* parameter renaming

* move hor-motion check to method

.vscode/cmake-variants.yaml

@@ -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

Kconfig

@@ -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"

Makefile

@@ -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/*" \

ROMFS/CMakeLists.txt

@@ -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")

ROMFS/cannode/init.d/rcS

@@ -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.
 #

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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

ROMFS/px4fmu_common/init.d/rcS

@@ -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.
 	#

Tools/msg/templates/cdrstream/uorb_idl_header.h.em

@@ -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
 }

Tools/zenoh/px_generate_zenoh_topic_files.py

@@ -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')

Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em

@@ -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;

boards/airmind/mindpx-v2/default.px4board

@@ -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

boards/atl/mantis-edu/default.px4board

@@ -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

boards/av/x-v1/default.px4board

@@ -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

boards/cuav/x7pro/test.px4board

@@ -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

boards/cubepilot/cubeorange/default.px4board

@@ -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

boards/cubepilot/cubeorangeplus/default.px4board

@@ -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

boards/cubepilot/cubeyellow/default.px4board

@@ -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

boards/hkust/nxt-dual/default.px4board

@@ -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

boards/hkust/nxt-v1/default.px4board

@@ -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

boards/holybro/pix32v5/default.px4board

@@ -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

boards/micoair/h743-v2/default.px4board

@@ -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

boards/modalai/fc-v1/default.px4board

@@ -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

boards/modalai/fc-v2/default.px4board

@@ -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

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -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

boards/mro/ctrl-zero-f7/default.px4board

@@ -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

boards/mro/x21-777/default.px4board

@@ -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

boards/mro/x21/default.px4board

@@ -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

boards/narinfc/h7/test.px4board

@@ -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

boards/nxp/mr-canhubk3/default.px4board

@@ -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

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -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

boards/nxp/mr-canhubk3/zenoh.px4board

@@ -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

boards/nxp/tropic-community/default.px4board

@@ -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

boards/nxp/tropic-community/nuttx-config/nsh/defconfig

@@ -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

boards/px4/fmu-v2/default.px4board

@@ -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

boards/px4/fmu-v3/default.px4board

@@ -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

boards/px4/fmu-v4/default.px4board

@@ -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

boards/px4/fmu-v4pro/default.px4board

@@ -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

boards/px4/fmu-v5/default.px4board

@@ -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

boards/px4/fmu-v5x/default.px4board

@@ -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

boards/px4/fmu-v6xrt/default.px4board

@@ -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

boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig

@@ -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

boards/sky-drones/smartap-airlink/default.px4board

@@ -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

boards/thepeach/k1/default.px4board

@@ -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

boards/thepeach/r1/default.px4board

@@ -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

boards/uvify/core/default.px4board

@@ -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

boards/x-mav/ap-h743v2/default.px4board

@@ -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

boards/xc-fly/xc-slam/default.px4board

@@ -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

boards/xc-fly/xc-slim/default.px4board

@@ -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

cmake/kconfig.cmake

@@ -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()

