ci: build each platform on its own arch

ci: test container build push
ci: only build amd64 for tests
2026-05-27 00:50:06 +08:00 · 2025-02-27 08:48:02 -08:00 · 2025-02-27 07:41:13 -08:00 · 2025-02-26 20:48:39 -08:00 · 2025-02-26 20:39:56 -08:00 · 2025-02-26 19:29:52 -08:00
6952 changed files with 22698 additions and 667457 deletions
@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -0,0 +1 @@
+language: c++
@@ -12,11 +12,3 @@ max_line_length = 120
 [*.yaml, *.yml]
 indent_style = space
 indent_size = 2
-
-[*.sh]
-indent_style = tab
-indent_size = 2
-insert_final_newline = true
-trim_trailing_whitespace = true
-# Not in the official standard, but supported by many editors
-max_line_length = 80
@@ -72,7 +72,6 @@ Makefile.* text eol=lf
 *.tar    binary
 *.tgz    binary
 *.zip    binary
-*.hex    binary

 # everything else
 .gitattributes text eol=lf
@@ -3,3 +3,6 @@ contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
    about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,33 +0,0 @@
-name: 📑 Documentation Bug report
-description: Create a report to help us improve the docs
-title: "[Docs] [Bug] "
-labels: ["Documentation 📑"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-      placeholder: |
-          # A PR to fix the bug is often better than adding this issue!
-          #
-          # If you can't create a PR please provide the following:
-          # - What page and/or section has the problem
-          # - What is the problem - missing information, incorrect information?
-          # - Suggested fixes, links to corresponding code PRs
-          # - Any additional context
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Page URL
-      description: The URL of the problem page.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-    validations:
-      required: false
@@ -1,6 +0,0 @@
---
-title: '[CI] Fuzzing Workflow Failed'
-labels: ['Fuzzing']
---
-The automated fuzzing workflow has failed.
-See {{ env.WORKFLOW_RUN_URL }} for details.
@@ -1,10 +0,0 @@
-# Labeler configuration file for GitHub Actions
-# The action is ./.github/workflows/label.yml
-# Docs for the syntax in this file can be found at
-# https://github.com/actions/labeler
-
-
-# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation 📑":
- changed-files:
-  - any-glob-to-any-file: docs/**
@@ -14,17 +14,9 @@ on:
      - 'stable'
      - 'beta'
      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '*'

 jobs:
  group_targets:
@@ -34,6 +26,7 @@ jobs:
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+      tagname: ${{ steps.set-tag.outputs.tagname }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
      - uses: actions/checkout@v4
@@ -54,13 +47,7 @@ jobs:
        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

      - id: set-branch
-        run: |
-          echo "branchname=${{
-            github.event_name == 'pull_request' &&
-            format('pr-{0}', github.event.pull_request.number) ||
-            github.head_ref ||
-            github.ref_name
-          }}" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"

      - name: Debug Matrix Output
        if: runner.debug == '1'
@@ -70,9 +57,9 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build Group [${{ matrix.group }}]
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -125,7 +112,7 @@ jobs:
  artifacts:
    name: Upload Artifacts to S3
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
    steps:
@@ -156,7 +143,7 @@ jobs:
    permissions:
      contents: write
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
    if: startsWith(github.ref, 'refs/tags/')
    steps:
@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -4,17 +4,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  build:
@@ -43,7 +35,7 @@ jobs:
      - name: Building [${{ matrix.check }}]
        uses: addnab/docker-run-action@v3
        with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
          options: -v ${{ github.workspace }}:/workspace
          run: |
            cd /workspace
@@ -4,13 +4,10 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
+    - '*'
+
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -19,7 +16,7 @@ jobs:
      with:
        fetch-depth: 0

-    - name: Testing (clang-tidy)
+    - name: Testing (clang-tidy-quiet)
      uses: addnab/docker-run-action@v3
      with:
        image: px4io/px4-dev-clang:2021-09-08
@@ -27,4 +24,4 @@ jobs:
        run: |
          cd /workspace
          git config --global --add safe.directory /workspace
-          make clang-tidy
+          make clang-tidy-quiet
@@ -4,17 +4,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  build:
@@ -34,8 +26,7 @@ jobs:
    - uses: actions/checkout@v4

    - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -7,20 +7,9 @@ on:
      - 'stable'
      - 'beta'
      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-env:
-  RUNS_IN_DOCKER: true
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '*'

 jobs:
  build_and_test:
@@ -1,3 +1,4 @@
+
 name: Container build

 on:
@@ -11,39 +12,15 @@ on:
      - 'v*'
  pull_request:
    branches:
-      - '**'
-    paths:
-      - '.github/workflows/dev_container.yml'
-      - 'Tools/setup/ubuntu.sh'
-      - 'Tools/setup/requirements.txt'
-      - 'Tools/setup/Dockerfile'
-      - 'Tools/setup/docker-entrypoint.sh'
-  workflow_dispatch:
-    inputs:
-      px4_version:
-        description: 'Container tag (e.g. v1.16.0)'
-        required: true
-        type: string
-      deploy_to_registry:
-        description: 'Whether to push built images to the registry'
-        required: false
-        type: boolean
-        default: false
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '*'

 jobs:
-  setup:
-    name: Set Tags and Variables
-    permissions:
-      contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      px4_version: ${{ steps.px4_version.outputs.px4_version }}
-      meta_tags: ${{ steps.meta.outputs.tags }}
-      meta_labels: ${{ steps.meta.outputs.labels }}
+  build:
+    name: Build and Push Container (${{ matrix.arch }})
+    strategy:
+      matrix:
+        arch: [x64, arm64]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.arch }}","image=ubuntu24-full-${{ matrix.arch }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    steps:
      - uses: runs-on/action@v1
      - uses: actions/checkout@v4
@@ -52,15 +29,25 @@ jobs:
          submodules: false
          fetch-depth: 0

-      # If manual dispatch, take the user‐provided input
-      - name: Set PX4 Tag Version
-        id: px4_version
+      - name: Set PX4 Tag
+        id: px4-tag
        run: |
-          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
-            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
-          else
-            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-          fi
+          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Extract metadata (tags, labels) for Docker
        id: meta
@@ -68,125 +55,51 @@ jobs:
        with:
          images: |
            ghcr.io/PX4/px4-dev
-            px4io/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
          tags: |
-            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
-
-  build:
-    name: Build Container (${{ matrix.arch }})
-    permissions:
-      contents: read
-      packages: write
-    needs: setup
-    strategy:
-      matrix:
-        include:
-          - platform: linux/arm64
-            arch: arm64
-            runner: arm64
-          - platform: linux/amd64
-            arch: amd64
-            runner: x64
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
+            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}

-      - name: Build and Load Container Image
+      - name: Build and load container image
        uses: docker/build-push-action@v6
        id: docker
        with:
          context: Tools/setup
-          tags: |
-            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-          labels: ${{ needs.setup.outputs.meta_labels }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-          provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: linux/${{ matrix.arch == 'x64' && 'amd64' || 'arm64' }}
+          load: true
+          push: false
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

-  deploy:
-    name: Deploy To Registry
-    permissions:
-      contents: read
-      packages: write
-    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    needs: [build, setup]
-    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Verify Images Exist Before Creating Manifest
+      - name: Get Tag Name
+        id: tag_name
        run: |
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"

-      - name: Create and Push Multi-Arch Manifest for Docker Hub
-        run: |
-          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+      - name: make quick_check
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ steps.tag_name.outputs.tag_name }}
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make px4_sitl_default
+            make px4_fmu-v6x_default

