boat: add module for rudder-steered boats

sv: rename rover parameters to surface vehicle
sv: extend rover control lib to surface vehicles
2026-06-05 03:40:05 +08:00 · 2025-09-05 13:48:57 +02:00 · 2025-09-05 13:48:17 +02:00 · 2025-09-05 13:28:30 +02:00 · 2025-09-05 08:41:59 +02:00 · 2025-09-05 08:27:58 +02:00
237 changed files with 7744 additions and 1754 deletions
@@ -36,6 +36,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
+    px4_sitl_zenoh:
+      short: px4_sitl_zenoh
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -73,6 +73,11 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

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


@@ -511,6 +511,7 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
@@ -202,18 +202,43 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

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

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

+#
+# Optional additional init file: rc.additional_init
+#
+set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
+if [ -f $BOARD_RC_ADDITIONAL_INIT ]
+then
+	echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
+	. $BOARD_RC_ADDITIONAL_INIT
+fi
+unset BOARD_RC_ADDITIONAL_INIT
+
 #
 # Start system state indicator.
 #
@@ -1,10 +1,21 @@
 #!/bin/sh
 #
-# @name 3DoF Spacecraft Model
+# @name KTH-ATMOS
 #
-# @type 2D Freeflyer with 8 thrusters - Planar motion
+# @type Free-Flyer
+# @class Spacecraft
 #
-# @maintainer Pedro Roque <padr@kth.se>
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
+# @maintainer discower-io
+# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -324,6 +324,11 @@ fi

 uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns

+if param greater -s ZENOH_ENABLE 0
+then
+	zenoh start
+fi
+
 if param greater -s MNT_MODE_IN -1
 then
 	gimbal start
@@ -54,6 +54,13 @@ if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
 	)
 endif()

+if(CONFIG_MODULES_BOAT_RUDDER)
+	px4_add_romfs_files(
+		rc.boat_rudder_apps
+		rc.boat_rudder_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_FW_RATE_CONTROL)
 	px4_add_romfs_files(
 		rc.fw_apps
@@ -83,13 +90,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()

-if(CONFIG_MODULES_SPACECRAFT)
-	px4_add_romfs_files(
-		rc.sc_apps
-		rc.sc_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		rc.rover_mecanum_apps
@@ -97,6 +97,13 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()

+if(CONFIG_MODULES_SPACECRAFT)
+	px4_add_romfs_files(
+		rc.sc_apps
+		rc.sc_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -5,7 +5,17 @@
 # @type Free-Flyer
 # @class Spacecraft
 #
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
 # @maintainer DISCOWER
+# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -0,0 +1,8 @@
+#!/bin/sh
+# Standard apps for a boat rudder.
+
+# Start boat rudder module.
+boat_rudder start
+
+# Start Land Detector.
+land_detector start rover
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Rudder-steered boats parameters.
+
+set VEHICLE_TYPE boat
+param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
+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 flying
+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
@@ -8,6 +8,9 @@
 #                 End Setup for board specific configurations.                #
 ###############################################################################

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

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

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

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

+	#
+	# Optional additional init file: rc.additional_init
+	#
+	set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
+	if [ -f $BOARD_RC_ADDITIONAL_INIT ]
+	then
+		echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
+		. $BOARD_RC_ADDITIONAL_INIT
+	fi
+	unset BOARD_RC_ADDITIONAL_INIT
+
 	# Load airframe configuration based on SYS_AUTOSTART parameter
 	if ! param compare SYS_AUTOSTART 0
 	then
@@ -613,9 +624,7 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi

-	#
-	# Bootloader upgrade (ROMFS)
-	#
+
 	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
 	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
 	then
@@ -623,22 +632,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# Bootloader upgrade (SD card)
-	#
-	if param compare -s SYS_BL_UPDATE 2
-	then
-		if [ -f "/fs/microsd/bl/bl.bin" ]
-		then
-			param set SYS_BL_UPDATE 0
-			param save
-			echo "bootloader update..."
-			bl_update "/fs/microsd/bl/bl.bin"
-			echo "bootloader update done, rebooting"
-			reboot
-		fi
-	fi
-
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -49,14 +49,14 @@ for field in spec.parsed_fields():
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package

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



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

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

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

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

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

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


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

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

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

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

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

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

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

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

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


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


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


-Zenoh_Subscriber* genSubscriber(const char *name) {
+Zenoh_Subscriber* genSubscriber(const char *name, int instance) {
    for (auto &sub : _topics) {
-        if(strcmp(sub.orb_meta->o_name, name) == 0) {
-            return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return new uORB_Zenoh_Subscriber(sub.orb_topic[i], sub.ops, instance);
+            }
+        }
+    }
+    return NULL;
+}
+
+const char* getTypeName(const char *name) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return sub.data_type_name;
+            }
+        }
+    }
+    return NULL;
+}
+
+
+const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(sub.orb_topic[i]->o_id == meta->o_id) {
+                return sub.hash;
+            }
+        }
+    }
+    return NULL;
+}
+
+const uint8_t* getRIHS01_Hash(const char *name) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return sub.hash;
+            }
        }
    }
    return NULL;
@@ -75,7 +75,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -35,7 +35,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -21,6 +21,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -14,7 +14,7 @@ param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
 param set-default MAV_0_CONFIG 0
 # Disable logger writing to FRAM, only stream over MAVLINK
-set LOGGER_ARGS "-m mavlink"
+param set-default SDLOG_BACKEND 2

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

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

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

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

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

-# BARO on I2C4
-bmp388 -I -b 4 -a 0x77 start
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start -b 1
+fi
@@ -71,7 +71,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -8,5 +8,4 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -74,7 +74,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -75,7 +75,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -75,7 +75,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -68,7 +68,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

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

-# Don't try to log onto SD card
-param set-default SDLOG_MODE -1
+# Disable logging
+param set-default SDLOG_BACKEND 0
@@ -79,7 +79,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -84,7 +84,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -79,7 +79,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -67,7 +67,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -73,7 +73,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -73,7 +73,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -73,7 +73,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -75,7 +75,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -8,5 +8,4 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -14,6 +14,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -182,6 +182,7 @@ CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -207,6 +208,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=272000
 CONFIG_RAM_START=0x20400000
@@ -1,57 +0,0 @@
-# CONFIG_BOARD_ROMFSROOT is not set
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_EXAMPLES_FAKE_GPS=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODULES_ZENOH=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -49,6 +49,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_DP83825I=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -155,8 +156,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_RETRY_MOUNTPATH=10
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -167,15 +168,18 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -196,6 +200,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000
@@ -47,7 +47,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -79,7 +79,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -80,7 +80,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -77,7 +77,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -83,7 +83,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -91,7 +91,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -89,6 +89,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -55,6 +55,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -214,15 +215,18 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -243,6 +247,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1835008
@@ -72,7 +72,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -74,7 +74,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -74,7 +74,6 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -339,6 +339,11 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		endif()
 	endif()

+	# ADDITIONAL INIT
+	if(ADDITIONAL_INIT)
+		set(config_additional_init ${ADDITIONAL_INIT} CACHE INTERNAL "additional init" FORCE)
+	endif()
+
 	if(UAVCAN_INTERFACES)
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()
@@ -0,0 +1,197 @@
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@@ -90,6 +90,8 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.

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

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

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

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

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

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

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
+
+#### Additional customization
+
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+you can add a script that will be contained in the binary.
+
+**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+edge-cases such as customizing `cannode` based boards.
+
+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. For example:
+  ```sh
+  # File: boards/<vendor>/<board>/init/rc.additional
+  param set-default <param> <value>
+  ```
+
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. For example:
+  ```sh
+  # File: boards/<vendor>/<board>/var.px4board
+  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
+  ```
+
+- Compile the firmware with your new variant by appending the variant name to the compile target. For example:
+  ```sh
+  make <target>_var
+  ```
@@ -35,14 +35,15 @@ The parameters you are most likely to change are listed below.