docs/en/concept/system_startup.md

@@ -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
+  ```

docs/en/sim_sih/index.md

@@ -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:

msg/CMakeLists.txt

@@ -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"

msg/EstimatorStatusFlags.msg

@@ -49,6 +49,7 @@ bool cs_valid_fake_pos          # 41 - true if a valid constant position is bein
 bool cs_constant_pos            # 42 - true if the vehicle is at a constant position
 bool cs_baro_fault	        # 43 - true when the current baro has been declared faulty and is no longer being used
 bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion is intended
+bool cs_rng_kin_unknown      	# 45 - true when the range finder kinematic consistency check is not running
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes

msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg

@@ -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.

msg/translation_node/translations/all_translations.h

@@ -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"

msg/translation_node/translations/translation_arming_check_request_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);

msg/versioned/ArmingCheckRequest.msg

@@ -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)

platforms/nuttx/init/rc.board_bootloader_upgrade.in

@@ -1,7 +1,7 @@
 #! /bin/sh
 
 #
-# Bootloader upgrade (ROMFS)
+# Bootloader upgrade
 #
 if param compare -s SYS_BL_UPDATE 1
 then

src/drivers/gps/devices

@@ -1 +1 @@
-Subproject commit f31394a37e252e3017e64f729312bcce05ea3a90
+Subproject commit ce0afaeca23a3b88efcf52d47c82277839980f9d

src/drivers/gps/gps.cpp

@@ -759,6 +759,10 @@ GPS::run()
 			ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
 			break;
 
+		case 6:
+			ubx_mode = GPSDriverUBX::UBXMode::GroundControlStation;
+			break;
+
 		default:
 			break;
 

src/drivers/gps/params.c

@@ -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

src/drivers/uavcan/sensors/battery.hpp

@@ -118,7 +118,7 @@ private:
 	static constexpr int BATTERY_INDEX_2 = 2;
 	static constexpr int BATTERY_INDEX_3 = 3;
 	static constexpr int BATTERY_INDEX_4 = 4;
-	static constexpr int SAMPLE_INTERVAL_US = 20_ms; // assume higher frequency UAVCAN feedback than 50Hz
+	static constexpr int SAMPLE_INTERVAL_US = 500_ms; // Typical message rate for a CAN battery monitor should be 2-5Hz.
 
 	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");
 

src/lib/cdrstream/idl2rihs01.py

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+
+############################################################################
+#
+#   Copyright (C) 2023 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.
+#
+############################################################################
+
+import argparse
+import pathlib
+import sys
+import os
+import tempfile
+import json
+
+try:
+    from rosidl_generator_type_description import generate_type_hash
+except ImportError:
+    # modifying sys.path and importing the Python package with the same
+    # name as this script does not work on Windows
+    rosidl_generator_type_description_root = os.path.dirname(os.path.dirname(__file__))
+    rosidl_generator_type_description_module = os.path.join(
+        rosidl_generator_type_description_root, 'rosidl_generator_type_description', '__init__.py')
+    if not os.path.exists(rosidl_generator_type_description_module):
+        raise
+    from importlib.machinery import SourceFileLoader
+
+    loader = SourceFileLoader('rosidl_generator_type_description', rosidl_generator_type_description_module)
+    rosidl_generator_type_description = loader.load_module()
+    generate_type_hash = rosidl_generator_type_description.generate_type_hash
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        description=f'Convert px4 .idl files to rihs01')
+    parser.add_argument(
+        'interface_files', nargs='+',
+        help='The interface files to convert')
+    parser.add_argument(
+        '--output-dir', '-o',
+         help='The directory to save converted files (default: current directory)')
+    args = parser.parse_args(sys.argv[1:])
+
+    # So for some odd reason rosidl doesn't do proper cli arguments but believes
+    # that some magically crafted json is better
+
+    idl_files = []
+
+    type_hash_arguments = {}
+    type_hash_arguments['package_name'] = "px4_msgs"
+    type_hash_arguments['output_dir'] = args.output_dir
+    type_hash_arguments["idl_tuples"] = idl_files
+
+    for interface_file in args.interface_files:
+        # So file path need to be magically encoded with a : to let the parser do its thing
+
+        interface_file = str(pathlib.Path(interface_file)).replace("px4/msg", "px4:msg")
+        idl_files.append(interface_file)
+
+    json_file = tempfile.NamedTemporaryFile(mode="w+")
+    json.dump(type_hash_arguments, json_file)
+    json_file.flush()
+
+    generate_type_hash(json_file.name)

src/lib/cdrstream/msg2idl.py

@@ -52,6 +52,6 @@ if __name__ == '__main__':
         package_dir = interface_file.parent.absolute()
 
         convert_msg_to_idl(
-            package_dir, 'px4',
+            package_dir, 'px4_msgs',
             interface_file.absolute().relative_to(package_dir),
             interface_file.parent)

src/lib/cdrstream/rosidl

@@ -1 +1 @@
-Subproject commit 7790c70717e09c003711f6f65015666c223fc283
+Subproject commit bf5682e4747843d1d5133b9a2b54ce6f12f166c7

src/lib/systemlib/system_params.c

@@ -286,9 +286,6 @@ PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0);
  * @reboot_required true
  *
  * @group System
- * @value 0 No bootloader update is performed