-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
-
-      - name: Create and Push Multi-Arch Manifest for GHCR
-        run: |
-          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
+      - name: Push container image
+        uses: docker/build-push-action@v6
+        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: linux/${{ matrix.arch == 'x64' && 'amd64' || 'arm64' }}
+          provenance: mode=max
+          push: true
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
@@ -1,55 +0,0 @@
-name: Docs - Crowdin - Download Guide Translations
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  schedule:
-    - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
-  workflow_dispatch:
-
-permissions:
-  contents: write
-  pull-requests: write
-
-jobs:
-  synchronize-with-crowdin:
-    name: Synchronize with Crowdin
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1 # Should be 1 to avoid parallel builds
-      matrix:
-        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Debug Environment Variables
-        run: |
-          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
-          echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
-      - name: Matrix
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: false
-          upload_translations: false
-          download_translations: true
-          commit_message: New Crowdin translations - ${{ matrix.lc }}
-          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
-          crowdin_branch_name: main
-          create_pull_request: true
-          pull_request_base_branch_name: 'main'
-          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
-          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
-          pull_request_labels: 'Documentation 📑'
-          pull_request_reviewers: hamishwillee
-          download_language: ${{ matrix.lc }}
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
@@ -1,44 +0,0 @@
-name: Docs - Crowdin - Upload Guide sources (en)
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  push:
-    branches:
-      - main
-    paths:
-      - 'docs/en/**'
-  #pull_request:
-  #  types:
-  #    - closed
-  #  branches:
-  #    - main
-  #  paths:
-  #    - 'docs/en/**'
-  workflow_dispatch:
-
-jobs:
-  upload-to-crowdin:
-    #if: github.event.pull_request.merged == true || github.event_name == 'push'  || github.event_name == 'workflow_dispatch'
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: crowdin push
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: true
-          upload_translations: false
-          download_translations: false
-          crowdin_branch_name: main
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
@@ -1,99 +0,0 @@
-name: Docs - Deploy PX4 User Guide
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - 'docs/en/**'
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
-# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
-concurrency:
-  group: pages
-  cancel-in-progress: false
-
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          # Specify the path to lock file for correct caching
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Deploy
-        run: |
-          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch
-          cd docs.px4.io
-          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
-          git checkout --orphan "${CURRENT_DATETIME}_main"
-          rm -rf ${BRANCH_NAME}
-          mkdir -p ${BRANCH_NAME}
-          cp -r ~/_book/* ${BRANCH_NAME}/
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add .
-          git commit -a -m "PX4 docs build update (vitepress) `date`"
-          # push branch as backup
-          git push origin "${CURRENT_DATETIME}_main"
-          # Now make main from backup and push updated
-          git branch -D main
-          git checkout -b main
-          git push origin main -f
@@ -1,104 +0,0 @@
-name: Docs - Deploy PX4 User Guide to AWS
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/en/**"
-  pull_request:
-    branches:
-      - "**"
-    paths:
-      - "docs/en/**"
-
-  workflow_dispatch:
-
-permissions:
-  contents: read
-  id-token: write # for AWS OIDC
-
-concurrency:
-  group: docs-deploy
-  cancel-in-progress: false
-
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
-jobs:
-  build:
-    runs-on:
-      [
-        runs-on,
-        runner=8cpu-linux-x64,
-        image=ubuntu24-full-x64,
-        "run-id=${{ github.run_id }}",
-        spot=false,
-        extras=s3-cache,
-      ]
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"
@@ -1,85 +0,0 @@
-name: Docs - Check for flaws in PX4 Guide Source
-# So far:
-  # Modifications of translations files
-  # Broken internal links
-
-on:
-  pull_request_target:
-    types: [opened, edited, synchronize]
-    paths:
-      - 'docs/en/**'
-
-jobs:
-  check_flaws:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-
-      - name: Install Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: '18'
-
-      - name: Create logs directory
-        run: |
-          mkdir logs
-
-      - name: Get changed english doc files
-        id: get_changed_markdown_english
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          base_sha: "${{ github.event.pull_request.base.sha }}"
-          sha: "${{ github.event.pull_request.head.sha }}"
-          # Below are used to output files to a directory. May use in flaw checker.
-          # write_output_files: true
-          # output_dir: "./logs"
-          files: |
-            docs/en/**/*.md
-
-      - name: Save JSON file containing files to link check
-        run: |
-          echo "$ALL_CHANGED_FILES"
-          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
-          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
-        env:
-          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
-
-      - name: Run link checker
-        id: link-check
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -f ./logs/prFiles.json \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/errorsFilteredByPrPages.md
-          mkdir -p ./pr
-          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./logs/errorsFilteredByPrPages.md
-
-      - name: Echo Errors by Page
-        run: echo "$ERRORS"
-        env:
-          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
-
-      - name: Save PR number
-        run: echo "$PR_NUMBER" > ./pr/pr_number
-        env:
-          PR_NUMBER: ${{ github.event.number }}
-
-      - uses: actions/upload-artifact@v4
-        with:
-          name: pr_number
-          path: pr/
@@ -1,111 +0,0 @@
-name: Docs - Comment Workflow
-on:
-  workflow_run:
-    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
-    types:
-      - completed
-
-jobs:
-  comment:
-    permissions:
-      pull-requests: write # for marocchino/sticky-pull-request-comment
-    name: Comments
-    runs-on: ubuntu-latest
-    steps:
-      - name: 'Download PR artifact'
-        uses: actions/github-script@v6
-        with:
-          script: |
-            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               run_id: context.payload.workflow_run.id,
-            });
-            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
-              return artifact.name == "pr_number"
-            })[0];
-            let download = await github.rest.actions.downloadArtifact({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               artifact_id: matchArtifact.id,
-               archive_format: 'zip',
-            });
-            let fs = require('fs');
-            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
-
-      - name: 'Unzip artifact'
-        run: unzip pr_number.zip
-
-      # Doesn't work across workflows
-      #- name: Get artifacts from flaw checker workflow
-      #  uses: actions/download-artifact@v3
-      #  with:
-      #    name: logs_and_errors
-      #    #path: ./logs
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./errorsFilteredByPrPages.md
-
-      - name: Read PR number
-        id: read-error-pr-number
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./pr_number
-
-      - name: File detail info
-        run: |
-          echo "$ERRORS"
-          echo "$PRNUM"
-        env:
-          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
-          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
-
-      - name: Create or update comment
-        id: comment_to_pr
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          recreate: true
-          number: ${{ steps.read-error-pr-number.outputs.content }}
-          header: flaws
-          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
-
-      #- name: Dump GitHub context
-      #  env:
-      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
-      #  run: echo "$GITHUB_CONTEXT"
-
-      # Would like to do this, but it doesn't work (for me).
-      # Moving to time-based, or triggering on workflow
-      #- name: Wait for artifacts upload to succeed
-      #  uses: lewagon/wait-on-check-action@v1.3.1
-      #  with:
-      #    ref: ${{ github.ref }}
-      #    check-name: 'Archive production artifacts'
-      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
-      #    wait-interval: 80
-
-      # Not needed for now - trying to trigger off the workflow
-      #- name: Sleep for 80 seconds
-      #  run: sleep 80s
-      #  shell: bash
-      #- name: Find Comment
-      #  uses: peter-evans/find-comment@v2
-      #  id: fc
-      #  with:
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    comment-author: 'github-actions[bot]'
-      #    body-includes: Flaws (may be none)
-
-      #- name: Create or update comment
-      #  uses: peter-evans/create-or-update-comment@v3
-      #  with:
-      #    comment-id: ${{ steps.fc.outputs.comment-id }}
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    body: |
-      #      Flaws (may be none)
-      #      ${{ steps.read-errors-by-page.outputs.content }}
-      #    edit-mode: replace
@@ -3,14 +3,7 @@ name: EKF Change Indicator
 on:
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  unit_tests:
@@ -23,7 +16,7 @@ jobs:
    - name: main test
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev-base-focal:2021-09-08
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -1,9 +1,6 @@
 name: EKF Update Change Indicator

-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
+on: push

 jobs:
  unit_tests:
@@ -19,7 +16,7 @@ jobs:
    - name: main test
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev-base-focal:2021-09-08
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -4,17 +4,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  build:
@@ -29,7 +21,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -41,9 +33,6 @@ jobs:
        with:
          fetch-depth: 0

-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
      - name: Install empscripten
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
@@ -9,13 +9,9 @@ on:
  push:
    branches:
      - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
+      - '*'

 env:
  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -26,7 +22,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev-nuttx-focal
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -78,7 +74,7 @@ jobs:
        id: bloaty-step
        with:
          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,symbols -s vm -n 20
+          bloaty-additional-args: -d sections,compileunits -s vm -n 20
          output-to-summary: true

      - name: Generate output
@@ -93,61 +89,62 @@ jobs:
          echo "$EOF" >> $GITHUB_OUTPUT

  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
+  # This part of the workflow is causing errors, we should find a way to fix this and enable this test again
  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
-  post_pr_comment:
-    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [analyze_flash]
-    env:
-      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
-      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
-      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
-      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
-    steps:
-      - name: Find Comment
-        uses: peter-evans/find-comment@v3
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+  #
+  #post_pr_comment:
+    #name: Publish Results
+    #runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    #needs: [analyze_flash]
+    #env:
+      #V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
+      #V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
+      #V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
+      #V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
+    #if: ${{ github.event.pull_request }}
+    #steps:
+      #- name: Find Comment
+        #uses: peter-evans/find-comment@v3
+        #id: fc
+        #with:
+          #issue-number: ${{ github.event.pull_request.number }}
+          #comment-author: 'github-actions[bot]'
+          #body-includes: FLASH Analysis

-      - name: Set Build Time
-        id: bt
-        run: |
-          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
+      #- name: Set Build Time
+        #id: bt
+        #run: |
+          #echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT

-      - name: Create or update comment
-        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
-        if: |
-          steps.fc.outputs.comment-id != '' ||
-          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+      #- name: Create or update comment
+        ## This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
+        #if: |
+          #steps.fc.outputs.comment-id != '' ||
+          #env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          #env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          #env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          #env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        #uses: peter-evans/create-or-update-comment@v4
+        #with:
+          #comment-id: ${{ steps.fc.outputs.comment-id }}
+          #issue-number: ${{ github.event.pull_request.number }}
+          #body: |
+            ### 🔎 FLASH Analysis
+            #<details>
+              #<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>