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

 Useful settings for specific cases:

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

 ### Logger module

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

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

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

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

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

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -176,15 +176,6 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RoverAttitudeSetpoint.msg
-	RoverAttitudeStatus.msg
-	RoverPositionSetpoint.msg
-	RoverRateSetpoint.msg
-	RoverRateStatus.msg
-	RoverSpeedSetpoint.msg
-	RoverSpeedStatus.msg
-	RoverSteeringSetpoint.msg
-	RoverThrottleSetpoint.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg
@@ -208,6 +199,15 @@ set(msg_files
 	SensorsStatusImu.msg
 	SensorUwb.msg
 	SensorAirflow.msg
+	SurfaceVehicleAttitudeSetpoint.msg
+	SurfaceVehicleAttitudeStatus.msg
+	SurfaceVehiclePositionSetpoint.msg
+	SurfaceVehicleRateSetpoint.msg
+	SurfaceVehicleRateStatus.msg
+	SurfaceVehicleSpeedSetpoint.msg
+	SurfaceVehicleSpeedStatus.msg
+	SurfaceVehicleSteeringSetpoint.msg
+	SurfaceVehicleThrottleSetpoint.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg
@@ -424,9 +424,11 @@ add_dependencies(uorb_msgs prebuild_targets uorb_headers)
 if(CONFIG_LIB_CDRSTREAM)
 	set(uorb_cdr_idl)
 	set(uorb_cdr_msg)
+	set(uorb_cdr_hash)
 	set(uorb_cdr_idl_uorb)
 	set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
 	set(idl_out_path ${idl_include_path}/px4/msg)
+	set(idl_rihs01_out_path ${idl_include_path}/px4)
 	set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)

 	# Make sure that CycloneDDS has been checkout out
@@ -457,6 +459,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		configure_file(${msg_file} ${idl_out_path}/${msg}.msg COPYONLY)
 		list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
 		list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
+		list(APPEND uorb_cdr_hash ${idl_out_path}/${msg}.json)
 		list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
 	endforeach()

@@ -476,6 +479,25 @@ if(CONFIG_LIB_CDRSTREAM)
 		VERBATIM
 		)

+	file(CREATE_LINK ${idl_rihs01_out_path} ${idl_include_path}/px4_msgs SYMBOLIC)
+
+	# Generate IDL from .msg using rosidl_adapter
+	# Note this is a submodule inside PX4 hence no ROS2 installation required
+	add_custom_command(
+		OUTPUT ${uorb_cdr_hash}
+		COMMAND ${CMAKE_COMMAND}
+		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_parser:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_generator_type_description"
+			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/idl2rihs01.py
+			--output-dir ${idl_rihs01_out_path}
+			${uorb_cdr_idl}
+		DEPENDS
+			${uorb_cdr_idl}
+			git_cyclonedds
+		COMMENT "Generating RIHS01 hashes from IDL"
+		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+		VERBATIM
+		)
+
 	# Generate C definitions from IDL
 	set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
 	include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
@@ -505,6 +527,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		DEPENDS
 			uorb_cdrstream
 			${msg_files}
+			${uorb_cdr_hash}
 			${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
 			${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
@@ -534,8 +557,10 @@ if(CONFIG_MODULES_ZENOH)
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/
 			-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
+			--rihs ${idl_rihs01_out_path}
 		DEPENDS
 			${msg_files}
+			${uorb_cdr_hash}
 			${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
 			${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 		COMMENT "Generating Zenoh Topic Code"
@@ -1,4 +1,4 @@
-# Rover Attitude Setpoint
+# Surface Vehicle Attitude Setpoint

 uint64 timestamp # [us] Time since system start
 float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
@@ -1,5 +1,5 @@
-# Rover Attitude Status
+# Surface Vehicle Attitude Status

 uint64 timestamp # [us] Time since system start
-float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
+float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED] Measured yaw
 float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
@@ -1,8 +1,8 @@
-# Rover Position Setpoint
+# Surface Vehicle Position Setpoint

 uint64 timestamp # [us] Time since system start
 float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
 float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
 float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
-float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
-float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
+float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the vehicle should arrive at the target with
+float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Omnidirectional only: Specify vehicle yaw during travel
@@ -1,4 +1,4 @@
-# Rover Rate setpoint
+# Surface Vehicle Rate setpoint

 uint64 timestamp # [us] Time since system start
 float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
@@ -1,4 +1,4 @@
-# Rover Rate Status
+# Surface Vehicle Rate Status

 uint64 timestamp # [us] Time since system start
 float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
@@ -1,5 +1,5 @@
-# Rover Speed Setpoint
+# Surface Vehicle Speed Setpoint

 uint64 timestamp # [us] Time since system start
 float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
-float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
+float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Speed setpoint in body y direction
@@ -1,9 +1,9 @@
-# Rover Velocity Status
+# Surface Vehicle Velocity Status

 uint64 timestamp # [us] Time since system start
 float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
 float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
 float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
-float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
-float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
+float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Measured speed in body y direction
+float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
+float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not omnidirectional] Omnidirectional only: Integral of the PID for the closed loop controller of the speed in body y direction
@@ -1,4 +1,4 @@
-# Rover Steering setpoint
+# Surface Vehicle Steering setpoint

 uint64 timestamp # [us] Time since system start
-float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
+float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Omnidirectional: Normalized speed difference between the left and right wheels
@@ -1,5 +1,5 @@
-# Rover Throttle setpoint
+# Surface Vehicle Throttle setpoint

 uint64 timestamp # [us] Time since system start
 float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
-float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
+float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Throttle setpoint along body Y axis
@@ -0,0 +1,14 @@
+# Arming check request.
+#
+# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
+# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
+# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
+#
+# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
+# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp  # [us] Time since system start.
+
+uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
@@ -8,6 +8,7 @@

 #include "translation_airspeed_validated_v1.h"
 #include "translation_arming_check_reply_v1.h"
+#include "translation_arming_check_request_v1.h"
 #include "translation_battery_status_v1.h"
 #include "translation_event_v1.h"
 #include "translation_home_position_v1.h"
@@ -0,0 +1,36 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ArmingCheckRequest v0 <--> v1
+#include <px4_msgs_old/msg/arming_check_request_v0.hpp>
+#include <px4_msgs/msg/arming_check_request.hpp>
+
+class ArmingCheckRequestV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::ArmingCheckRequestV0;
+    static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::ArmingCheckRequest;
+    static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "/fmu/out/arming_check_request";
+
+    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+	    msg_newer.timestamp = msg_older.timestamp;
+
+	    msg_newer.request_id = msg_older.request_id;
+
+	    msg_newer.valid_registrations_mask = 0xffffffff;
+    }
+
+    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+	    msg_older.timestamp = msg_newer.timestamp;
+
+	    msg_older.request_id = msg_newer.request_id;
+    }
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckRequestV1Translation);
@@ -7,8 +7,10 @@
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).

-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp  # [us] Time since system start.

 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+
+uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
@@ -1,7 +1,7 @@
 #! /bin/sh

 #
-# Bootloader upgrade (ROMFS)
+# Bootloader upgrade
 #
 if param compare -s SYS_BL_UPDATE 1
 then
@@ -847,6 +847,8 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t
 		request.offset  += length;
 		bootloader.percentage_done = (request.offset / a_percent);

+		watchdog_pet();
+
 	} while (request.offset < fw_image_size &&
 		 length == sizeof(response.data)  &&
 		 flash_status == FLASH_OK);
@@ -2,11 +2,9 @@ menu "Distance sensors"
    menuconfig COMMON_DISTANCE_SENSOR
        bool "Common distance sensor's"
        default n
-        select DRIVERS_DISTANCE_SENSOR_CM8JL65
        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL
        select DRIVERS_DISTANCE_SENSOR_LL40LS
-        select DRIVERS_DISTANCE_SENSOR_TERARANGER
        select DRIVERS_DISTANCE_SENSOR_TF02PRO
        select DRIVERS_DISTANCE_SENSOR_TFMINI
        select DRIVERS_DISTANCE_SENSOR_ULANDING_RADAR
@@ -254,6 +254,7 @@
 #define DRV_INS_DEVTYPE_ILABS           0xE9

 #define DRV_INS_DEVTYPE_MICROSTRAIN	0xEA
+#define DRV_INS_DEVTYPE_BAHRS           0xEB