- * @value 1 Bootloader update will be performed (using binary in ROMFS)
- * @value 2 Bootloader update will be performed (using binary in /fs/microsd/bl/bl.bin)
  */
 PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);
 

src/modules/commander/Commander.cpp

@@ -1895,8 +1895,7 @@ void Commander::run()
 		_actuator_armed.armed = isArmed();
 		_actuator_armed.prearmed = getPrearmState();
 		_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
-		_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
-					    || _multicopter_throw_launch.isThrowLaunchInProgress());
+		_actuator_armed.lockdown = _multicopter_throw_launch.isThrowLaunchInProgress();
 		// _actuator_armed.kill // action_request_s::ACTION_KILL
 		_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
 		// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION

src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp

@@ -229,8 +229,10 @@ void ExternalChecks::update()
 	int max_num_updates = arming_check_reply_s::ORB_QUEUE_LENGTH;
 
 	while (_arming_check_reply_sub.update(&reply) && --max_num_updates >= 0) {
-		if (reply.registration_id < MAX_NUM_REGISTRATIONS && registrationValid(reply.registration_id)
-		    && _current_request_id == reply.request_id) {
+		const bool valid = reply.registration_id < MAX_NUM_REGISTRATIONS && registrationValid(reply.registration_id);
+		const bool timed_out = now > reply.timestamp + 300_ms;
+
+		if (!timed_out && valid && _current_request_id == reply.request_id) {
 			_reply_received_mask |= 1u << reply.registration_id;
 			_registrations[reply.registration_id].num_no_response = 0;
 			_registrations[reply.registration_id].waiting_for_first_response = false;
@@ -291,6 +293,15 @@ void ExternalChecks::update()
 		arming_check_request_s request{};
 		request.request_id = ++_current_request_id;
 		request.timestamp = hrt_absolute_time();
+		request.valid_registrations_mask = _active_registrations_mask;
+
+		// Clear unresponsive ones
+		for (int i = 0; i < MAX_NUM_REGISTRATIONS; ++i) {
+			if (_registrations[i].unresponsive) {
+				request.valid_registrations_mask &= ~(1u << i);
+			}
+		}
+
 		_arming_check_request_pub.publish(request);
 	}
 }

src/modules/commander/ModeManagement.cpp

@@ -473,6 +473,29 @@ uint8_t ModeManagement::getReplacedModeIfAny(uint8_t nav_state)
 	return nav_state;
 }
 
+uint8_t ModeManagement::onDisarm(uint8_t stored_nav_state)
+{
+	// Switch to the owned mode if an executor is active
+	uint8_t returned_nav_state = stored_nav_state;
+
+	if (_mode_executors.valid(_mode_executor_in_charge)) {
+		returned_nav_state = _mode_executors.executor(_mode_executor_in_charge).owned_nav_state;
+	}
+
+	// Switch to Hold if the mode is unresponsive
+	if (_modes.valid(returned_nav_state)) {
+		if (_external_checks.isUnresponsive(_modes.mode(returned_nav_state).arming_check_registration_id)) {
+			returned_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
+		}
+	}
+
+	// Update _mode_executor_in_charge if needed (in case stored_nav_state belongs to an executor
+	// that is currently not active)
+	onUserIntendedNavStateChange(ModeChangeSource::User, returned_nav_state);
+
+	return returned_nav_state;
+}
+
 void ModeManagement::removeModeExecutor(int mode_executor_id)
 {
 	if (mode_executor_id == -1) {

src/modules/commander/ModeManagement.hpp

@@ -153,6 +153,8 @@ public:
 	void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override;
 	uint8_t getReplacedModeIfAny(uint8_t nav_state) override;
 
+	uint8_t onDisarm(uint8_t stored_nav_state) override;
+
 	uint8_t getNavStateReplacementIfValid(uint8_t nav_state, bool report_error = true);
 
 	bool updateControlMode(uint8_t nav_state, vehicle_control_mode_s &control_mode) const;
@@ -209,6 +211,7 @@ public:
 
 	void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override {}
 	uint8_t getReplacedModeIfAny(uint8_t nav_state) override { return nav_state; }
+	uint8_t onDisarm(uint8_t stored_nav_state) override { return stored_nav_state; }
 
 	uint8_t getNavStateReplacementIfValid(uint8_t nav_state, bool report_error = true) { return nav_state; }
 

src/modules/commander/UserModeIntention.cpp

@@ -92,5 +92,10 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource
 
 void UserModeIntention::onDisarm()
 {
-	_user_intented_nav_state = _nav_state_after_disarming;
+	if (_handler) {
+		_user_intented_nav_state = _handler->onDisarm(_nav_state_after_disarming);
+
+	} else {
+		_user_intented_nav_state = _nav_state_after_disarming;
+	}
 }

src/modules/commander/UserModeIntention.hpp

@@ -53,6 +53,8 @@ public:
 	 * @return nav_state or the mode that nav_state replaces
 	 */
 	virtual uint8_t getReplacedModeIfAny(uint8_t nav_state) = 0;
+
+	virtual uint8_t onDisarm(uint8_t stored_nav_state) = 0;
 };
 
 

src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp

@@ -76,18 +76,11 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 						measurement_var + bias_est.getBiasVar(),
 						math::max(_params.ekf2_gps_p_gate, 1.f));
 
-		// update the bias estimator before updating the main filter but after
-		// using its current state to compute the vertical position innovation
-		if (measurement_valid) {
-			bias_est.setMaxStateNoise(sqrtf(measurement_var));
-			bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd);
-			bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
-		}
-
 		// determine if we should use height aiding
 		const bool common_conditions_passing = measurement_valid
 						       && _local_origin_lat_lon.isInitialized()
-						       && _gnss_checks.passed();
+						       && _gnss_checks.passed()
+						       && !_control_status.flags.gnss_fault;
 