-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              #```
+            #</details>

-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+            #<details>
+              #<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>

-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              #```
+            #</details>

-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+            #**Updated: _${{ steps.bt.outputs.timestamp }}_**
+          #edit-mode: replace
@@ -1,48 +0,0 @@
-name: Fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-
-permissions:
-  contents: read
-
-env:
-  RUNS_IN_DOCKER: true
-
-jobs:
-  Fuzzing:
-    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
-    steps:
-      - name: Install Dependencies
-        run: |
-          apt update && apt install -y clang
-
-      - name: Fix git in Container
-        run: |
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Build and Run Fuzz Tests
-        run: |
-          # Only build the tests
-          export CC=clang
-          export CXX=clang++
-          make tests TESTFILTER=__no_tests__
-
-          # Run the fuzz tests
-          for fuzz_binary in build/px4_sitl_test/*fuzz*; do
-            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
-          done
-
-      # Create a github issue in case of a failure
-      - name: Create Issue
-        if: ${{ failure() }}
-        uses: JasonEtco/create-an-issue@v2
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
-        with:
-          filename: .github/fuzzing_issue_template.md
@@ -1,63 +0,0 @@
-name: ITCM check
-
-permissions:
-  contents: read
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  check_itcm:
-    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - target: px4_fmu-v5x
-            scripts: >
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
-          - target: px4_fmu-v6xrt
-            scripts: >
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_tropic-community
-            scripts: >
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}
-
-      - name: Copy built ELF
-        run: cp ./build/**/*.elf ./built.elf
-
-      - name: Install itcm-check dependencies
-        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
-
-      - name: Execute the itcm-check
-        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
@@ -1,21 +0,0 @@
-# This workflow will triage pull requests and apply a label based on the
-# paths that are modified in the pull request.
-# The paths are set up in .github/labeler.yml
-#
-# See: https://github.com/actions/labeler
-
-name: Labeler
-on: [pull_request_target]
-
-jobs:
-  label:
-
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      pull-requests: write
-
-    steps:
-    - uses: actions/labeler@v5
-      with:
-        repo-token: "${{ secrets.GITHUB_TOKEN }}"
@@ -4,17 +4,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  build:
@@ -24,6 +16,7 @@ jobs:
      matrix:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box"}
+          - {vehicle: "rover",         mission: "rover_mission_1"}

    steps:
    - uses: actions/checkout@v4
@@ -4,17 +4,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  build:
@@ -4,17 +4,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  build:
@@ -33,7 +25,7 @@ jobs:
    - name: Build PX4 and Run Test [${{ matrix.config }}]
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -4,13 +4,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
+    - '*'

 jobs:
  build:
@@ -1,131 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: ROS Integration Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-ros2-galactic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
-      run: git config --system --add safe.directory '*'
-
-    - name: Update ROS Keys
-      run: |
-        sudo rm /etc/apt/sources.list.d/ros2.list && \
-        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
-    - name: Install gazebo
-      run: |
-        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Get and build micro-xrce-dds-agent
-      run: |
-        cd /opt
-        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-        cd Micro-XRCE-DDS-Agent
-        git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
-        sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
-        mkdir build
-        cd build
-        cmake ..
-        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
-
-    - name: Get and build the ros2 interface library
-      shell: bash
-      run: |
-        PX4_DIR="$(pwd)"
-        . /opt/ros/galactic/setup.bash
-        mkdir -p /opt/px4_ws/src
-        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        cd ..
-        # Copy messages to ROS workspace
-        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
-        rm -rf src/translation_node src/px4_msgs_old
-        colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s
-
-    - name: Build PX4
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-        ulimit -c unlimited
-        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run tests
-      shell: bash
-      run: |
-        . /opt/px4_ws/install/setup.bash
-        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --upload --force-color
-      timeout-minutes: 45
-
-    - name: Upload failed logs
-      if: failure()
-      uses: actions/upload-artifact@v4
-      with:
-        name: failed-logs.zip
-        path: |
-          logs/**/**/**/*.log
-          logs/**/**/**/*.ulg
-          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg
@@ -3,21 +3,12 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
+    - '*'
 defaults:
  run:
    shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
  build_and_test:
    name: Build and test
@@ -9,17 +9,9 @@ on:
  push:
    branches:
    - 'main'
-    paths-ignore:
-      - 'docs/**'
  pull_request:
    branches:
-    - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'

 jobs:
  build:
@@ -118,7 +110,7 @@ jobs:
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
        timeout-minutes: 45

      - name: Upload failed logs
@@ -129,7 +121,7 @@ jobs:
          path: |
            logs/**/**/**/*.log
            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg

      - name: Look at Core files
        if: failure() && ${{ hashFiles('px4.core') != '' }}
@@ -108,4 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp

 # colcon
 log/
-keys/
@@ -89,14 +89,3 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
-[submodule "test/fuzztest"]
-	path = test/fuzztest
-	url = https://github.com/google/fuzztest.git
-	branch = main
-[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
-	path = src/lib/tensorflow_lite_micro/tflite_micro
-	url = https://github.com/PX4/tflite-micro.git
-	branch = main
-[submodule "src/drivers/ins/microstrain/mip_sdk"]
-	path = src/drivers/ins/microstrain/mip_sdk
-	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
@@ -6,11 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_spacecraft:
-      short: px4_sitl_spacecraft
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_spacecraft
    px4_sitl_nolockstep:
      short: px4_sitl_nolockstep
      buildType: RelWithDebInfo
@@ -191,16 +186,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
-    ark_dist_default:
-      short: ark_dist_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_default
-    ark_dist_canbootloader:
-      short: ark_dist_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_canbootloader
    ark_fmu-v6x_bootloader:
      short: ark_fmu-v6x_bootloader
      buildType: MinSizeRel
@@ -246,11 +231,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: bitcraze_crazyflie_default
-    bluerobotics_navigator_default:
-      short: bluerobotics_navigator
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bluerobotics_navigator_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
@@ -276,16 +256,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_7-nano_default
-    cuav_fmu-v6x_default:
-      short: cuav_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_fmu-v6x_default
-    cuav_x25_default:
-      short: cuav_x25-evo
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-evo_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
@@ -326,16 +296,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7-wing_default:
-      short: holybro_kakuteh7-wing
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7-wing_default
-    holybro_kakuteh7dualimu_default:
-      short: holybro_kakuteh7dualimu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7dualimu_default
    matek_h743-slim_default:
      short: matek_h743-slim
      buildType: MinSizeRel
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.9 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -334,33 +334,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()

-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-# (Needs to be before setting the common compile flags)
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
-	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
-		set(FUZZTEST_FUZZING_MODE ON)
-	endif()
-	add_subdirectory(test)
-	fuzztest_setup_fuzzing_flags()
-endif()
-
 #=============================================================================
 # build flags
 #
@@ -413,6 +386,47 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()

+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+# if testing is enabled download and configure gtest
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	include(gtest)
+
+	# Ensure there's no -R without any filter expression since that trips newer ctest versions
+	if(TESTFILTER)
+		set(TESTFILTERARG "-R")
+	else()
+		set(TESTFILTERARG "")
+	endif()
+
+	add_custom_target(test_results
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
+			DEPENDS
+				px4
+				examples__dyn_hello
+			USES_TERMINAL
+			COMMENT "Running tests"
+			WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
+endif()
+
+
 #=============================================================================
 # subdirectories
 #
@@ -482,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)


+include(doxygen)
 include(metadata)
 include(package)

@@ -206,8 +206,8 @@ source "src/examples/Kconfig"
 endmenu

 menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
-source "platforms/Kconfig"
+depends on PLATFORM_QURT || PLATFORM_POSIX
+source "platforms/common/Kconfig"
 endmenu

 source "src/lib/*/Kconfig"
@@ -7,34 +7,33 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma

 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
-| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
-| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| 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>
-| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>


 **Documentation Maintainers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |

 **Release Managers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>

 **Retired Maintainers**

@@ -160,6 +160,11 @@ else
 		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif

 # Pick up specific Python path if set
@@ -295,8 +300,6 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

 px4io_update:
@@ -328,8 +331,6 @@ bootloaders_update: \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
-	cuav_fmu-v6x_bootloader \
-	cuav_x25-evo_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -349,7 +350,6 @@ bootloaders_update: \
 	mro_ctrl-zero-h7_bootloader \
 	mro_ctrl-zero-h7-oem_bootloader \
 	mro_pixracerpro_bootloader \
-	narinfc_h7_bootloader \
 	px4_fmu-v6c_bootloader \
 	px4_fmu-v6u_bootloader \
 	px4_fmu-v6x_bootloader \
@@ -363,7 +363,7 @@ coverity_scan: px4_sitl_default

 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen

 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -379,6 +379,12 @@ extract_events:

 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events

+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -408,18 +414,11 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)

-# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test \
-		--base-directory build/px4_sitl_test \
-		--gcov-tool gcov \
-		--capture \
-		$(LCOBUG) \
-		-o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info


 rostest: px4_sitl_default
@@ -471,7 +470,7 @@ python_coverage:

 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
 .PHONY: cppcheck shellcheck_all validate_module_configs

 scan-build:
@@ -497,6 +496,10 @@ clang-tidy: px4_sitl_default-clang
 clang-tidy-fix: px4_sitl_default-clang
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .

+# modified version of run-clang-tidy.py to return error codes and only output relevant results
+clang-tidy-quiet: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
@@ -208,41 +208,20 @@ set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

 # bootloader (optional)
-#  - if systemcmds/bl_update included (with romfs copy) and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
 #  - otherwise remove bootloader binary from extras in final ROMFS
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
 	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE AND CONFIG_BL_UPDATE_BL_ROMFS)
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
-
-			# Generate the file using configure_file at configure time to a temporary location
-			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
-
-			# Then copy it at build time with proper dependencies
-			add_custom_command(
-				OUTPUT
-					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-					rc.board_bootloader_upgrade.stamp
-				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
-				DEPENDS
-					${bootloader_upgrade_tmp}
-					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
-					romfs_copy.stamp
-				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
-			)
-
-			list(APPEND extras_dependencies
-				rc.board_bootloader_upgrade.stamp
-			)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
+
 	endif()
 endforeach()

@@ -35,11 +35,8 @@ add_subdirectory(airframes)

 px4_add_romfs_files(
 	px4-rc.mavlink
+	px4-rc.params
 	px4-rc.simulator
-	px4-rc.gzsim
-	px4-rc.jmavsim
-	px4-rc.mavlinksim
-	px4-rc.sihsim
 	rc.replay
 	rcS
 )
@@ -46,22 +46,3 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101

 param set-default EKF2_GPS_DELAY 0
-
-# Rate controllers
-param set-default FW_RR_P 0.0500
-param set-default FW_RR_I 2.0000
-param set-default FW_RR_D 0.0000
-param set-default FW_RR_FF 0.0000
-param set-default FW_RR_IMAX 1.0000
-
-param set-default FW_PR_P 0.0800
-param set-default FW_PR_I 2.5000
-param set-default FW_PR_D 0.0000
-param set-default FW_PR_FF 0.0000
-param set-default FW_PR_IMAX 1.0000
-
-param set-default FW_YR_P 0.0500
-param set-default FW_YR_I 3.0000
-param set-default FW_YR_D 0.0000
-param set-default FW_YR_FF 0.0000
-param set-default FW_YR_IMAX 1.0000
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name HexarotorX SITL for SIH
-#
-# @type Hexarotor x
-# @class Copter
-#
-# @maintainer Matthias Grob <maetugr@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-param set SIH_VEHICLE_TYPE 4
-
-# Symmetric hexacopter X clockwise motor numbering
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.866
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 1
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.866
-param set-default CA_ROTOR2_PY 0.5
-param set-default CA_ROTOR3_PX -0.866
-param set-default CA_ROTOR3_PY -0.5
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_PX 0
-param set-default CA_ROTOR4_PY -1
-param set-default CA_ROTOR5_PX 0.866
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-param set-default EKF2_GPS_DELAY 0
@@ -1,72 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-set VEHICLE_TYPE rover_ackermann
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
-
-param set-default PWM_MAIN_FUNC1 201 # Steering
-param set-default PWM_MAIN_FUNC2 101 # Throttle
-param set-default SIH_MASS 20
-param set-default SIH_IXX 0.4333
-param set-default SIH_IYY 1.6833
-param set-default SIH_IZZ 2.0833
-param set-default SIH_IXZ 0
-param set-default SIH_KDV 50
-param set-default SIH_KDW 10
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 3
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.2
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.001
-param set-default RO_SPEED_P 0.001
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2
+
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102
@@ -44,7 +44,7 @@ param set-default FW_R_LIM 30

 param set-default FW_MAN_R_MAX 30

-param set-default FW_THR_TRIM 0.8
+param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

@@ -13,6 +13,10 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -12,8 +12,13 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

+
+
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -13,6 +13,9 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 # TODO: Enable motor failure detection when the
@@ -14,6 +14,10 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
 # Commander Parameters
 param set-default COM_DISARM_LAND 0.5

@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
@@ -15,6 +15,7 @@ param set-default NAV_ACC_RAD 0.5

 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

@@ -30,22 +31,26 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.43

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1

+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_MIN1 70
@@ -1,68 +1,56 @@
 #!/bin/sh
-# @name Gazebo - Zero Turn Lawnmower
+# @name Gazebo lawnmower
 # @type Rover
 # @class Rover

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

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-param set-default NAV_ACC_RAD 0.5
-
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1

-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 1.5
-param set-default RO_DECEL_LIM 5
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 2.7
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.2
-param set-default RO_YAW_RATE_P 1.0
-param set-default RO_YAW_RATE_LIM 60
-param set-default RO_YAW_ACCEL_LIM 50
-param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.0
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2.1
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-defatul RO_SPEED_RED 1.0
-
 # Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1

 # Actuator mapping - set SITL motors/servos output parameters:

 # "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 87
-param set-default SIM_GZ_WH_MAX1 113
-param set-default SIM_GZ_WH_DIS1 100
-param set-default SIM_GZ_WH_FAIL1 100
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100

 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 87
-param set-default SIM_GZ_WH_MAX2 113
-param set-default SIM_GZ_WH_DIS2 100
-param set-default SIM_GZ_WH_FAIL2 100
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#param set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100

 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

@@ -30,22 +30,26 @@ param set-default RO_MAX_THR_SPEED 3.1
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 1
 param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_RATE_CORR 1

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 3

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 3
 param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1

+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
 param set-default SIM_GZ_WH_MIN1 0
@@ -15,6 +15,8 @@ param set-default NAV_ACC_RAD 0.5

 # Mecanum Parameters
 param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1

 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -28,16 +30,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.75

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.5
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -45,7 +45,10 @@ param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1

 # Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0

 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
@@ -13,6 +13,12 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+
 param set-default MAV_TYPE 20

 param set-default CA_AIRFRAME 4
@@ -13,6 +13,11 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 param set-default MAV_TYPE 21