 #define DRV_DEVTYPE_UNUSED		0xff

@@ -16,7 +16,7 @@ parameters:
                    sure to set this high enough so that the motors are always spinning while
                    armed.
            type: float
-            unit: '%'
+            unit: norm
            min: 0
            max: 1
            decimal: 2
@@ -759,6 +759,10 @@ GPS::run()
 			ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
 			break;

+		case 6:
+			ubx_mode = GPSDriverUBX::UBXMode::GroundControlStation;
+			break;
+
 		default:
 			break;

@@ -94,6 +94,7 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
 * F9P units are connected to each other.
 * Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
 * RTK is still possible with this setup.
+ * Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
 *
 * @min 0
 * @max 1
@@ -103,6 +104,7 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
 * @value 3 Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 * @value 4 Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 * @value 5 Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
+ * @value 6 Ground Control Station (UART2 outputs NMEA)
 *
 * @reboot_required true
 * @group GPS
@@ -5,6 +5,7 @@ menu "Inertial Navigation Systems (INS)"
        select DRIVERS_INS_VECTORNAV
        select DRIVERS_INS_ILABS
        select DRIVERS_INS_MICROSTRAIN
+	select DRIVERS_INS_EULERNAV_BAHRS
        ---help---
            Enable default set of INS sensors
    rsource "*/Kconfig"
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__ins__eulerav_bahrs
+	MAIN eulernav_bahrs
+	INCLUDES
+		bahrs
+	SRCS
+		eulernav_bahrs_main.cpp
+		eulernav_driver.cpp
+		eulernav_driver.h
+	DEPENDS
+		ringbuffer
+	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_INS_EULERNAV_BAHRS
+	bool "eulernav_bahrs"
+	default n
+	---help---
+		Enable support for EULER-NAV Baro-Inertial AHRS
@@ -0,0 +1,371 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * The header is a modified version of a header from this repo:
+ * https://github.com/euler-nav/bahrs-oss
+ *
+ * Copyright 2023 AMS Advanced Air Mobility Sensors UG
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holder nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED.IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#define PROTOCOL_WORD_LEN (4)
+#define PADDING_SIZE(SPayloadType) (PROTOCOL_WORD_LEN - ((sizeof(SMessageHeader) + sizeof(SPayloadType)) % PROTOCOL_WORD_LEN))
+
+#define BIT_VALID_HEIGHT           (0x01)
+#define BIT_VALID_VELOCITY_DOWN    (0x02)
+#define BIT_VALID_ROLL             (0x04)
+#define BIT_VALID_PITCH            (0x08)
+#define BIT_VALID_MAGNETIC_HEADING (0x10)
+#define BIT_VALID_SPECIFIC_FORCE_X (0x01)
+#define BIT_VALID_SPECIFIC_FORCE_Y (0x02)
+#define BIT_VALID_SPECIFIC_FORCE_Z (0x04)
+#define BIT_VALID_ANGULAR_RATE_X   (0x08)
+#define BIT_VALID_ANGULAR_RATE_Y   (0x10)
+#define BIT_VALID_ANGULAR_RATE_Z   (0x20)
+
+/**
+ * @brief The class that describes and implements the BAHRS serial protocol.
+*/
+class CSerialProtocol
+{
+public:
+	static constexpr uint8_t uMarker1_ { 0x4E }; ///< Sync byte 1, symbol 'N'
+	static constexpr uint8_t uMarker2_ { 0x45 }; ///< Sync char 2, symbol 'E'
+	static constexpr uint16_t uVersion_ { 2U }; ///< Protocol version
+
+	static constexpr float skfSpecificForceScale_ { 1.495384e-3F }; ///< Integer to float, +-5g range
+	static constexpr float skfAngularRateScale_ { 1.597921e-4F }; ///< Integer to float, +-300 deg/s range
+	static constexpr float skfHeightScale_ { 0.16784924F }; ///< Integer to float, -1000 to 10000 m range
+	static constexpr float skfHeighOffset_ { 1000.0F }; ///< An offset to convert unsigned integer to float
+	static constexpr float skfVelocityDownScale_ { 9.155413e-3F }; ///< Integer to float, -300 to 300 m/s range
+	static constexpr float skfAngleScale_ { 9.587526e-5F }; ///< Integer to float, -pi to pi or 0 to 2 pi range
+
+	// Signal ranges
+	static constexpr float skfMaxHeight_ { 10000.0F };
+	static constexpr float skfMinHeight_ { -1000.0F };
+	static constexpr float skfMaxVelocityDown_ { 300.0F };
+	static constexpr float skfMinVelocityDown_ { -300.0F };
+
+	enum class EMessageIds : uint8_t {
+		eInvalid = 0x00, ///< Invalid
+		eInertialData = 0x01, ///< Inertial data message
+		eNavigationData = 0x02, ///< Navigation data message
+		eAccuracy = 0x03, ///< Attitude accuracy information
+		eTimeOfNavigationData = 0x04, ///< "Time of navigation data" message
+		eTimeOfInertialData = 0x05, ///< "Time of inertial data" message
+		eTimeOfSyncPulse = 0x06, ///< "Time of the latest sync pulse" message
+		eSoftwareVersion = 0x0F, ///< "Software version" message
+
+		eDebugEventWriteToPort = 0xC0, ///< Debug information: SWC port data
+		eDebugEventRunnableCall = 0xC1, ///< Debug information: SWC API call
+
+		eTypeOpenDiagnostic = 0xF0, ///< Request to enter diagnostics mode
+		eTypeCloseDiagnostic = 0xF1, ///< Request to exit diagnostics mode
+		eTypeReadNVMPage = 0xF2, ///< Request to read NVM page
+		eTypeNVMPageData = 0xF3, ///< A message with NVM page data
+		eTypeAccept = 0xFF ///< Acknowledgment of diagnostics message reception
+	};
+
+	typedef uint32_t CrcType_t;
+
+#pragma pack(push, 1)
+
+	/**
+	 * @brief Message header struct.
+	*/
+	struct SMessageHeader {
+		uint8_t uMarker1_ { 0x4E };
+		uint8_t uMarker2_ { 0x45 };
+		uint16_t uVersion_ { CSerialProtocol::uVersion_ };
+		uint8_t uMsgType_ { 0U };
+	};
+
+	/**
+	 * @brief Inertial data message payload.
+	*/
+	struct SInertialData {
+		uint8_t uSequenceCounter_ { 0U };
+		int16_t iSpecificForceX_ { 0 };
+		int16_t iSpecificForceY_ { 0 };
+		int16_t iSpecificForceZ_ { 0 };
+		int16_t iAngularRateX_ { 0 };
+		int16_t iAngularRateY_ { 0 };
+		int16_t iAngularRateZ_ { 0 };
+		uint8_t uValidity_ { 0U };
+	};
+
+	/**
+	 * @brief Payload of the time of inertial data message.
+	*/
+	struct STimeOfInertialData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint8_t uInertialDataSequenceCounter_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Navigation data message payload.
+	*/
+	struct SNavigationData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint16_t uPressureHeight_ { 0 };
+		int16_t iVelocityDown_ { 0 };
+		int16_t iRoll_ { 0 };
+		int16_t iPitch_ { 0 };
+		uint16_t uMagneticHeading_ { 0U };
+		uint8_t uValidity_ { 0 };
+	};
+
+	/**
+	 * @brief Payload of the "time of navigation data" message.
+	*/
+	struct STimeOfNavigationData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint8_t uNavigationDataSequenceCounter_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Accuracy message payload.
+	*/
+	struct SAccuracyData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint16_t uAttitudeStdN_ { 0U };
+		uint16_t uAttitudeStdE_ { 0U };
+		uint16_t uMagneticHeadingStd_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Payload of the "time of the latest pulse" message.
+	*/
+	struct STimeOfLatestSyncPulse {
+		uint8_t uSequenceCounter_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Payload of the "software version" message.
+	*/
+	struct SSoftwareVersionData {
+		char acProjectCode_[3] { '\0', '\0', '\0' };
+		uint16_t uMajor_ { 0U };
+		uint16_t uMinor_ { 0U };
+	};
+
+	/**
+	 * @brief Partial data of the "write to port event".
+	 * The struct does not include a variable size array of data written to a port.
+	 */
+	struct SWriteToPortEventPartialData {
+		uint8_t uPortId_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+		uint16_t uDataLen_ { 0U };
+	};
+
+	/**
+	 * @brief Debug information on runnable call.
+	 */
+	struct SRunnableCallEventData {
+		uint8_t uRunnableId_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Inertial data message.
+	*/
