - Hold down the reset button.
+   - Plug into computer's USB port.
+   - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
+   - Release button.

 3. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:

-  ```sh
-  sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
-  ```
+   ```sh
+   sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
+   ```

-  When powering on the Crazyflie 2.1 the yellow LED should blink.
+   When powering on the Crazyflie 2.1 the yellow LED should blink.

 4. Install the latest Bitcraze Crazyflie 2.1 Firmware using [this](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) tutorial.

--- a/Show More
+++ b/Show More