 param set-default CA_AIRFRAME 3
@@ -1,15 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 with downward optical flow and distance sensor
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-echo "Disabling Sim GPS"
-param set-default SYS_HAS_GPS 0
-param set-default SIM_GPS_USED 0
-param set-default EKF2_GPS_CTRL 0
@@ -1,56 +0,0 @@
-#!/bin/sh
-# @name Generic Differential Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
-param set-default RD_WHEEL_TRACK 0.6
-param set-default RD_TRANS_DRV_TRN 0.785398
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 2
-param set-default RO_SPEED_LIM 1.8
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.01
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 80
-param set-default SIM_GZ_WH_MAX1 120
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 80
-param set-default SIM_GZ_WH_MAX2 120
-param set-default SIM_GZ_WH_DIS2 100
@@ -1,138 +0,0 @@
-#!/bin/sh
-#
-# @name BlueROV2 Heavy
-#
-# @type UUV
-#
-# @maintainer Pedro Roque <padr@kth.se>
-# @maintainer Nicola De Carli <ndc@kth.se>
-#
-
-# Source PX4 parameters and configuration
-. ${R}/etc/init.d/rc.uuv_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=underwater}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=uuv_bluerov2_heavy}
-
-param set-default SIM_GZ_EN 1
-
-# Set parameters using `param` utility for SITL
-param set-default CA_AIRFRAME 7
-param set-default CA_METHOD 0
-param set-default MAV_TYPE 12
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-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
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_AX -1
-param set-default CA_ROTOR0_AY 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0.14
-param set-default CA_ROTOR0_PY 0.10
-param set-default CA_ROTOR0_PZ 0.06
-#param set-default CA_ROTOR0_PZ 0.0
-
-param set-default CA_ROTOR1_AX -1
-param set-default CA_ROTOR1_AY -1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0.14
-param set-default CA_ROTOR1_PY -0.10
-param set-default CA_ROTOR1_PZ 0.06
-#param set-default CA_ROTOR1_PZ 0.0
-
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 1
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -0.14
-param set-default CA_ROTOR2_PY 0.10
-param set-default CA_ROTOR2_PZ 0.06
-#param set-default CA_ROTOR2_PZ 0.0
-
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY -1
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX -0.14
-param set-default CA_ROTOR3_PY -0.10
-param set-default CA_ROTOR3_PZ 0.06
-
-param set-default CA_ROTOR4_AX 0
-param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ 1
-param set-default CA_ROTOR4_KM 0
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY 0.22
-param set-default CA_ROTOR4_PZ 0
-
-param set-default CA_ROTOR5_AX 0
-param set-default CA_ROTOR5_AY 0
-param set-default CA_ROTOR5_AZ 1
-param set-default CA_ROTOR5_KM 0
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY -0.22
-param set-default CA_ROTOR5_PZ 0
-
-param set-default CA_ROTOR6_AX 0
-param set-default CA_ROTOR6_AY 0
-param set-default CA_ROTOR6_AZ 1
-param set-default CA_ROTOR6_KM 0
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY 0.22
-param set-default CA_ROTOR6_PZ 0
-
-param set-default CA_ROTOR7_AX 0
-param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ 1
-param set-default CA_ROTOR7_KM 0
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY -0.22
-param set-default CA_ROTOR7_PZ 0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 1100
-param set-default SIM_GZ_EC_MIN2 1100
-param set-default SIM_GZ_EC_MIN3 1100
-param set-default SIM_GZ_EC_MIN4 1100
-param set-default SIM_GZ_EC_MIN5 1100
-param set-default SIM_GZ_EC_MIN6 1100
-param set-default SIM_GZ_EC_MIN7 1100
-param set-default SIM_GZ_EC_MIN8 1100
-
-param set-default SIM_GZ_EC_MAX1 1900
-param set-default SIM_GZ_EC_MAX2 1900
-param set-default SIM_GZ_EC_MAX3 1900
-param set-default SIM_GZ_EC_MAX4 1900
-param set-default SIM_GZ_EC_MAX5 1900
-param set-default SIM_GZ_EC_MAX6 1900
-param set-default SIM_GZ_EC_MAX7 1900
-param set-default SIM_GZ_EC_MAX8 1900
@@ -1,145 +0,0 @@
-#!/bin/sh
-#
-# @name 3DoF Spacecraft Model
-#
-# @type 2D Freeflyer with 8 thrusters - Planar motion
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-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
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0
@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# @name 6DoF Spacecraft Model
+#
+# @type Freeflyer with 8 thrusters
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 15
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 12
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+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 thrusters
+param set-default CA_THRUSTER0_PX -0.50
+param set-default CA_THRUSTER0_PY 0.50
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 0.237
+param set-default CA_THRUSTER0_AX 0.0
+param set-default CA_THRUSTER0_AY -1.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.50
+param set-default CA_THRUSTER1_PY 0.50
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 0.237
+param set-default CA_THRUSTER1_AX 0.0
+param set-default CA_THRUSTER1_AY -1.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX 0.50
+param set-default CA_THRUSTER2_PY -0.50
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 0.237
+param set-default CA_THRUSTER2_AX 0.0
+param set-default CA_THRUSTER2_AY 1.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX -0.50
+param set-default CA_THRUSTER3_PY -0.50
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 0.237
+param set-default CA_THRUSTER3_AX 0.0
+param set-default CA_THRUSTER3_AY 1.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX -0.50
+param set-default CA_THRUSTER4_PY 0.0
+param set-default CA_THRUSTER4_PZ -0.50
+param set-default CA_THRUSTER4_CT 0.237
+param set-default CA_THRUSTER4_AX 1.0
+param set-default CA_THRUSTER4_AY 0.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.50
+param set-default CA_THRUSTER5_PY 0.0
+param set-default CA_THRUSTER5_PZ -0.50
+param set-default CA_THRUSTER5_CT 0.237
+param set-default CA_THRUSTER5_AX -1.0
+param set-default CA_THRUSTER5_AY 0.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX 0.50
+param set-default CA_THRUSTER6_PY 0.0
+param set-default CA_THRUSTER6_PZ 0.50
+param set-default CA_THRUSTER6_CT 0.237
+param set-default CA_THRUSTER6_AX -1.0
+param set-default CA_THRUSTER6_AY 0.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.50
+param set-default CA_THRUSTER7_PY 0.0
+param set-default CA_THRUSTER7_PZ 0.50
+param set-default CA_THRUSTER7_CT 0.237
+param set-default CA_THRUSTER7_AX 1.0
+param set-default CA_THRUSTER7_AY 0.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default CA_THRUSTER8_PX 0.0
+param set-default CA_THRUSTER8_PY -0.50
+param set-default CA_THRUSTER8_PZ -0.50
+param set-default CA_THRUSTER8_CT 0.237
+param set-default CA_THRUSTER8_AX 0.0
+param set-default CA_THRUSTER8_AY 0.0
+param set-default CA_THRUSTER8_AZ 1.0
+
+param set-default CA_THRUSTER9_PX 0.0
+param set-default CA_THRUSTER9_PY 0.50
+param set-default CA_THRUSTER9_PZ -0.50
+param set-default CA_THRUSTER9_CT 0.237
+param set-default CA_THRUSTER9_AX 0.0
+param set-default CA_THRUSTER9_AY 0.0
+param set-default CA_THRUSTER9_AZ 1.0
+
+param set-default CA_THRUSTER10_PX 0.0
+param set-default CA_THRUSTER10_PY 0.50
+param set-default CA_THRUSTER10_PZ 0.50
+param set-default CA_THRUSTER10_CT 0.237
+param set-default CA_THRUSTER10_AX 0.0
+param set-default CA_THRUSTER10_AY 0.0
+param set-default CA_THRUSTER10_AZ -1.0
+
+param set-default CA_THRUSTER11_PX 0.0
+param set-default CA_THRUSTER11_PY -0.50
+param set-default CA_THRUSTER11_PZ 0.50
+param set-default CA_THRUSTER11_CT 0.237
+param set-default CA_THRUSTER11_AX 0.0
+param set-default CA_THRUSTER11_AY 0.0
+param set-default CA_THRUSTER11_AZ -1.0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+param set-default PWM_MAIN_FUNC9 109
+param set-default PWM_MAIN_FUNC10 110
+param set-default PWM_MAIN_FUNC11 111
+param set-default PWM_MAIN_FUNC12 112
+
+# PWM Simulation
+param set PWM_SIM_PWM_MAX 10000
+param set PWM_SIM_PWM_MIN 0
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004
@@ -0,0 +1,149 @@
+#!/bin/sh
+#
+# @name 3DoF Spacecraft Model
+#
+# @type 2D Freeflyer with 8 thrusters - Planar motion
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 8
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+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
+param set-default FD_FAIL_R 0
+
+param set-default CA_THRUSTER0_PX -0.12
+param set-default CA_THRUSTER0_PY -0.12
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 1.4
+param set-default CA_THRUSTER0_AX 1.0
+param set-default CA_THRUSTER0_AY 0.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.12
+param set-default CA_THRUSTER1_PY -0.12
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 1.4
+param set-default CA_THRUSTER1_AX -1.0
+param set-default CA_THRUSTER1_AY 0.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX -0.12
+param set-default CA_THRUSTER2_PY 0.12
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 1.4
+param set-default CA_THRUSTER2_AX 1.0
+param set-default CA_THRUSTER2_AY 0.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX 0.12
+param set-default CA_THRUSTER3_PY 0.12
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 1.4
+param set-default CA_THRUSTER3_AX -1.0
+param set-default CA_THRUSTER3_AY 0.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX 0.12
+param set-default CA_THRUSTER4_PY -0.12
+param set-default CA_THRUSTER4_PZ 0.0
+param set-default CA_THRUSTER4_CT 1.4
+param set-default CA_THRUSTER4_AX 0.0
+param set-default CA_THRUSTER4_AY 1.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.12
+param set-default CA_THRUSTER5_PY 0.12
+param set-default CA_THRUSTER5_PZ 0.0
+param set-default CA_THRUSTER5_CT 1.4
+param set-default CA_THRUSTER5_AX 0.0
+param set-default CA_THRUSTER5_AY -1.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX -0.12
+param set-default CA_THRUSTER6_PY -0.12
+param set-default CA_THRUSTER6_PZ 0.0
+param set-default CA_THRUSTER6_CT 1.4
+param set-default CA_THRUSTER6_AX 0.0
+param set-default CA_THRUSTER6_AY 1.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.12
+param set-default CA_THRUSTER7_PY 0.12
+param set-default CA_THRUSTER7_PZ 0.0
+param set-default CA_THRUSTER7_CT 1.4
+param set-default CA_THRUSTER7_AX 0.0
+param set-default CA_THRUSTER7_AY -1.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default SIM_GZ_TH_FUNC1 101
+param set-default SIM_GZ_TH_FUNC2 102
+param set-default SIM_GZ_TH_FUNC3 103
+param set-default SIM_GZ_TH_FUNC4 104
+param set-default SIM_GZ_TH_FUNC5 105
+param set-default SIM_GZ_TH_FUNC6 106
+param set-default SIM_GZ_TH_FUNC7 107
+param set-default SIM_GZ_TH_FUNC8 108
+
+param set-default SIM_GZ_TH_MIN1 0
+param set-default SIM_GZ_TH_MIN2 0
+param set-default SIM_GZ_TH_MIN3 0
+param set-default SIM_GZ_TH_MIN4 0
+param set-default SIM_GZ_TH_MIN5 0
+param set-default SIM_GZ_TH_MIN6 0
+param set-default SIM_GZ_TH_MIN7 0
+param set-default SIM_GZ_TH_MIN8 0
+
+param set-default SIM_GZ_TH_MAX1 10000
+param set-default SIM_GZ_TH_MAX2 10000
+param set-default SIM_GZ_TH_MAX3 10000
+param set-default SIM_GZ_TH_MAX4 10000
+param set-default SIM_GZ_TH_MAX5 10000
+param set-default SIM_GZ_TH_MAX6 10000
+param set-default SIM_GZ_TH_MAX7 10000
+param set-default SIM_GZ_TH_MAX8 10000
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0
@@ -83,6 +83,9 @@ param set-default CA_ROTOR7_AY -0.211325
 param set-default CA_ROTOR7_AZ -0.57735

 param set-default SIM_GZ_EN 1
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1