+	struct SInertialDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eInertialData) };
+
+		SInertialData oInertialData_;
+		uint8_t auPadding_[PADDING_SIZE(SInertialData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Time of inertial data message.
+	*/
+	struct STimeOfInertialDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTimeOfInertialData) };
+
+		STimeOfInertialData oTimeOfInertialData_;
+		uint8_t auPadding_[PADDING_SIZE(STimeOfInertialData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Navigation data message.
+	*/
+	struct SNavigationDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eNavigationData) };
+
+		SNavigationData oNavigationData_;
+		uint8_t auPadding_[PADDING_SIZE(SNavigationData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Navigation data accuracy message.
+	*/
+	struct SAccuracyDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eAccuracy) };
+
+		SAccuracyData oAccuracy_;
+		uint8_t auPadding_[PADDING_SIZE(SAccuracyData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Time of navigation data message.
+	*/
+	struct STimeOfNavigationDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTimeOfNavigationData) };
+
+		STimeOfNavigationData oTimeOfNavigationData_;
+		uint8_t auPadding_[PADDING_SIZE(STimeOfNavigationData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Time of the latest sync pulse message.
+	*/
+	struct STimeOfLatestSyncPulseMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTimeOfSyncPulse) };
+
+		STimeOfLatestSyncPulse oTimeOfLatestSyncPulse_;
+		uint8_t auPadding_[PADDING_SIZE(STimeOfLatestSyncPulse)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Software version message.
+	*/
+	struct SSoftwareVersionMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eSoftwareVersion) };
+
+		SSoftwareVersionData oSoftwareVersion_;
+		uint8_t auPadding_[PADDING_SIZE(SSoftwareVersionData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief A debug message with runnable call data.
+	*/
+	struct SRunnableCallEventDebugMessage {
+		SMessageHeader oHeader_{ CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eDebugEventRunnableCall) };
+
+		SRunnableCallEventData oRunnableCallData_;
+		uint8_t auPadding_[PADDING_SIZE(oRunnableCallData_)];
+		CrcType_t uCrc_{ 0U };
+	};
+
+	/**
+	 * @brief Diagnostic Mode Messages
+	 ****************************************************************************/
+
+	/**
+	 * @brief Diagnostic message: Page request from NVM.
+	*/
+	struct SPacketReadNVMPage {
+		SMessageHeader oHeader_;
+		uint8_t uPageNumber { 0U };
+		CrcType_t uCrc32 { 0U };
+	};
+
+	/**
+	 * @brief Diagnostic message: confirmation of request processing by the device.
+	*/
+	struct SPacketReceiveConfirmation {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTypeAccept) };
+		EMessageIds eMessageType;    // message type to confirm.
+		uint8_t uStatus { 0U };      // 0 - OK, other values - error codes
+		CrcType_t uCrc32 { 0U };
+	};
+
+#pragma pack(pop)
+
+};
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file eulernav_bahrs_main.cpp
+ * A driver module for EULER-NAV Baro-Inertial AHRS.
+ *
+ * @author Fedor Baklanov <fedor.baklanov@euler-nav.com>
+ */
+
+#include <px4_platform_common/log.h>
+#include "eulernav_driver.h"
+
+extern "C" __EXPORT int eulernav_bahrs_main(int argc, char *argv[])
+{
+	EulerNavDriver::main(argc, argv);
+	return OK;
+}
@@ -0,0 +1,514 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "eulernav_driver.h"
+#include <px4_platform_common/getopt.h>
+#include <drivers/drv_sensor.h>
+#include <matrix/Quaternion.hpp>
+#include <matrix/Euler.hpp>
+#include <atmosphere/atmosphere.h>
+
+EulerNavDriver::EulerNavDriver(const char *device_name)
+	: ModuleParams{nullptr}
+	, _serial_port{device_name, 115200, ByteSize::EightBits, Parity::None, StopBits::One, FlowControl::Disabled}
+	, _data_buffer{}
+	, _px4_accel{DRV_INS_DEVTYPE_BAHRS}
+	, _px4_gyro{DRV_INS_DEVTYPE_BAHRS}
+{
+}
+
+EulerNavDriver::~EulerNavDriver()
+{
+	deinitialize();
+}
+
+int EulerNavDriver::task_spawn(int argc, char *argv[])
+{
+	int task_id = px4_task_spawn_cmd("bahrs", SCHED_DEFAULT, SCHED_PRIORITY_FAST_DRIVER,
+					 Config::TASK_STACK_SIZE, (px4_main_t)&run_trampoline, argv);
+
+	if (task_id < 0) {
+		_task_id = -1;
+		PX4_ERR("Failed to spawn task.");
+
+	} else {
+		_task_id = task_id;
+	}
+
+	return (_task_id < 0) ? 1 : 0;
+}
+
+EulerNavDriver *EulerNavDriver::instantiate(int argc, char *argv[])
+{
+	int option_index = 1;
+	const char *option_arg{nullptr};
+	const char *device_name{nullptr};
+
+	while (true) {
+		int option{px4_getopt(argc, argv, "d:", &option_index, &option_arg)};
+
+		if (EOF == option) {
+			break;
+		}
+
+		switch (option) {
+		case 'd':
+			device_name = option_arg;
+			break;
+
+		default:
+			break;
+		}
+	}
+
+	auto *instance = new EulerNavDriver(device_name);
+
+	if (nullptr != instance) {
+		instance->initialize();
+
+	} else {
+		PX4_ERR("Failed to initialize EULER-NAV driver.");
+	}
+
+	return instance;
+}
+
+int EulerNavDriver::custom_command(int argc, char *argv[])
+{
+	return print_usage("unrecognized command");
+}
+
+int EulerNavDriver::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+$ eulernav_bahrs start -d /dev/ttyS1
+Stop driver
+$ eulernav_bahrs stop
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("eulernav_bahrs", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("ins");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
+	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print driver status");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
+
+	return PX4_OK;
+}
+
+int EulerNavDriver::print_status()
+{
+	if (_is_initialized)
+	{
+		PX4_INFO("Elapsed time: %llu [us].\n", hrt_elapsed_time(&_statistics.start_time));
+		PX4_INFO("Total bytes received: %lu.\n", _statistics.total_bytes_received);
+		PX4_INFO("Inertial messages received: %lu. Navigation messages received: %lu.\n",
+			_statistics.inertial_message_counter, _statistics.navigation_message_counter);
+		PX4_INFO("Failed CRC count: %lu.\n", _statistics.crc_failures);
+
+	}
+	else
+	{
+		PX4_INFO("Initialization failed. The driver is not running.\n");
+	}
+
+	return PX4_OK;
+}
+
+void EulerNavDriver::run()
+{
+	_statistics.start_time = hrt_absolute_time();
+
+	while(!should_exit())
+	{
+		if (_is_initialized)
+		{
+			const auto bytes_read{_serial_port.readAtLeast(_serial_read_buffer, sizeof(_serial_read_buffer),
+								       Config::MIN_BYTES_TO_READ, Config::SERIAL_READ_TIMEOUT_MS)};
+
+			_statistics.total_bytes_received += bytes_read;
+
+			if (bytes_read > 0)
+			{
+				if (!_data_buffer.push_back(_serial_read_buffer, bytes_read))
+				{
+					PX4_ERR("No space in data buffer");
+				}
+			}
+
+			processDataBuffer();
+		}
+		else
+		{
+			// The driver failed to initialize in the instantiate() method, so we exit the loop.
+			request_stop();
+		}
+	}
+}
+
+void EulerNavDriver::initialize()
+{
+	if (!_is_initialized)
+	{
+		if (_serial_port.open())
+		{
+			PX4_INFO("Serial port opened successfully.");
+			_is_initialized = true;
+		}
+		else
+		{
+			PX4_ERR("Failed to open serial port");
+		}
+
+		if (_is_initialized)
+		{
+			if (!_data_buffer.allocate(Config::DATA_BUFFER_SIZE))
+			{
+				PX4_ERR("Failed to allocate data buffer");
+				_is_initialized = false;
+			}
+		}
+
+		if (_is_initialized)
+		{
+			_attitude_pub.advertise();
+			_barometer_pub.advertise();
+		}
+	}
+}
+
+void EulerNavDriver::deinitialize()
+{
+	if (_serial_port.isOpen())
+	{
+		_serial_port.close();
+	}
+
+	_data_buffer.deallocate();
+	_attitude_pub.unadvertise();
+	_barometer_pub.unadvertise();
+	_is_initialized = false;
+}
+
+void EulerNavDriver::processDataBuffer()
+{