 		const bool continuing_conditions_passing = (_params.ekf2_gps_ctrl & static_cast<int32_t>(GnssCtrl::VPOS))
 				&& common_conditions_passing;
@@ -103,6 +96,12 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 		if (_control_status.flags.gps_hgt) {
 			if (continuing_conditions_passing) {
 
+				// update the bias estimator before updating the main filter but after
+				// using its current state to compute the vertical position innovation
+				bias_est.setMaxStateNoise(sqrtf(measurement_var));
+				bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd);
+				bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
+
 				fuseVerticalPosition(aid_src);
 
 				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);

src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

@@ -123,7 +123,8 @@ void Ekf::controlGnssVelFusion(estimator_aid_source3d_s &aid_src, const bool for
 {
 	const bool continuing_conditions_passing = (_params.ekf2_gps_ctrl & static_cast<int32_t>(GnssCtrl::VEL))
 			&& _control_status.flags.tilt_align
-			&& _control_status.flags.yaw_align;
+			&& _control_status.flags.yaw_align
+			&& !_control_status.flags.gnss_fault;
 	const bool starting_conditions_passing = continuing_conditions_passing && _gnss_checks.passed();
 
 	if (_control_status.flags.gnss_vel) {

src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp

@@ -36,56 +36,157 @@
  */
 
 #include <aid_sources/range_finder/range_finder_consistency_check.hpp>
+#include "ekf_derivation/generated/range_validation_filter_h.h"
+#include "ekf_derivation/generated/range_validation_filter_P_init.h"
 
-void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_var, float vz, float vz_var,
-		bool horizontal_motion, uint64_t time_us)
+using namespace matrix;
+
+void RangeFinderConsistencyCheck::init(const float z, const float z_var, const float dist_bottom,
+				       const float dist_bottom_var)
 {
-	if (horizontal_motion) {
-		_time_last_horizontal_motion = time_us;
-	}
+	_P = sym::RangeValidationFilterPInit(z_var, dist_bottom_var);
+	_Ht = sym::RangeValidationFilterH<float>();
 
+	_x(RangeFilter::z.idx) = z;
+	_x(RangeFilter::terrain.idx) = z - dist_bottom;
+	_initialized = true;
+	_test_ratio_lpf.reset(0.f);
+	_t_since_first_sample = 0.f;
+	_state = KinematicState::kUnknown;
+}
+
+void RangeFinderConsistencyCheck::update(const float z, const float z_var, const float vz, const float vz_var,
+		const float dist_bottom, const float dist_bottom_var, const uint64_t time_us)
+{
 	const float dt = static_cast<float>(time_us - _time_last_update_us) * 1e-6f;
 
-	if ((_time_last_update_us == 0)
-	    || (dt < 0.001f) || (dt > 0.5f)) {
+	if (dt > _kTestRatioLpfTimeConstant || _landed) {
 		_time_last_update_us = time_us;
-		_dist_bottom_prev = dist_bottom;
+		_initialized = false;
+		return;
+
+	} else if (!_initialized) {
+		init(z, z_var, dist_bottom, dist_bottom_var);
 		return;
 	}
 
-	const float vel_bottom = (dist_bottom - _dist_bottom_prev) / dt;
-	_innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down
-
-	// Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2
-	const float var = 2.f * dist_bottom_var / (dt * dt);
-	_innov_var = var + vz_var;
-
-	const float normalized_innov_sq = (_innov * _innov) / _innov_var;
-	_test_ratio = normalized_innov_sq / (_gate * _gate);
-	_signed_test_ratio_lpf.setParameters(dt, _signed_test_ratio_tau);
-	const float signed_test_ratio = matrix::sign(_innov) * _test_ratio;
-	_signed_test_ratio_lpf.update(signed_test_ratio);
-
-	updateConsistency(vz, time_us);
-
+	// prediction step
 	_time_last_update_us = time_us;
-	_dist_bottom_prev = dist_bottom;
+	_x(RangeFilter::z.idx) -= dt * vz;
+	_P(RangeFilter::z.idx, RangeFilter::z.idx) += dt * dt * vz_var;
+	_P(RangeFilter::terrain.idx, RangeFilter::terrain.idx) += _terrain_process_noise;
+
+	// iterate through both measurements (z and dist_bottom)
+	const Vector2f measurements{z, dist_bottom};
+
+	for (int measurement_idx = 0; measurement_idx < 2; measurement_idx++) {
+
+		// dist_bottom
+		Vector2f H = _Ht;
+		float R = dist_bottom_var;
+
+		// z, direct state measurement
+		if (measurement_idx == 0) {
+			H(RangeFilter::z.idx) = 1.f;
+			H(RangeFilter::terrain.idx) = 0.f;
+			R = z_var;
+
+		}
+
+		// residual
+		const float measurement_pred = H * _x;
+		const float y = measurements(measurement_idx) - measurement_pred;
+
+		// for H as col-vector:
+		// innovation variance S = H^T * P * H + R
+		// kalman gain K = P * H / S
+		const float S = (H.transpose() * _P * H + R)(0, 0);
+		Vector2f K = (_P * H / S);
+
+		if (measurement_idx == 0) {
+			K(RangeFilter::z.idx) = 1.f;
+
+		} else if (measurement_idx == 1) {
+			_innov = y;
+			const float test_ratio = fminf(sq(y) / (sq(_gate) * S), 4.f); // limit to 4 to limit sensitivity to outliers
+			_test_ratio_lpf.update(test_ratio, dt);
+		}
+
+		// update step
+		_x(RangeFilter::z.idx)       += K(RangeFilter::z.idx) * y;
+		_x(RangeFilter::terrain.idx) += K(RangeFilter::terrain.idx) * y;
+
+		// covariance update with Joseph form:
+		// P = (I - K H) P (I - K H)^T + K R K^T
+		Matrix2f I;
+		I.setIdentity();
+		Matrix2f IKH = I - K.multiplyByTranspose(H);
+		_P = IKH * _P * IKH.transpose() + (K * R).multiplyByTranspose(K);
+	}
+
+	evaluateState(dt, vz, vz_var);
 }
 
-void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
+void RangeFinderConsistencyCheck::evaluateState(const float dt, const float vz, const float vz_var)
 {
-	if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
-		if ((time_us - _time_last_horizontal_motion) > _signed_test_ratio_tau) {
-			_is_kinematically_consistent = false;
-			_time_last_inconsistent_us = time_us;
+	// let the filter settle before starting the consistency check