 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
@@ -62,6 +62,8 @@ px4_add_romfs_files(
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
 	1045_gazebo-classic_quadtailsitter
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat

@@ -89,7 +91,6 @@ px4_add_romfs_files(
 	4018_gz_quadtailsitter
 	4019_gz_x500_gimbal
 	4020_gz_tiltrotor
-	4021_gz_x500_flow

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -107,17 +108,12 @@ px4_add_romfs_files(
 	10041_sihsim_airplane
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
-	10044_sihsim_hex
-	10045_sihsim_rover_ackermann

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

-	50000_gz_rover_differential
-
-	60002_gz_uuv_bluerov2_heavy
-
-	70000_gz_atmos
+	71001_gazebo-classic_spacecraft_dart
+	71002_gz_spacecraft_2d

 	# [22000, 22999] Reserve for custom models
 )
@@ -1,206 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-# Enforce minimum gz version as Harmonic (gz-sim8)
-MIN_GZ_VERSION="8.0.0"
-GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
-
-if [ -z "$GZ_SIM_VERSION" ]; then
-	echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-	exit 1
-fi
-
-# Use sort compare, check that MIN_GZ_VERSION is ordered last
-if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
-	gz_command="gz"
-	gz_sub_command="sim"
-
-	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
-
-	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-	fi
-else
-	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-	exit 1
-fi
-
-# If not standalone launch the world
-if [ -z "${PX4_GZ_STANDALONE}" ]; then
-
-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		# Setup gz environment variables
-		if [ -f ./gz_env.sh ]; then
-			. ./gz_env.sh
-
-		elif [ -f ../gz_env.sh ]; then
-			. ../gz_env.sh
-		fi
-
-		echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-		${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			echo "INFO  [init] Starting gz gui"
-			${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
-		fi
-
-	else
-		# Gazebo is already running
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
-	fi
-
-else
-	echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
-fi
-
-# Wait for Gazebo world to be ready before proceeding
-check_scene_info() {
-	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
-	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
-		return 0
-	else
-		return 1
-	fi
-}
-
-ATTEMPTS=30
-while [ $ATTEMPTS -gt 0 ]; do
-	if check_scene_info; then
-		echo "INFO  [init] Gazebo world is ready"
-		break
-	fi
-	ATTEMPTS=$((ATTEMPTS-1))
-	if [ $ATTEMPTS -eq 0 ]; then
-		echo "ERROR [init] Timed out waiting for Gazebo world"
-		exit 1
-	fi
-	echo "INFO  [init] Waiting for Gazebo world..."
-	sleep 1
-done
-
-# World is ready, check if custom location is provided
-if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
-	# must have all three
-	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
-		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
-		exit 1
-	fi
-	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
-		--reqtype gz.msgs.SphericalCoordinates \
-		--reptype gz.msgs.Boolean \
-		--timeout 1000 \
-		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
-fi
-
-# Start gz_bridge - either spawn a model or connect to existing one
-if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-	# Spawn a model
-	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
-	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
-
-	sdf_pose_str=""
-
-	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
-		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
-		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
-
-		pose_x=${pose_x:-0}
-		pose_y=${pose_y:-0}
-		pose_z=${pose_z:-0}
-		pose_roll=${pose_roll:-0}
-		pose_pitch=${pose_pitch:-0}
-		pose_yaw=${pose_yaw:-0}
-
-		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
-		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
-	fi
-
-	echo "INFO  [init] Spawning Gazebo model"
-
-	# include the actual SDF in this one, containing the pose if given
-	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
-
-	# Spawn model
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
-			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
-
-	# Wait for model to spawn
-	sleep 1
-
-	# Start gz_bridge
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
-		echo "ERROR [init] gz_bridge failed to start and spawn model"
-		exit 1
-	fi
-
-	# Set physics parameters for faster-than-realtime simulation if needed
-	if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
-		echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
-		${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
-					--reptype gz.msgs.Boolean --timeout 5000 \
-					--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
-	fi
-
-	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
-
-		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
-
-		# Set camera to follow the model
-		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
-		# Set default camera offset if not specified
-		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
-		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
-		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
-
-		# Set camera offset
-		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
-
-		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
-	fi
-
-elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-	# Connect to existing model
-	echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
-		echo "ERROR [init] gz_bridge failed to start and attach to existing model"
-		exit 1
-	fi
-else
-	echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
-	exit 1
-fi
-
-# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
-# the magnetometer sensor in the model.sdf.
-if param compare -s SENS_EN_MAGSIM 1
-then
-	sensor_mag_sim start
-fi
-# NOTE: new gz has airspeed sensor, remove once added
-if param compare -s SENS_EN_ARSPDSIM 1
-then
-	sensor_airspeed_sim start
-fi
@@ -1,14 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-echo "INFO  [init] jMAVSim simulator"
-
-if jps | grep -i jmavsim; then
-	kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
-	sleep 1
-fi
-
-param set IMU_INTEG_RATE 250
-./jmavsim_run.sh -l -r 250 &
-
-simulator_mavlink start -h localhost $((4560+px4_instance))
@@ -1,27 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-# EKF2 specifics
-param set-default EKF2_GPS_DELAY 10
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-	if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-		echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
-		simulator_mavlink start -c $simulator_tcp_port
-	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
-		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
-	fi
-
-else
-	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
-	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-fi
@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250
@@ -1,38 +0,0 @@
-#!/bin/sh
-
-echo "INFO  [init] SIH simulator"
-
-if [ -n "${PX4_HOME_LAT}" ]; then
-	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-fi
-
-if [ -n "${PX4_HOME_LON}" ]; then
-	param set SIH_LOC_LON0 ${PX4_HOME_LON}
-fi
-if [ -n "${PX4_HOME_ALT}" ]; then
-	param set SIH_LOC_H0 ${PX4_HOME_ALT}
-fi
-
-if simulator_sih start; then
-
-	if param compare -s SENS_EN_BAROSIM 1
-	then
-		sensor_baro_sim start
-	fi
-	if param compare -s SENS_EN_GPSSIM 1
-	then
-		sensor_gps_sim start
-	fi
-	if param compare -s SENS_EN_MAGSIM 1
-	then
-		sensor_mag_sim start
-	fi
-	if param compare -s SENS_EN_AGPSIM 1
-	then
-		sensor_agp_sim start
-	fi
-
-else
-	echo "ERROR [init] simulator_sih failed to start"
-	exit 1
-fi
@@ -8,18 +8,203 @@ param set-default IMU_INTEG_RATE 250
 param set-default COM_MODE_ARM_CHK 1

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-    # Run SIH
-    . px4-rc.sihsim
+
+	echo "INFO  [init] SIH simulator"
+
+	if [ -n "${PX4_HOME_LAT}" ]; then
+		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+	fi
+
+	if [ -n "${PX4_HOME_LON}" ]; then
+		param set SIH_LOC_LON0 ${PX4_HOME_LON}
+	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi
+
+	if simulator_sih start; then
+
+		if param compare -s SENS_EN_BAROSIM 1
+		then
+			sensor_baro_sim start
+		fi
+		if param compare -s SENS_EN_GPSSIM 1
+		then
+			sensor_gps_sim start
+		fi
+		if param compare -s SENS_EN_MAGSIM 1
+		then
+			sensor_mag_sim start
+		fi
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi
+
+	else
+		echo "ERROR [init] simulator_sih failed to start"
+		exit 1
+	fi