+	static_assert(Config::MIN_MESSAGE_LENGTH >= (sizeof(CSerialProtocol::SMessageHeader) + sizeof(CSerialProtocol::CrcType_t)));
+	using EMessageIds = CSerialProtocol::EMessageIds;
+
+	while (_data_buffer.space_used() >= Config::MIN_MESSAGE_LENGTH)
+	{
+		if (!_next_message_info.is_detected)
+		{
+			_next_message_info.is_detected = findNextMessageHeader(_data_buffer);
+
+			if (!_next_message_info.is_detected)
+			{
+				// No message header found, wait for more bytes to arrive.
+				break;
+			}
+
+			if (!retrieveProtocolVersionAndMessageType(_data_buffer, _next_message_info.protocol_version, _next_message_info.message_code))
+			{
+				_next_message_info.is_detected = false;
+			}
+		}
+
+		if (_next_message_info.is_detected)
+		{
+			static_assert(sizeof(CSerialProtocol::SMessageHeader) < Config::MIN_MESSAGE_LENGTH);
+
+			const EMessageIds message_id{static_cast<EMessageIds>(_next_message_info.message_code)};
+			const int32_t message_length{getMessageLength(message_id)};
+
+			if ((message_length < 0) || (message_length < Config::MIN_MESSAGE_LENGTH) ||
+			    (message_length > static_cast<int32_t>(sizeof(_message_storage))) || ((message_length % sizeof(uint32_t)) != 0U))
+			{
+				// The message is unknown, not supported, or does not fit into the temporary storage.
+				_next_message_info.is_detected = false;
+				continue;
+			}
+
+			const int32_t bytes_to_retrieve{message_length - static_cast<int32_t>(sizeof(CSerialProtocol::SMessageHeader))};
+
+			if (static_cast<int32_t>(_data_buffer.space_used()) < bytes_to_retrieve)
+			{
+				// Do nothing and wait for more bytes to arrive.
+				break;
+			}
+
+			// Get message from the data buffer
+			uint8_t* bytes{reinterpret_cast<uint8_t*>(_message_storage)};
+
+			bytes[0] = CSerialProtocol::uMarker1_;
+			bytes[1] = CSerialProtocol::uMarker2_;
+			bytes[2] = reinterpret_cast<uint8_t*>(&_next_message_info.protocol_version)[0];
+			bytes[3] = reinterpret_cast<uint8_t*>(&_next_message_info.protocol_version)[1];
+			bytes[4] = _next_message_info.message_code;
+
+			if (static_cast<size_t>(bytes_to_retrieve) == _data_buffer.pop_front(bytes + sizeof(CSerialProtocol::SMessageHeader), bytes_to_retrieve))
+			{
+				const uint32_t message_length_in_words{message_length / sizeof(uint32_t)};
+				const uint32_t actual_crc{crc32(_message_storage, message_length_in_words - 1)};
+				const uint32_t expected_crc = _message_storage[message_length_in_words - 1];
+
+				if (expected_crc != actual_crc)
+				{
+					++_statistics.crc_failures;
+				}
+				else
+				{
+					decodeMessageAndPublishData(bytes, message_id);
+				}
+			}
+
+			_next_message_info.is_detected = false;
+		}
+	}
+}
+
+bool EulerNavDriver::findNextMessageHeader(Ringbuffer& buffer)
+{
+	bool result{false};
+
+	while (buffer.space_used() >= sizeof(CSerialProtocol::SMessageHeader))
+	{
+		uint8_t sync_byte{0U};
+
+		if ((1 == buffer.pop_front(&sync_byte, 1)) && (CSerialProtocol::uMarker1_ == sync_byte))
+		{
+			sync_byte = 0U;
+
+			if ((1 == buffer.pop_front(&sync_byte, 1)) && (CSerialProtocol::uMarker2_ == sync_byte))
+			{
+				result = true;
+				break;
+			}
+		}
+	}
+
+	return result;
+}
+
+bool EulerNavDriver::retrieveProtocolVersionAndMessageType(Ringbuffer& buffer, uint16_t& protocol_ver, uint8_t& message_code)
+{
+	bool status{true};
+	auto bytes_to_pop{sizeof(protocol_ver)};
+
+	// Note: BAHRS uses little endian
+	if (bytes_to_pop != buffer.pop_front(reinterpret_cast<uint8_t*>(&protocol_ver), bytes_to_pop))
+	{
+		status = false;
+	}
+
+	if (status)
+	{
+		bytes_to_pop = 1;
+
+		if (bytes_to_pop != buffer.pop_front(&message_code, bytes_to_pop))
+		{
+			status = false;
+		}
+	}
+
+	return status;
+}
+
+void EulerNavDriver::decodeMessageAndPublishData(const uint8_t* data, CSerialProtocol::EMessageIds messsage_id)
+{
+	switch (messsage_id)
+	{
+	case CSerialProtocol::EMessageIds::eInertialData:
+		handleInertialDataMessage(data);
+		break;
+	case CSerialProtocol::EMessageIds::eNavigationData:
+		handleNavigationDataMessage(data);
+		break;
+	default:
+		break;
+	}
+}
+
+void EulerNavDriver::handleInertialDataMessage(const uint8_t* data)
+{
+	const CSerialProtocol::SInertialDataMessage* imu_msg{reinterpret_cast<const CSerialProtocol::SInertialDataMessage*>(data)};
+
+	if (nullptr != imu_msg)
+	{
+		const auto& imu_data{imu_msg->oInertialData_};
+		const bool accel_valid{((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_X) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_Y) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_Z) > 0)};
+
+		const bool gyro_valid{((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_X) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_Y) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_Z) > 0)};
+
+		const auto time = hrt_absolute_time();
+
+		if (accel_valid)
+		{
+			const float accel_x{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceX_)};
+			const float accel_y{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceY_)};
+			const float accel_z{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceZ_)};
+
+			_px4_accel.update(time, accel_x, accel_y, accel_z);
+		}
+
+		if (gyro_valid)
+		{
+			const float gyro_x{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateX_)};
+			const float gyro_y{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateY_)};
+			const float gyro_z{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateZ_)};
+
+			_px4_gyro.update(time, gyro_x, gyro_y, gyro_z);
+		}
+
+		++_statistics.inertial_message_counter;
+	}
+}
+
+void EulerNavDriver::handleNavigationDataMessage(const uint8_t* data)
+{
+	const CSerialProtocol::SNavigationDataMessage* nav_msg{reinterpret_cast<const CSerialProtocol::SNavigationDataMessage*>(data)};
+
+	if (nullptr != nav_msg)
+	{
+		const auto& nav_data{nav_msg->oNavigationData_};
+		const bool roll_valid{(nav_data.uValidity_ & BIT_VALID_ROLL) > 0};
+		const bool pitch_valid{(nav_data.uValidity_ & BIT_VALID_PITCH) > 0};
+		const bool yaw_valid{(nav_data.uValidity_ & BIT_VALID_MAGNETIC_HEADING) > 0};
+		const auto time{hrt_absolute_time()};
+
+		if (roll_valid && pitch_valid && yaw_valid)
+		{
+			const float roll{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.iRoll_)};
+			const float pitch{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.iPitch_)};
+			const float yaw{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.uMagneticHeading_)};
+
+			const matrix::Quaternionf quat{matrix::Eulerf{roll, pitch, yaw}};
+			px4::msg::VehicleAttitude attitude{};
+
+			attitude.q[0] = quat(0);
+			attitude.q[1] = quat(1);
+			attitude.q[2] = quat(2);
+			attitude.q[3] = quat(3);
+
+			attitude.timestamp = time;
+			attitude.timestamp_sample = time;
+
+			_attitude_pub.publish(attitude);
+		}
+
+		const bool height_valid{(nav_data.uValidity_ & BIT_VALID_HEIGHT) > 0};
+
+		if (height_valid)
+		{
+			const float height{(CSerialProtocol::skfHeightScale_ * static_cast<float>(nav_data.uPressureHeight_)) - CSerialProtocol::skfHeighOffset_};
+			px4::msg::SensorBaro pressure{};
+
+			pressure.pressure = atmosphere::getPressureFromAltitude(height);
+
+			// EULER-NAV Baro-Inertial AHRS provides height estimate from a Kalman filter. It has got low noise and resolution
+			// of about 17 cm. It causes PX4 autopilot to mistakenly report that pressure signal is stale. In order to prevent
+			// the false alarms we add a small noise to the received height data.
+			if (_statistics.navigation_message_counter % 2U == 0)
+			{
+				pressure.pressure += 0.01F;
+			}
+
+			pressure.timestamp = time;
+			pressure.timestamp_sample = time;
+			pressure.device_id = DRV_INS_DEVTYPE_BAHRS;
+			pressure.temperature = NAN;
+