+	if (_t_since_first_sample > _kTestRatioLpfTimeConstant) {
+		if (fabsf(_test_ratio_lpf.getState()) < 1.f) {
+			const bool vertical_motion = sq(vz) > fmaxf(vz_var, 0.1f);
+
+			if (!_horizontal_motion && vertical_motion) {
+				_state = KinematicState::kConsistent;
+
+			} else if (_state == KinematicState::kConsistent || vertical_motion) {
+				_state = KinematicState::kUnknown;
+			}
+
+		} else {
+			_t_since_first_sample = 0.f;
+			_state = KinematicState::kInconsistent;
 		}
 
 	} else {
-		if ((fabsf(vz) > _min_vz_for_valid_consistency)
-		    && (_test_ratio < 1.f)
-		    && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)
-		   ) {
-			_is_kinematically_consistent = true;
-		}
+		_t_since_first_sample += dt;
 	}
 }
+
+void RangeFinderConsistencyCheck::run(const float z, const float z_var, const float vz, const float vz_var,
+				      const float dist_bottom, const float dist_bottom_var, const uint64_t time_us,
+				      const uint8_t current_posD_reset_count
+				     )
+{
+	if (!_initialized || current_posD_reset_count != _last_posD_reset_count) {
+		_last_posD_reset_count = current_posD_reset_count;
+		_initialized = false;
+	}
+
+	update(z, z_var, vz, vz_var, dist_bottom, dist_bottom_var, time_us);
+}
+
+void RangeFinderConsistencyCheck::setIsLanded(const bool landed)
+{
+	if (landed) {
+		_state = KinematicState::kUnknown;
+	}
+
+	_landed = landed;
+}
+
+void RangeFinderConsistencyCheck::reset()
+{
+	if (_initialized && _state == KinematicState::kConsistent) {
+		_state = KinematicState::kUnknown;
+	}
+
+	_initialized = false;
+}
+
+void RangeFinderConsistencyCheck::setHorizontalMotion(const bool horizontal_motion)
+{
+	if (!horizontal_motion && getHorizontalMotion()) {
+		reset();
+	}
+
+	_horizontal_motion = horizontal_motion;
+}

src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp

@@ -48,36 +48,57 @@ public:
 	RangeFinderConsistencyCheck() = default;
 	~RangeFinderConsistencyCheck() = default;
 
-	void update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, bool horizontal_motion, uint64_t time_us);
+	enum class KinematicState : int {
+		kInconsistent = 0,
+		kConsistent = 1,
+		kUnknown = 2
+	};
 
-	void setGate(float gate) { _gate = gate; }
+	float getTestRatioLpf() const { return _initialized ? _test_ratio_lpf.getState() : 0.f; }
+	float getInnov() const { return _initialized ? _innov : 0.f; }
+	float getInnovVar() const { return _initialized ? _innov_var : 0.f; }
+	bool isKinematicallyConsistent() const { return _state == KinematicState::kConsistent; }
+	bool isNotKinematicallyInconsistent() const { return _state != KinematicState::kInconsistent && (_t_since_first_sample > _kTestRatioLpfTimeConstant || _landed); }
+	void setGate(const float gate) { _gate = gate; }
+	void run(float z, float z_var, float vz, float vz_var, float dist_bottom, float dist_bottom_var,
+		 uint64_t time_u, uint8_t current_posD_reset_coun);
+	void set_terrain_process_noise(float terrain_process_noise) { _terrain_process_noise = terrain_process_noise; }
+	void reset();
 
-	float getTestRatio() const { return _test_ratio; }
-	float getSignedTestRatioLpf() const { return _signed_test_ratio_lpf.getState(); }
-	float getInnov() const { return _innov; }
-	float getInnovVar() const { return _innov_var; }
-	bool isKinematicallyConsistent() const { return _is_kinematically_consistent; }
+	void setHorizontalMotion(const bool horizontal_motion);
+	bool getHorizontalMotion() const { return _horizontal_motion; }
+	void setIsLanded(bool landed);
 
 private:
-	void updateConsistency(float vz, uint64_t time_us);
 
-	uint64_t _time_last_update_us{};
-	float _dist_bottom_prev{};
-
-	float _test_ratio{};
-	AlphaFilter<float> _signed_test_ratio_lpf{}; // average signed test ratio used to detect a bias in the data
-	float _gate{.2f};
-	float _innov{};
-	float _innov_var{};
-
-	bool _is_kinematically_consistent{true};
-	uint64_t _time_last_inconsistent_us{};
-	uint64_t _time_last_horizontal_motion{};
-
-	static constexpr float _signed_test_ratio_tau = 2.f;
-
-	static constexpr float _min_vz_for_valid_consistency = .5f;
-	static constexpr uint64_t _consistency_hyst_time_us = 1e6;
+	void update(float z, float z_var, float vz, float vz_var, float dist_bottom,
+		    float dist_bottom_var, uint64_t time_us);
+	void init(float z, float z_var, float dist_bottom, float dist_bottom_var);
+	void evaluateState(float dt, float vz, float vz_var);
+	float _terrain_process_noise{0.0f};
+	matrix::SquareMatrix<float, 2> _P{};
+	matrix::Vector2f _Ht{};
+	matrix::Vector2f _x{};
+	bool _initialized{false};
+	float _innov{0.f};
+	float _innov_var{0.f};
+	uint64_t _time_last_update_us{0};
+	static constexpr float _kTestRatioLpfTimeConstant{1.f};
+	AlphaFilter<float> _test_ratio_lpf{_kTestRatioLpfTimeConstant};
+	float _gate{1.0f};
+	KinematicState _state{KinematicState::kUnknown};
+	float _t_since_first_sample{0.f};
+	uint8_t _last_posD_reset_count{0};
+	bool _horizontal_motion{false};
+	bool _landed{false};
 };
 
+namespace RangeFilter
+{
+struct IdxDof { unsigned idx; unsigned dof; };
+static constexpr IdxDof z{0, 1};
+static constexpr IdxDof terrain{1, 1};
+static constexpr uint8_t size{2};
+}
+
 #endif // !EKF_RANGE_FINDER_CONSISTENCY_CHECK_HPP

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp

@@ -51,45 +51,47 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 		rng_data_ready = _range_buffer->pop_first_older_than(imu_sample.time_us, _range_sensor.getSampleAddress());
 		_range_sensor.setDataReadiness(rng_data_ready);
 
-		// update range sensor angle parameters in case they have changed
-		_range_sensor.setPitchOffset(_params.ekf2_rng_pitch);