 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-    # Run Gazebo (gz)
-    . px4-rc.gzsim
+	# Use Gazebo
+
+	echo "INFO  [init] Gazebo simulator"
+
+	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
+	if [ -z "${PX4_GZ_STANDALONE}" ]; then
+
+		# "gz sim" only available in Garden and later
+		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+		then
+			# "gz sim" from Garden on
+			gz_command="gz"
+			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
+		else
+			echo "ERROR [init] Gazebo gz please install gz-garden"
+			exit 1
+		fi
+
+		# look for running ${gz_command} gazebo world
+		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+		# shellcheck disable=SC2153
+		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+			if [ -f ./gz_env.sh ]; then
+				. ./gz_env.sh
+
+			elif [ -f ../gz_env.sh ]; then
+				. ../gz_env.sh
+			fi
+
+			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+
+			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+			if [ -z "${HEADLESS}" ]; then
+				# HEADLESS not set, starting gui
+				${gz_command} ${gz_sub_command} -g &
+			fi
+
+		else
+			# Gazebo is already running, do not start the simulator, nor the GUI
+			echo "INFO  [init] gazebo already running world: ${gz_world}"
+			PX4_GZ_WORLD=${gz_world}
+		fi
+	else
+		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
+	fi
+
+	# start gz_bridge
+	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+		# model specified, gz_bridge will spawn model
+
+		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+			# model pose provided: [x, y, z, roll, pitch, yaw]
+
+			# Clean potential input line formatting.
+			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+
+		else
+			# model pose not provided, origin will be used
+
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+
+		# start gz bridge with pose arg.
+		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			echo "ERROR [init] gz_bridge failed to start and spawn model"
+			exit 1
+		fi
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+		# model name specificed, gz_bridge will attach to existing model
+
+		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
+			exit 1
+		fi
+
+	else
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+		exit 1
+	fi
+
+	# Start the sensor simulator modules
+	if param compare -s SENS_EN_BAROSIM 1
+	then
+		sensor_baro_sim start
+	fi
+	if param compare -s SENS_EN_GPSSIM 1
+	then
+		sensor_gps_sim start
+	fi
+	if param compare -s SENS_EN_MAGSIM 1
+	then
+		sensor_mag_sim start
+	fi
+	if param compare -s SENS_EN_ARSPDSIM 1
+	then
+		sensor_airspeed_sim start
+	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi

 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-    # Run jMAVSim
-    . px4-rc.jmavsim
+
+	echo "INFO  [init] jMAVSim simulator"
+
+	if jps | grep -i jmavsim; then
+		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+		sleep 1
+	fi
+
+	param set IMU_INTEG_RATE 250
+	./jmavsim_run.sh -l -r 250 &
+
+	simulator_mavlink start -h localhost $((4560+px4_instance))

 else
-    # Run simulator_mavlink module for interface with gazebo-classic
-    . px4-rc.mavlinksim
+	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			simulator_mavlink start -c $simulator_tcp_port
+		else
+			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+		fi
+
+	else
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+	fi
+
 fi
@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi

-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -190,9 +181,6 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3

-# set default IP to localhost
-param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
-

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -239,6 +227,9 @@ then
 	exit 1
 fi

+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start

 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -298,15 +289,10 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
-	# Override, as variable is set (empty or not)
-	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
-		# Override namespace if environment variable is non-empty
-		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
-	else
-		# Clear namespace if variable is empty
-		uxrce_dds_ns=""
-	fi
+if [ -n "$PX4_UXRCE_DDS_NS" ]
+then
+	# Override namespace if environment variable is defined
+	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then
@@ -322,7 +308,7 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi

-uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
+uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -345,7 +331,11 @@ then
 	gyro_calibration start
 fi

-payload_deliverer start
+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi

 if param compare -s ICE_EN 1
 then
@@ -69,6 +69,15 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()

+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		rc.rover_apps
+		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
 if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
@@ -1,65 +0,0 @@
-#!/bin/sh
-# @name SIH Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-set VEHICLE_TYPE rover_ackermann
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
-param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
-param set-default SYS_HITL 2 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
-
-param set-default HIL_ACT_FUNC1 201 # Steering
-param set-default HIL_ACT_FUNC2 101 # Throttle
-param set-default SIH_MASS 20
-param set-default SIH_IXX 0.4333
-param set-default SIH_IYY 1.6833
-param set-default SIH_IZZ 2.0833
-param set-default SIH_IXZ 0
-param set-default SIH_KDV 50
-param set-default SIH_KDW 10
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 3
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.2
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.001
-param set-default RO_SPEED_P 0.001
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
@@ -22,6 +22,11 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004

+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -47,6 +47,3 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-
-param set-default MPC_Z_VEL_MAX_UP 3.0
-param set-default MPC_Z_VEL_MAX_DN 3.0
@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

 . ${R}etc/init.d/rc.rover_differential_defaults
@@ -2,11 +2,14 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
+# @url https://www.aionrobotics.com/r1
 #
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

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

@@ -23,6 +26,7 @@ param set-default NAV_ACC_RAD 0.5

 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626

@@ -33,21 +37,19 @@ param set-default RO_JERK_LIM 5
 param set-default RO_MAX_THR_SPEED 1.9

 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_I 0.01
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
-param set-default RO_YAW_RATE_CORR 2.7

 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 2.5
+param set-default RO_YAW_P 5

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

 . ${R}etc/init.d/rc.rover_ackermann_defaults
@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

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

@@ -27,19 +30,17 @@ param set-default RO_JERK_LIM 20
 param set-default RO_MAX_THR_SPEED 2.8

 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 120
-param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0

 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 2.5
+param set-default RO_YAW_P 0

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1

 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

 . ${R}etc/init.d/rc.rover_mecanum_defaults
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name Generic Ground Vehicle (Deprecated)
+#
+# @type Rover
+# @class Rover
+#
+# @output Motor1 throttle
+# @output Servo1 steering
+#
+# @maintainer
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default BAT1_N_CELLS 2
+
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+
+param set-default FW_AIRSPD_MAX 3
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+
+# Settings for a typical wheelbase 0f 0.3m
+param set-default GND_L1_DIST 1
+param set-default GND_L1_PERIOD 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default NAV_ACC_RAD 0.5
+
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name NXP Cup car: DF Robot GPX (Deprecated)
+
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+#
+# @output Motor1 Speed of left wheels
+# @output Servo1 Steering servo
+#
+# @maintainer Katrin Moritz
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default BAT1_N_CELLS 2
+
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
+
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+
+# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
+param set-default GND_MAX_ANG 1.042
+param set-default GND_WHEEL_BASE 0.17
+
+# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
+
+param set-default NAV_ACC_RAD 0.5
+
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC3 101
+param set-default PWM_MAIN_FUNC4 101
+
+# Provide ESC a constant 1500 us pulse to idle
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1485
+param set-default PWM_MAIN_DIS4 1485
+param set-default PWM_MAIN_FAIL3 1485
+param set-default PWM_MAIN_FAIL4 1485
+param set-default PWM_MAIN_MIN3 970
+param set-default PWM_MAIN_MIN4 970
@@ -22,7 +22,7 @@

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

-# param set-default MAV_1_CONFIG 102
+param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
 param set-default BAT1_CAPACITY 18000
@@ -30,93 +30,53 @@ param set-default BAT1_V_DIV 11
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33

-# Set parameters using `param` utility for SITL
 param set-default CA_AIRFRAME 7
-param set-default CA_METHOD 0
-param set-default MAV_TYPE 12
-
-# Board rotation: set to direct replacement of RPi with PX4
-#       with forward facing vehicle forward
-param set-default SENS_BOARD_ROT 16
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-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
-param set-default FD_FAIL_R 0