+			_barometer_pub.publish(pressure);
+		}
+
+		++_statistics.navigation_message_counter;
+	}
+}
+
+int32_t EulerNavDriver::getMessageLength(CSerialProtocol::EMessageIds messsage_id)
+{
+	int message_length{-1};
+
+	switch (messsage_id)
+	{
+	case CSerialProtocol::EMessageIds::eInertialData:
+		message_length = sizeof(CSerialProtocol::SInertialDataMessage);
+		break;
+	case CSerialProtocol::EMessageIds::eNavigationData:
+		message_length = sizeof(CSerialProtocol::SNavigationDataMessage);
+		break;
+	default:
+		break;
+	}
+
+	return message_length;
+}
+
+uint32_t EulerNavDriver::crc32(const uint32_t* buffer, size_t length)
+{
+	uint32_t crc = 0xFFFFFFFF;
+
+	for (size_t i = 0; i < length; ++i)
+	{
+		crc = crc ^ buffer[i];
+
+		for (uint8_t j = 0; j < 32; j++)
+		{
+			if (crc & 0x80000000)
+			{
+				crc = (crc << 1) ^ 0x04C11DB7;
+			}
+			else
+			{
+				crc = (crc << 1);
+			}
+		}
+	}
+
+	return crc;
+}
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/Serial.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/vehicle_attitude.h>
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <uORB/topics/sensor_baro.h>
+#include <Ringbuffer.hpp>
+#include <containers/Array.hpp>
+#include "CSerialProtocol.h"
+
+class EulerNavDriver : public ModuleBase<EulerNavDriver>, public ModuleParams
+{
+public:
+	/// @brief Class constructor
+	/// @param device_name Serial port to open
+	EulerNavDriver(const char *device_name);
+
+	~EulerNavDriver();
+
+	/// @brief Required by ModuleBase
+	static int task_spawn(int argc, char *argv[]);
+
+	/// @brief Required by ModuleBase
+	static EulerNavDriver *instantiate(int argc, char *argv[]);
+
+	/// @brief Required by ModuleBase
+	static int custom_command(int argc, char *argv[]);
+
+	/// @brief Required by ModuleBase
+	static int print_usage(const char *reason = nullptr);
+
+	/// @brief Overload of the method from the ModuleBase
+	int print_status() final;
+
+	/// @brief The main loop of the task.
+	void run() final;
+
+private:
+	/// @brief Driver performance indicators
+	class Statistics
+	{
+	public:
+		uint32_t total_bytes_received{0U}; ///< Total number of received bytes
+		uint32_t inertial_message_counter{0U}; ///< Total number of received inertial data messages
+		uint32_t navigation_message_counter{0U}; ///< Total number of received navigation messages
+		uint32_t crc_failures{0U}; ///< CRC failure counter
+		hrt_abstime start_time{0U}; ///< Driver start time, [us]
+	};
+
+	/// @brief  Configuration constants
+	class Config
+	{
+	public:
+		static constexpr uint32_t TASK_STACK_SIZE{2048}; ///< Driver task stack size
+		static constexpr uint32_t SERIAL_READ_BUFFER_SIZE{128}; ///< Buffer size for serial port read operations
+		static constexpr uint32_t MIN_BYTES_TO_READ{16}; ///< Minimum number of bytes to wait for when reading from a serial port
+		static constexpr uint32_t SERIAL_READ_TIMEOUT_MS{5}; ///< A timeout for serial port read operation
+		static constexpr uint32_t DATA_BUFFER_SIZE{512}; ///< Size of a ring buffer for storing RX data stream
+		static constexpr int32_t MIN_MESSAGE_LENGTH{12}; ///< Min length of a valid message. 5 bytes header + 4 bytes CRC + padding to 12 (multiple of 32 bit words)
+	};
+
+	/// @brief An object for grouping message-related attributes
+	class NextMessageInfo
+	{
+	public:
+		bool is_detected{false}; ///< A flag to indicate that the next message header was detected
+		uint16_t protocol_version{0U}; ///< Protocol version retrieved from the next message header
+		uint8_t message_code{0U}; ///< Message code retrieved from the next message header
+	};
+
+	/// @brief Perform initialization
+	/// If the driver is not initialized, the function does the following:
+	/// 1. Opens serial port
+	/// 2. Allocates a ring buffer for RX data stream
+	/// 3. Cleans up if any of the previous operations fails
+	/// 4. Sets the "is initialized" flag to true on success
+	void initialize();
+
+	/// @brief De-initialize
+	/// The function does the following:
+	/// 1. Close the serial port, if it is opened
+	/// 2. Deallocates the ring buffer
+	/// 3. Resets the "is initialized" flag to false
+	void deinitialize();
+
+	/// @brief Process data in the ring buffer.
+	/// Extracts and parses protocol messages.
+	void processDataBuffer();
+
+	/// @brief Searches the ring buffer for sync bytes.
+	/// @param buffer Ring buffer to search
+	/// @return True if sync bytes found, false if the number of bytes remaining in the buffer is less then message header length.
+	static bool findNextMessageHeader(Ringbuffer &buffer);
+
+	/// @brief Get protocol version and message code from the ring buffer.
+	/// @param buffer The buffer to process
+	/// @param protocol_ver Output protocol version
+	/// @param message_code Output message code
+	/// @return True on success, false on failure
+	static bool retrieveProtocolVersionAndMessageType(Ringbuffer &buffer, uint16_t &protocol_ver, uint8_t &message_code);
+
+	/// @brief Decode a message from BAHRS and publish its content.
+	/// @param data An array of message bytes
+	/// @param messsage_id Message ID
+	void decodeMessageAndPublishData(const uint8_t *data, CSerialProtocol::EMessageIds messsage_id);
+
+	/// @brief Decode and publish IMU data.
+	/// @param data Inertial message data bytes
+	void handleInertialDataMessage(const uint8_t *data);
+
+	/// @brief Decode and publish vehicle attitude and pressure height.
+	/// @param data Navigation message data bytes
+	void handleNavigationDataMessage(const uint8_t *data);
+
+	/// @brief Get message length by message ID
+	/// @param messsage_id Query message ID
+	/// @return Message length, or -1 if the message ID is unknown or not supported.
+	static int32_t getMessageLength(CSerialProtocol::EMessageIds messsage_id);
+
+	/// @brief Perform CRC
+	/// @param buf Data buffer pointer
+	/// @param len Number of words to include in the CRC.
+	/// @return CRC value
+	static uint32_t crc32(const uint32_t *buf, size_t len);
+
+	device::Serial _serial_port; ///< Serial port object to read data from
+	Ringbuffer _data_buffer; ///< A buffer for RX data stream
+	uint8_t _serial_read_buffer[Config::SERIAL_READ_BUFFER_SIZE]; ///< A buffer for serial port read operation
+	uint32_t _message_storage[8]; ///< A temporary storage for BAHRS messages being extracted
+	NextMessageInfo _next_message_info{}; ///< Attributes of the next message detected in the data buffer
+	Statistics _statistics{}; ///< Driver performance indicators
+	bool _is_initialized{false}; ///< Initialization flag
+	PX4Accelerometer _px4_accel; ///< Accelerometer sensor object for publishing acceleration data
+	PX4Gyroscope _px4_gyro; ///< Gyroscope sensor object for publishing angular rate data
+	uORB::PublicationMulti<px4::msg::VehicleAttitude> _attitude_pub{ORB_ID(vehicle_attitude)}; ///< Vehicle attitude publisher
+	uORB::PublicationMulti<px4::msg::SensorBaro> _barometer_pub{ORB_ID(sensor_baro)}; ///< Pressure data publisher
+};
@@ -0,0 +1,7 @@
+module_name: EULER-NAV BAHRS
+
+serial_config:
+    - command: eulernav_bahrs start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_BAHRS_CFG
+        group: Sensors
@@ -19,6 +19,16 @@ actuator_output:
 parameters:
  - group: Actuator Outputs
    definitions:
+      PCA9685_EN_BUS:
+        description:
+          short: Enable the PCA9685 output driver
+          long: |
+            Enable the PCA9685 output driver.
+            The integer refers to the I2C bus number where PCA9685 is connected.
+        type: int32
+        min: 0
+        max: 10
+        default: 0
      PCA9685_SCHD_HZ:
        description:
          short: PWM update rate
@@ -96,7 +96,7 @@ UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned to