-		_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
-		_range_sensor.setQualityHysteresis(_params.ekf2_rng_qlty_t);
-		_range_sensor.setMaxFogDistance(_params.ekf2_rng_fog);
+		if (_range_sensor.isDataReady()) {
 
-		_range_sensor.runChecks(imu_sample.time_us, _R_to_earth);
+			_range_sensor.setPitchOffset(_params.ekf2_rng_pitch);
+			_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
+			_range_sensor.setQualityHysteresis(_params.ekf2_rng_qlty_t);
+			_range_sensor.setMaxFogDistance(_params.ekf2_rng_fog);
+			_rng_consistency_check.setGate(_params.ekf2_rng_k_gate);
 
-		if (_range_sensor.isDataHealthy()) {
-			// correct the range data for position offset relative to the IMU
-			const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
-			const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-			_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
+			_range_sensor.runChecks(imu_sample.time_us, _R_to_earth);
 
-			if (_control_status.flags.in_air) {
-				const bool horizontal_motion = _control_status.flags.fixed_wing
-							       || (sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.1f));
+			if (_range_sensor.isDataHealthy()) {
+				// correct the range data for position offset relative to the IMU
+				const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
+				const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
+				_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
+				const float dist_var = getRngVar();
+				const bool updated_horizontal_motion = sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.5f);
 
-				const float dist_dependant_var = sq(_params.ekf2_rng_sfe * _range_sensor.getDistBottom());
-				const float var = sq(_params.ekf2_rng_noise) + dist_dependant_var;
+				if (!updated_horizontal_motion && _rng_consistency_check.getHorizontalMotion()) {
+					_rng_consistency_check.reset();
+				}
 
-				_rng_consistency_check.setGate(_params.ekf2_rng_k_gate);
-				_rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2),
-							      P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, imu_sample.time_us);
-			}
-
-		} else {
-			// If we are supposed to be using range finder data but have bad range measurements
-			// and are on the ground, then synthesise a measurement at the expected on ground value
-			if (!_control_status.flags.in_air
-			    && _range_sensor.isRegularlySendingData()
-			    && _range_sensor.isDataReady()) {
+				_rng_consistency_check.setIsLanded(!_control_status.flags.in_air);
+				_rng_consistency_check.setHorizontalMotion(updated_horizontal_motion);
+				const float z_var = P(State::pos.idx + 2, State::pos.idx + 2);
+				const float vz_var = P(State::vel.idx + 2, State::vel.idx + 2);
+				_rng_consistency_check.run(_gpos.altitude(), z_var, _state.vel(2), vz_var, _range_sensor.getDistBottom(),
+							   dist_var, imu_sample.time_us, get_posD_reset_count());
 
+			} else if (_range_sensor.isRegularlySendingData() && !_control_status.flags.in_air) {
 				_range_sensor.setRange(_params.ekf2_min_rng);
-				_range_sensor.setValidity(true); // bypass the checks
+				_range_sensor.setValidity(true);
+
+			} else {
+				_rng_consistency_check.reset();
 			}
 		}
 
 		_control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent();
+		_control_status.flags.rng_kin_unknown = !_rng_consistency_check.isKinematicallyConsistent()
+							&& _rng_consistency_check.isNotKinematicallyInconsistent();
 
 	} else {
 		return;
@@ -97,7 +99,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 
 	auto &aid_src = _aid_src_rng_hgt;
 
-	if (rng_data_ready && _range_sensor.getSampleAddress()) {
+	if (_range_sensor.isDataReady() && _range_sensor.getSampleAddress()) {
 
 		updateRangeHagl(aid_src);
 		const bool measurement_valid = PX4_ISFINITE(aid_src.observation) && PX4_ISFINITE(aid_src.observation_variance);
@@ -107,13 +109,12 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 				&& _control_status.flags.tilt_align
 				&& measurement_valid
 				&& _range_sensor.isDataHealthy()
-				&& _rng_consistency_check.isKinematicallyConsistent();
+				&& _rng_consistency_check.isNotKinematicallyInconsistent();
 
 		const bool starting_conditions_passing = continuing_conditions_passing
 				&& isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL)
 				&& _range_sensor.isRegularlySendingData();
 
-
 		const bool do_conditional_range_aid = (_control_status.flags.rng_terrain || _control_status.flags.rng_hgt)
 						      && (_params.ekf2_rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))
 						      && isConditionalRangeAidSuitable();
@@ -137,7 +138,8 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					_control_status.flags.rng_hgt = true;
 					stopRngTerrFusion();
 
-					if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) {
+					if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected
+					    && _rng_consistency_check.isKinematicallyConsistent()) {
 						resetTerrainToRng(aid_src);
 						resetAidSourceStatusZeroInnovation(aid_src);
 					}
@@ -163,7 +165,8 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
 					_control_status.flags.rng_hgt = true;
 
-					if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) {
+					if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected
+					    && _rng_consistency_check.isKinematicallyConsistent()) {
 						resetTerrainToRng(aid_src);
 						resetAidSourceStatusZeroInnovation(aid_src);
 					}
@@ -200,7 +203,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 						stopRngHgtFusion();
 						stopRngTerrFusion();
 
-					} else {
+					} else if (_rng_consistency_check.isKinematicallyConsistent()) {