 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-
 param set-default CA_ROTOR0_AX 1
 param set-default CA_ROTOR0_AY -1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0.14
-param set-default CA_ROTOR0_PY 0.10
-param set-default CA_ROTOR0_PZ 0.06
-
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
 param set-default CA_ROTOR1_AX 1
 param set-default CA_ROTOR1_AY 1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0.14
-param set-default CA_ROTOR1_PY -0.10
-param set-default CA_ROTOR1_PZ 0.06
-
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
 param set-default CA_ROTOR2_AZ 0
 param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -0.14
-param set-default CA_ROTOR2_PY 0.10
-param set-default CA_ROTOR2_PZ 0.06
-
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
 param set-default CA_ROTOR3_AZ 0
 param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX -0.14
-param set-default CA_ROTOR3_PY -0.10
-param set-default CA_ROTOR3_PZ 0.06
-
-param set-default CA_ROTOR4_AX 0
-param set-default CA_ROTOR4_AY 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
 param set-default CA_ROTOR4_AZ -1
 param set-default CA_ROTOR4_KM 0
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY 0.22
-param set-default CA_ROTOR4_PZ 0
-
-param set-default CA_ROTOR5_AX 0
-param set-default CA_ROTOR5_AY 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
 param set-default CA_ROTOR5_AZ 1
 param set-default CA_ROTOR5_KM 0
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY -0.22
-param set-default CA_ROTOR5_PZ 0
-
-param set-default CA_ROTOR6_AX 0
-param set-default CA_ROTOR6_AY 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
 param set-default CA_ROTOR6_AZ 1
 param set-default CA_ROTOR6_KM 0
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY 0.22
-param set-default CA_ROTOR6_PZ 0
-
-param set-default CA_ROTOR7_AX 0
-param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ -1
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
 param set-default CA_ROTOR7_KM 0
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY -0.22
-param set-default CA_ROTOR7_PZ 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -126,30 +86,3 @@ param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-param set-default PWM_MAIN_MIN5 1100
-param set-default PWM_MAIN_MIN6 1100
-param set-default PWM_MAIN_MIN7 1100
-param set-default PWM_MAIN_MIN8 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-param set-default PWM_MAIN_MAX5 1900
-param set-default PWM_MAIN_MAX6 1900
-param set-default PWM_MAIN_MAX7 1900
-param set-default PWM_MAIN_MAX8 1900
-
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_DIS3 1500
-param set-default PWM_MAIN_DIS4 1500
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
@@ -1,150 +0,0 @@
-#!/bin/sh
-#
-# @name KTH-ATMOS
-#
-# @type Free-Flyer
-# @class Spacecraft
-#
-# @maintainer DISCOWER
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-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
-param set EKF2_HGT_REF 3
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-
-param set-default PWM_AUX_TIM0 10
-param set-default PWM_AUX_TIM1 10
-param set-default PWM_AUX_TIM2 10
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_FUNC5 105
-param set-default PWM_AUX_FUNC6 106
-param set-default PWM_AUX_FUNC7 107
-param set-default PWM_AUX_FUNC8 108
-
-param set-default PWM_AUX_DIS1 0
-param set-default PWM_AUX_DIS2 0
-param set-default PWM_AUX_DIS3 0
-param set-default PWM_AUX_DIS4 0
-param set-default PWM_AUX_DIS5 0
-param set-default PWM_AUX_DIS6 0
-param set-default PWM_AUX_DIS7 0
-param set-default PWM_AUX_DIS8 0
-
-param set-default PWM_AUX_MIN1 0
-param set-default PWM_AUX_MIN2 0
-param set-default PWM_AUX_MIN3 0
-param set-default PWM_AUX_MIN4 0
-param set-default PWM_AUX_MIN5 0
-param set-default PWM_AUX_MIN6 0
-param set-default PWM_AUX_MIN7 0
-param set-default PWM_AUX_MIN8 0
-
-# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
-param set-default PWM_AUX_MAX1 10000
-param set-default PWM_AUX_MAX2 10000
-param set-default PWM_AUX_MAX3 10000
-param set-default PWM_AUX_MAX4 10000
-param set-default PWM_AUX_MAX5 10000
-param set-default PWM_AUX_MAX6 10000
-param set-default PWM_AUX_MAX7 10000
-param set-default PWM_AUX_MAX8 10000
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.00
@@ -0,0 +1,150 @@
+#!/bin/sh
+#
+# @name KTH Space Robot
+#
+# @type Space Robot
+# @class 2D Space Robot
+#
+# @maintainer DISCOWER
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+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
+param set EKF2_HGT_REF 3
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_THRUSTER0_PX -0.12
+param set-default CA_THRUSTER0_PY -0.12
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 1.4
+param set-default CA_THRUSTER0_AX 1.0
+param set-default CA_THRUSTER0_AY 0.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.12
+param set-default CA_THRUSTER1_PY -0.12
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 1.4
+param set-default CA_THRUSTER1_AX -1.0
+param set-default CA_THRUSTER1_AY 0.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX -0.12
+param set-default CA_THRUSTER2_PY 0.12
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 1.4
+param set-default CA_THRUSTER2_AX 1.0
+param set-default CA_THRUSTER2_AY 0.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX 0.12
+param set-default CA_THRUSTER3_PY 0.12
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 1.4
+param set-default CA_THRUSTER3_AX -1.0
+param set-default CA_THRUSTER3_AY 0.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX 0.12
+param set-default CA_THRUSTER4_PY -0.12
+param set-default CA_THRUSTER4_PZ 0.0
+param set-default CA_THRUSTER4_CT 1.4
+param set-default CA_THRUSTER4_AX 0.0
+param set-default CA_THRUSTER4_AY 1.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.12
+param set-default CA_THRUSTER5_PY 0.12
+param set-default CA_THRUSTER5_PZ 0.0
+param set-default CA_THRUSTER5_CT 1.4
+param set-default CA_THRUSTER5_AX 0.0
+param set-default CA_THRUSTER5_AY -1.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX -0.12
+param set-default CA_THRUSTER6_PY -0.12
+param set-default CA_THRUSTER6_PZ 0.0
+param set-default CA_THRUSTER6_CT 1.4
+param set-default CA_THRUSTER6_AX 0.0
+param set-default CA_THRUSTER6_AY 1.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.12
+param set-default CA_THRUSTER7_PY 0.12
+param set-default CA_THRUSTER7_PZ 0.0
+param set-default CA_THRUSTER7_CT 1.4
+param set-default CA_THRUSTER7_AX 0.0
+param set-default CA_THRUSTER7_AY -1.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+
+param set-default PWM_AUX_TIM0 10
+param set-default PWM_AUX_TIM1 10
+param set-default PWM_AUX_TIM2 10
+
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+param set-default PWM_AUX_FUNC5 105
+param set-default PWM_AUX_FUNC6 106
+param set-default PWM_AUX_FUNC7 107
+param set-default PWM_AUX_FUNC8 108
+
+param set-default PWM_AUX_DIS1 0
+param set-default PWM_AUX_DIS2 0
+param set-default PWM_AUX_DIS3 0
+param set-default PWM_AUX_DIS4 0
+param set-default PWM_AUX_DIS5 0
+param set-default PWM_AUX_DIS6 0
+param set-default PWM_AUX_DIS7 0
+param set-default PWM_AUX_DIS8 0
+
+param set-default PWM_AUX_MIN1 0
+param set-default PWM_AUX_MIN2 0
+param set-default PWM_AUX_MIN3 0
+param set-default PWM_AUX_MIN4 0
+param set-default PWM_AUX_MIN5 0
+param set-default PWM_AUX_MIN6 0
+param set-default PWM_AUX_MIN7 0
+param set-default PWM_AUX_MIN8 0
+
+# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
+param set-default PWM_AUX_MAX1 10000
+param set-default PWM_AUX_MAX2 10000
+param set-default PWM_AUX_MAX3 10000
+param set-default PWM_AUX_MAX4 10000
+param set-default PWM_AUX_MAX5 10000
+param set-default PWM_AUX_MAX6 10000
+param set-default PWM_AUX_MAX7 10000
+param set-default PWM_AUX_MAX8 10000
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004
@@ -50,11 +50,6 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1102_tailsitter_duo_sih.hil
 		1103_standard_vtol_sih.hil
 	)
-	if(CONFIG_MODULES_ROVER_ACKERMANN)
-		px4_add_romfs_files(
-			1104_standard_ackermann_sih.hil
-		)
-	endif()
 endif()

 if(CONFIG_MODULES_MC_RATE_CONTROL)
@@ -163,6 +158,14 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()

+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		# [59000, 59999] Rover position control (deprecated)
+		59000_generic_ground_vehicle
+		59001_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
@@ -171,10 +174,3 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
 		60002_uuv_bluerov2_heavy
 	)
 endif()
-
-if(CONFIG_MODULES_SPACECRAFT)
-	px4_add_romfs_files(
-		# [70000, 70999] Spacecraft
-		70000_atmos
-	)
-endif()
@@ -15,8 +15,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_mode_manager start
-fw_lat_lon_control start
+fw_pos_control start
 airspeed_selector start

 #
@@ -13,6 +13,8 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
+# there is a 2.5 factor applied on the _FS thresholds if for invalidation
+param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3

 param set-default COM_POS_LOW_EPH 50
@@ -36,8 +36,3 @@ mc_pos_control start
 # Start Multicopter Land Detector.
 #
 land_detector start multicopter
-
-if param compare -s MC_NN_EN 1
-then
-	mc_nn_control start
-fi
@@ -20,5 +20,7 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

+param set-default GPS_UBX_DYNMODEL 6
+
 # lower RNG_FOG since MC are expected to fly closer over obstacles
 param set-default EKF2_RNG_FOG 1.0
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# Standard apps for unmanned ground vehicles (UGV).
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start Control Allocator
+#
+control_allocator start
+
+#
+# Start attitude controllers.
+#
+rover_pos_control start
+
+#
+# Start Land Detector.
+#
+land_detector start rover
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE rover
+
+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 2
+param set-default NAV_LOITER_RAD 2
+
+# Temporary.
+param set-default NAV_FW_ALT_RAD 1000
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	c5f2a32c96	ci: build each platform on its own arch	2025-02-27 08:48:02 -08:00
Ramon Roche	fd06661da9	ci: test container build push	2025-02-27 07:41:13 -08:00
Ramon Roche	b786006443	ci: only build amd64 for tests avoids docker engine error when trying to export manifest lists	2025-02-26 20:48:39 -08:00
Ramon Roche	379bb181f2	ci: multi platform container build saves cache to s3 and defaults to gh public cache	2025-02-26 20:39:56 -08:00
Ramon Roche	c942530825	ci: only push containers on tag events	2025-02-26 19:29:52 -08:00
Ramon Roche	b5993c4ec0	setup: install all compilers for arch plus better output formatting	2025-02-26 19:27:39 -08:00
Ramon Roche	cdaaf81354	ci: build containers on releases only	2025-02-25 21:21:59 -08:00
Ramon Roche	d60d760eb4	ci: build targets using px4-dev container	2025-02-25 21:21:59 -08:00