 	_prev_cmd_pub = timestamp;

-	uavcan::equipment::esc::RawCommand msg;
+	uavcan::equipment::esc::RawCommand msg = {};

 	// directly output values from mixer
 	for (unsigned i = 0; i < total_outputs; i++) {
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
chfriedrich98	79043dd5c7	boat: add module for rudder-steered boats	2025-09-05 13:48:57 +02:00
chfriedrich98	9c38602c12	sv: rename rover parameters to surface vehicle	2025-09-05 13:48:17 +02:00
chfriedrich98	fb05dedb7b	sv: extend rover control lib to surface vehicles	2025-09-05 13:28:30 +02:00
chfriedrich98	ae65b33ba0	rover: apply sp renaming to rover modules	2025-09-05 08:41:59 +02:00
chfriedrich98	7670989769	sv: rename rover sp to surface vehicle	2025-09-05 08:27:58 +02:00
alexklimaj	89c6d24946	Update GPS submodule	2025-09-04 17:02:31 -06:00
Alex Klimaj	af6bf931c1	uavcan bootloader watchdog_pet during long flashes (#25523 )	2025-09-04 12:20:03 -08:00
fbaklanov	fc8e2021e7	A driver for EULER-NAV Baro-Inertial AHRS (#24534 ) * Create a dummy BAHRS driver * Resolve compilation * Switch back to cpp, fix compilation * Create module.yaml * Implement required module APIs and open serial port * Revise info and error messages * Poll serial port * Push received bytes into the ring buffer * Process data buffer (1) * Process data buffer (2) * Process data buffer (3) * Process data buffer (4) * Process data buffer (5) * Process data buffer (6) * Implement and use initialize() and deinitialize() methods * Implement print_usage() and print_status() * Collect all config constants in a class * Put info about next found message into a class * Print CRC failure count * Remove unneeded print * Add comments * Disable EKF2, advertise vehicle attitude * Decode and publish BAHRS signals (1) * Run the driver as an additional source of sensor signals * Add tiny noise to baro-inertial pressure signal * Fix the sensor ID * Add copyrights * Fix formatting * Remove redundant newline character * Fix long parameter name * Fix findings (1) * Fix finding (2) * Fix formatting * Fix the timeout value * Remove aliases * Fix copyright * Fix indent * Comply with naming convention * Rework comparison to false * Reduce nesting (1) * Reduce nesting (2) * Reduce nesting (3) * Fix BAHRS sensor ID	2025-09-04 09:31:36 -08:00
Silvan Fuhrer	e6f60ef403	Sensors: remove some distance sensors from COMMON_DISTANCE_SENSOR again (#25522 ) * distance sensors common: remove DISTANCE_SENSOR_TERARANGER Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * distance sensors common: remove DISTANCE_SENSOR_CM8JL65 Signed-off-by: Silvan Fuhrer <silvan@auterion.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-09-04 09:28:37 -08:00
Pedro Roque	944b3e763a	doc: Change email for Pedro Roque (#25514 )	2025-09-02 16:07:55 -08:00
Pedro Roque	271cb49597	feat: airframe documentation for spacecraft (#25294 )	2025-09-02 16:27:26 -07:00
Alexander Lerach	9015001b42	uavcan: fix driver init after stop/start (#25511 )	2025-09-02 10:02:15 -08:00
Silvan	ce207837cf	rc.sensors: add iis2mdc mag to list of probed for sensors Signed-off-by: Silvan <silvan@auterion.com>	2025-09-02 10:16:32 -06:00
Niklas Hauser	3a734bc846	[board] Add PCA9685 driver to FMUv6s board	2025-08-29 14:05:40 +02:00
Niklas Hauser	9062d0cc7d	[driver] Add a parameter to enable the PCA9685 driver	2025-08-29 14:05:40 +02:00
Niklas Hauser	b2b80e8075	[board] Reformat FMUv6s init script to start internal sensor first	2025-08-29 14:05:40 +02:00
Balduin	2eac6cca38	dds_topics: accept landing_gear command from external modes (#25496 )	2025-08-28 08:30:27 -08:00
Claudio Chies	fe1abb5b92	the PR has long been merged (#25495 )	2025-08-28 08:28:44 -08:00
Marco Hauswirth	073013cf85	reset terrain w flow based on current horizontal velocity	2025-08-28 13:58:29 +02:00
Silvan Fuhrer	547582b16b	DSHOT: fix unit for DSHOT_MIN parameter (#25493 ) Signed-off-by: Silvan <silvan@auterion.com>	2025-08-27 09:21:16 -08:00
Alexander Lerach	8f2c36689d	logging: allow logging backend config * logging: allow logging backend config * correct board comments * documentation: updated logging section	2025-08-27 15:44:36 +02:00
Jacob Dahl	30fcb4fcb1	uavcan: esc: init msg to avoid publishing random values (#25485 )	2025-08-27 17:09:36 +12:00
Davide Iafrate	ec436d3be3	Enable selectively disabling sensors in the Gazebo bridge. (#25484 ) * Initial plan * Add configurable sensor subscription parameters Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com>	2025-08-26 10:00:47 -08:00
Beat Küng	6ec8dec63a	commander: add valid_registrations_mask to ArmingCheckRequest.msg This allows external modes to individually check if they are flagged as invalid/unresponsive. Previously this was done only based on whether or not ArmingCheckRequest was received, which does not work when multiple modes are running.	2025-08-26 14:38:05 +02:00
Beat Küng	edfcdaa008	commander: check for stale arming_check_reply messages based on the message timestamp. Previously it was possible to run into the following case: - 2 external modes are registered (running inside the same ROS node) - they time out due to the micro xrce agent being blocked for some reason - PX4 removes them - the latest arming check replies still arrive to PX4 - the application restarts - the first mode gets registered - PX4 handles the previous arming check reply, and clears waiting_for_first_response, which reduces the timeout - the second mode registers and as part of that checks for message compatibility. This takes ~1s, triggering a timeout of the first mode	2025-08-26 14:38:05 +02:00
Silvan	a1ee9eb2c4	mavlink: remove streams from LOW_BANDWIDTH that are deprecated Signed-off-by: Silvan <silvan@auterion.com>	2025-08-25 17:34:34 +02:00
bresch	4a697d0191	ekf2: stop GNSS altittude and velocity aiding when gnss_fault is set	2025-08-25 10:22:23 +02:00
mahima-yoga	db3f33760e	docs: add instructions for controlling actuators in SIH	2025-08-25 09:28:43 +02:00
mahima-yoga	dd09cdf986	Commander: remove HIL_STATE_ON from arming lockdown Removing this from the boolean allows users to send pwm values in SIH.	2025-08-25 09:28:43 +02:00
chfriedrich98	4a5eabb61e	rover: constrain update steps	2025-08-22 12:13:01 +02:00
chfriedrich98	248f113141	rover: improve hold position logic (#25466 )	2025-08-22 12:10:16 +02:00
Peter van der Perk	c1d15d0e09	Zenoh: use strncpy and bool	2025-08-22 08:22:59 +02:00
Peter van der Perk	8689c00be7	Zenoh: cleanup and review	2025-08-22 08:22:59 +02:00