 						resetTerrainToRng(aid_src);
 						resetAidSourceStatusZeroInnovation(aid_src);
 					}
@@ -215,13 +218,13 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 		} else {
 			if (starting_conditions_passing) {
 				if (_control_status.flags.opt_flow_terrain) {
-					if (!aid_src.innovation_rejected) {
+					if (!aid_src.innovation_rejected && _rng_consistency_check.isNotKinematicallyInconsistent()) {
 						_control_status.flags.rng_terrain = true;
 						fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _control_status.flags.rng_terrain);
 					}
 
 				} else {
-					if (aid_src.innovation_rejected) {
+					if (aid_src.innovation_rejected && _rng_consistency_check.isKinematicallyConsistent()) {
 						resetTerrainToRng(aid_src);
 						resetAidSourceStatusZeroInnovation(aid_src);
 					}
@@ -268,11 +271,9 @@ void Ekf::updateRangeHagl(estimator_aid_source1d_s &aid_src)
 
 float Ekf::getRngVar() const
 {
-	return fmaxf(
-		       P(State::pos.idx + 2, State::pos.idx + 2)
-		       + sq(_params.ekf2_rng_noise)
-		       + sq(_params.ekf2_rng_sfe * _range_sensor.getRange()),
-		       0.f);
+	const float dist_dependant_var = sq(_params.ekf2_rng_sfe * _range_sensor.getDistBottom());
+	const float dist_var = sq(_params.ekf2_rng_noise) + dist_dependant_var;
+	return dist_var;
 }
 
 void Ekf::resetTerrainToRng(estimator_aid_source1d_s &aid_src)

src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp

@@ -164,6 +164,9 @@ void SensorRangeFinder::updateFogCheck(const float dist_bottom, const uint64_t t
 		}
 
 		_prev_median_dist = median_dist;
+
+	} else {
+		_prev_median_dist = dist_bottom;
 	}
 }
 

src/modules/ekf2/EKF/common.h

@@ -425,7 +425,7 @@ struct parameters {
 	float ekf2_rng_a_vmax{1.0f};            ///< maximum ground velocity for which we allow to use the range finder as height source (if rng_control == 1)
 	float ekf2_rng_qlty_t{1.0f};            ///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)
 	float range_cos_max_tilt{0.7071f};      ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
-	float ekf2_rng_k_gate{1.0f};            ///< gate size used by the range finder kinematic consistency check
+	float ekf2_rng_k_gate{0.5f};		///< gate size used by the range finder kinematic consistency check
 	float ekf2_rng_fog{0.f};                ///< max distance which a blocked range sensor measures (fog, dirt) [m]
 
 	Vector3f rng_pos_body{};                ///< xyz position of range sensor in body frame (m)
@@ -608,6 +608,8 @@ uint64_t mag_heading_consistent  :
 		uint64_t gnss_vel                : 1; ///< 44 - true if GNSS velocity measurement fusion is intended
 uint64_t gnss_fault              :
 		1; ///< 45 - true if GNSS measurements have been declared faulty and are no longer used
+		uint64_t rng_kin_unknown	 : 1; ///< 46 - true when the range finder kinematic consistency check is not running
+
 	} flags;
 	uint64_t value;
 };

src/modules/ekf2/EKF/covariance.cpp

@@ -227,6 +227,10 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 		terrain_process_noise += sq(imu_delayed.delta_vel_dt * _params.ekf2_terr_grad) * (sq(_state.vel(0)) + sq(_state.vel(
 						 1)));
 		P(State::terrain.idx, State::terrain.idx) += terrain_process_noise;
+
+#if defined(CONFIG_EKF2_RANGE_FINDER)
+		_rng_consistency_check.set_terrain_process_noise(terrain_process_noise);
+#endif // CONFIG_EKF2_RANGE_FINDER
 	}
 
 #endif // CONFIG_EKF2_TERRAIN

src/modules/ekf2/EKF/ekf.h

@@ -117,7 +117,7 @@ public:
 
 	float getHaglRateInnov() const { return _rng_consistency_check.getInnov(); }
 	float getHaglRateInnovVar() const { return _rng_consistency_check.getInnovVar(); }
-	float getHaglRateInnovRatio() const { return _rng_consistency_check.getSignedTestRatioLpf(); }
+	float getHaglRateInnovRatio() const { return _rng_consistency_check.getTestRatioLpf(); }
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)

src/modules/ekf2/EKF/python/ekf_derivation/derivation.py

@@ -721,6 +721,37 @@ def compute_gravity_z_innov_var_and_h(
 
     return (innov_var, H.T)
 
+def range_validation_filter_h() -> sf.Matrix:
+
+    state = Values(
+        z=sf.Symbol("z"),
+        terrain=sf.Symbol("terrain")
+    )
+    dist_bottom = state["z"] - state["terrain"]
+
+    H = sf.M21()
+    H[:, 0] = sf.V1(dist_bottom).jacobian(state.to_storage(), tangent_space=False).transpose()
+
+    return H
+
+def range_validation_filter_P_init(
+        z_var: sf.Scalar,
+        dist_bottom_var: sf.Scalar
+    ) -> sf.Matrix:
+
+    H = range_validation_filter_h().T
+    # enforce terrain to match the measurement
+    K = sf.V2(0, 1/H[1])
+    R = sf.V1(dist_bottom_var)
+
+    # dist_bottom = z - terrain
+    P = sf.M22.diag([z_var, z_var + dist_bottom_var])
+    I = sf.M22.eye()
+    # Joseph form
+    P = (I - K * H) * P * (I - K * H).T + K * R * K.T
+
+    return P
+
 print("Derive EKF2 equations...")
 generate_px4_function(predict_covariance, output_names=None)
 
@@ -752,5 +783,7 @@ generate_px4_function(compute_gravity_z_innov_var_and_h, output_names=["innov_va
 generate_px4_function(compute_body_vel_innov_var_h, output_names=["innov_var", "Hx", "Hy", "Hz"])
 generate_px4_function(compute_body_vel_y_innov_var, output_names=["innov_var"])
 generate_px4_function(compute_body_vel_z_innov_var, output_names=["innov_var"])
+generate_px4_function(range_validation_filter_h, output_names=None)
+generate_px4_function(range_validation_filter_P_init, output_names=None)
 
 generate_px4_state(State, tangent_idx)

src/modules/ekf2/EKF/python/ekf_derivation/generated/range_validation_filter_P_init.h

@@ -0,0 +1,46 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: range_validation_filter_p_init