Peter van der Perk	17e843a985	zenoh: remove MessageFormat since Zenoh RIHS01 already provides it RIHS01 has the same functionality and already provides type safety with rmw_zenoh_cpp. The user on ROS2 can compare the PX4 ros2_lv hashes with their own px4_msgs for a mismatch	2025-08-22 08:22:59 +02:00
Peter van der Perk	44ff6d9c62	zenoh: exclude src/modules/zenoh/dds_topics.yaml from yaml check	2025-08-22 08:22:59 +02:00
Peter van der Perk	747bcc9db5	zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h Allows for re-use for later ROS2 Service / Zenoh queryable	2025-08-22 08:22:59 +02:00
Benjamin Chung	c41216376a	Add an explicatory comment to Zenoh publisher's handling of the uOrb topic number (or lack thereof)	2025-08-22 08:22:59 +02:00
Benjamin Chung	88c1412d25	Zenoh CLI improvements	2025-08-22 08:22:59 +02:00
Benjamin Chung	01bf700f3d	Fix dds topics naming	2025-08-22 08:22:59 +02:00
Benjamin Chung	0bb9e5952a	Pubsub constructor template fix	2025-08-22 08:22:59 +02:00
Benjamin Chung	70054fc567	Implement instance selection & pub/sub deletion for Zenoh	2025-08-22 08:22:59 +02:00
Benjamin Chung	7a98c87fcb	Copy the uxrce config for Zenoh	2025-08-22 08:22:59 +02:00
Benjamin Chung	80b5cf2ed7	Prevent conversion warnings from static integers in zenoh-pico	2025-08-22 08:22:59 +02:00
Peter van der Perk	9ffd31097d	zenoh: Use CDRv1 to match ROS2 Fixes various padding related serialization issues.	2025-08-22 08:22:59 +02:00
Peter van der Perk	f99759db87	zenoh: Fix status keyexpr printf	2025-08-22 08:22:59 +02:00
Peter van der Perk	231128c68e	Zenoh set transport lease to 60000 to match ros2	2025-08-22 08:22:59 +02:00
Peter van der Perk	5622565eea	Zenoh optimize memory usage and add optional publish on matching	2025-08-22 08:22:59 +02:00
Peter van der Perk	7887f16daa	Update NuttX config for use with Zenoh	2025-08-22 08:22:59 +02:00
Peter van der Perk	0763bbe2cf	Generate default Zenoh config from dds_topics.yaml For easy transition from uxrce to zenoh and a sane base config to begin with	2025-08-22 08:22:59 +02:00
Peter van der Perk	bac009c2b8	Enable Zenoh by default on big-flash targets These targets can easily support Zenoh by default eases adoption and testing	2025-08-22 08:22:59 +02:00
Peter van der Perk	ac2627cca9	rmw attachment serialization changes Use new atachment serialization format Subscriber fix parsing payload and remove uorb publisher on destructor	2025-08-22 08:22:59 +02:00
Peter van der Perk	61e2f566ca	Zenoh config, lv and connection fixes Fixes a bug in the csv parsing Use % for / seperators in ros2_lv On startup retry connecting	2025-08-22 08:22:59 +02:00
Peter van der Perk	3d30eaae5f	Fix NuttX keepalive socketoption	2025-08-22 08:22:59 +02:00
Peter van der Perk	e052f35664	zenoh: omit timestamp attachment This isn't needed for the rmw_zenoh zenohd configuration	2025-08-22 08:22:59 +02:00
Peter van der Perk	2bc9cb4ead	zenoh: implemement experimental liveliness to get ROS2 graph to work	2025-08-22 08:22:59 +02:00
Peter van der Perk	5211d9c92e	zenoh: pubsub factory fix datatype naming convention	2025-08-22 08:22:59 +02:00
Peter van der Perk	575923b534	Zenoh: fix topic_name and datatype mapping Using substring was buggy instad we make dictionary based on datatypes and the get_topics function	2025-08-22 08:22:59 +02:00
Peter van der Perk	e37f20e94d	zenoh: Don't use uORB o_name as type but check for parent type For example vehicle_local_position_groundtruth has ROS2 type vehicle_local_position, so we've to use px4_msgs/VehicleLocalPosition as typename	2025-08-22 08:22:59 +02:00
Peter van der Perk	cb74cee970	zenoh: Increase CDR safety margin Figure out by trial and error with padding on vehicle_local_position	2025-08-22 08:22:59 +02:00
Peter van der Perk	70536766db	zenoh: Handle parsing errors in config	2025-08-22 08:22:59 +02:00
Peter van der Perk	40bba0069d	zenoh: Fix handling for non-existing types	2025-08-22 08:22:59 +02:00
Peter van der Perk	35004e357c	zenoh: Add px4_sitl_zenoh to cmake-variants.yaml	2025-08-22 08:22:59 +02:00
Peter van der Perk	923257779a	zenoh: Default to 127.0.0.1 when using sitl/posix Also improve error message when connection failed	2025-08-22 08:22:59 +02:00
Peter van der Perk	a24b3a121c	zenoh: Improve error message when there are no scouting results	2025-08-22 08:22:59 +02:00
Peter van der Perk	85cab5a4db	sitl: autostart zenoh if enabled	2025-08-22 08:22:59 +02:00
Peter van der Perk	859ba81e33	Zenoh fix gcc/sitl compile errors	2025-08-22 08:22:59 +02:00
Peter van der Perk	4aff095f9b	IDL 2 RIHS01 remove tempfile and print	2025-08-22 08:22:59 +02:00
Peter van der Perk	796efeebe7	Implement Domain id parameter and move gid to zenoh	2025-08-22 08:22:59 +02:00
Peter van der Perk	9d02698987	Update Zenoh for library and implement rmw_zenoh features New zenoh-pico library Keyexpr instrospection RIHS01 Types	2025-08-22 08:22:59 +02:00
Peter van der Perk	e1a7fbce71	Update cdrstream code generator including typehash	2025-08-22 08:22:59 +02:00
Peter van der Perk	a87456b38b	Update rosidl Adds support for typehashes	2025-08-22 08:22:59 +02:00
Peter van der Perk	33a5122916	Update Zenoh-pico	2025-08-22 08:22:59 +02:00
ljarvela	b53ecf7f68	uavcan: increase battery filter sample interval to 500ms (#25454 ) Fixes issue #25430 Co-authored-by: Lasse Järvelä <lasse.jarvela@iceye.com>	2025-08-21 19:19:52 -07:00
Alexander Lerach	138427b3a8	config: add dynamic init file * config: add dynamic init file * added review feedback * added docs	2025-08-21 16:46:06 +02:00
Alexander Lerach	785ea1a137	ubx: add new mode for GCS usage * ubx: add new mode for GCS usage * use head ref	2025-08-21 15:45:40 +02:00
chfriedrich98	8e5cd59502	rover: fix setpoint generation	2025-08-21 13:33:19 +02:00
Beat Küng	df11aa1d69	fix commander: handle mode executor correctly on disarm There were a number of cases where the state was not correct or not as desired after disarming, when running an external mode 'MyMission' with executor: - run MyMission, which triggers Hold, then Land - before: Mode: Hold, executor_in_charge: 1 - after: Mode: MyMission, executor_in_charge: 1 - run MyMission, then user switches to RTL - before: Mode: MyMission, executor_in_charge: 0 - after: Mode: MyMission, executor_in_charge: 1 - run MyMission, then while in Hold mode, low battery failsafe (RTL) - before: Mode: Hold, executor_in_charge: 1 - after: Mode: MyMission, executor_in_charge: 1 - run MyMission, then stop external mode (terminate the process) - before: Mode: (mode not available), executor_in_charge: 0 - after: Mode: Hold, executor_in_charge: 0 This case is unchanged: - run MyMission, then low battery failsafe (RTL) - before: Mode: MyMission, executor_in_charge: 1 - after: Mode: MyMission, executor_in_charge: 1	2025-08-21 10:06:30 +02:00