+ *
+ * Args:
+ *     z_var: Scalar
+ *     dist_bottom_var: Scalar
+ *
+ * Outputs:
+ *     res: Matrix22
+ */
+template <typename Scalar>
+matrix::Matrix<Scalar, 2, 2> RangeValidationFilterPInit(const Scalar z_var,
+                                                       const Scalar dist_bottom_var) {
+  // Total ops: 1
+
+  // Input arrays
+
+  // Intermediate terms (0)
+
+  // Output terms (1)
+  matrix::Matrix<Scalar, 2, 2> _res;
+
+  _res(0, 0) = z_var;
+  _res(1, 0) = z_var;
+  _res(0, 1) = z_var;
+  _res(1, 1) = dist_bottom_var + z_var;
+
+  return _res;
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym

src/modules/ekf2/EKF/python/ekf_derivation/generated/range_validation_filter_h.h

@@ -0,0 +1,41 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: range_validation_filter_h
+ *
+ * Args:
+ *
+ * Outputs:
+ *     res: Matrix21
+ */
+template <typename Scalar>
+matrix::Matrix<Scalar, 2, 1> RangeValidationFilterH() {
+  // Total ops: 0
+
+  // Input arrays
+
+  // Intermediate terms (0)
+
+  // Output terms (1)
+  matrix::Matrix<Scalar, 2, 1> _res;
+
+  _res(0, 0) = 1;
+  _res(1, 0) = -1;
+
+  return _res;
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym

src/modules/ekf2/EKF2.cpp

@@ -1935,6 +1935,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_constant_pos        = _ekf.control_status_flags().constant_pos;
 		status_flags.cs_baro_fault	    = _ekf.control_status_flags().baro_fault;
 		status_flags.cs_gnss_vel            = _ekf.control_status_flags().gnss_vel;
+		status_flags.cs_rng_kin_unknown     = _ekf.control_status_flags().rng_kin_unknown;
 
 		status_flags.fault_status_changes     = _filter_fault_status_changes;
 		status_flags.fs_bad_mag_x             = _ekf.fault_status_flags().bad_mag_x;

src/modules/ekf2/params_range_finder.yaml

@@ -103,7 +103,7 @@ parameters:
           ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE)
           before tuning this gate.'
       type: float
-      default: 1.0
+      default: 0.5
       unit: SD
       min: 0.1
       max: 5.0

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -120,6 +120,16 @@ bool EkfWrapper::isIntendingGpsFusion() const
 	return _ekf->control_status_flags().gnss_vel || _ekf->control_status_flags().gnss_pos;
 }
 
+bool EkfWrapper::isGnssFaultDetected() const
+{
+	return _ekf->control_status_flags().gnss_fault;
+}
+
+void EkfWrapper::setGnssDeadReckonMode()
+{
+	_ekf_params->ekf2_gps_mode = static_cast<int32_t>(GnssMode::kDeadReckoning);
+}
+
 void EkfWrapper::enableGpsHeadingFusion()
 {
 	_ekf_params->ekf2_gps_ctrl |= static_cast<int32_t>(GnssCtrl::YAW);

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h

@@ -78,6 +78,8 @@ public:
 	void enableGpsFusion();
 	void disableGpsFusion();
 	bool isIntendingGpsFusion() const;
+	bool isGnssFaultDetected() const;
+	void setGnssDeadReckonMode();
 
 	void enableGpsHeadingFusion();
 	void disableGpsHeadingFusion();

src/modules/ekf2/test/test_EKF_gps.cpp

@@ -228,3 +228,54 @@ TEST_F(EkfGpsTest, altitudeDrift)
 	// THEN: the baro and local position should follow it
 	EXPECT_LT(fabsf(baro_innov), 0.1f);
 }
+
+TEST_F(EkfGpsTest, gnssJumpDetectionDRMode)
+{
+	// Dead-reckoning mode allows the EKF to reject GNSS data if another source
+	// of horizontal aiding is used (e.g.: airspped)
+	_ekf_wrapper.setGnssDeadReckonMode();
+	_ekf_wrapper.enableGpsHeightFusion();
+
+	// GIVEN:EKF that fuses GNSS and airspeed
+	const Vector3f previous_position = _ekf->getPosition();
+	const Vector3f simulated_velocity_earth(1.f, 0.5f, 0.0f);
+	const Vector2f airspeed_body(15.f, 0.0f);
+	_sensor_simulator._gps.setVelocity(simulated_velocity_earth);
+
+	_ekf->set_in_air_status(true);
+	_ekf->set_vehicle_at_rest(false);
+	_ekf->set_is_fixed_wing(true);
+
+	_sensor_simulator.startAirspeedSensor();
+	_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
+	_sensor_simulator.runSeconds(1);
+
+	EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
+
+	// AND: simulate jump in position
+	const Vector3f simulated_position_change(500.0f, -1.0f, 0.f);
+	_sensor_simulator._gps.stepHorizontalPositionByMeters(
+		Vector2f(simulated_position_change));
+	_sensor_simulator.runSeconds(15);
+
+	// THEN: the GNSS jump should trigger the fault detection
+	// and stop the fusion (including height and velocity)
+	const Vector3f estimated_position = _ekf->getPosition();
+	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeightFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
+	EXPECT_TRUE(_ekf_wrapper.isGnssFaultDetected());
+
+	// The position is obtained through dead-reckoning
+	EXPECT_TRUE(isEqual(estimated_position,
+			    previous_position, 25.f));
+
+	// BUT WHEN: the position data goes back to normal
+	_sensor_simulator._gps.stepHorizontalPositionByMeters(
+		-Vector2f(simulated_position_change) + Vector2f(20.f, 10.f));
+	_sensor_simulator.runSeconds(1);
+
+	// THEN: the fault is cleared an dfusion restarts
+	EXPECT_FALSE(_ekf_wrapper.isGnssFaultDetected());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
+}

src/modules/ekf2/test/test_EKF_height_fusion.cpp

@@ -162,7 +162,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
 	_ekf_wrapper.enableBaroHeightFusion();
 	_ekf_wrapper.enableGpsHeightFusion();
 	_ekf_wrapper.enableRangeHeightFusion();
-	_sensor_simulator.runSeconds(1);
+	_sensor_simulator.runSeconds(2);
 
 	EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::GNSS);
 	EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
@@ -215,7 +215,7 @@ TEST_F(EkfHeightFusionTest, gpsRefNoAltFusion)
 	_ekf_wrapper.enableBaroHeightFusion();
 	_ekf_wrapper.disableGpsHeightFusion();
 	_ekf_wrapper.enableRangeHeightFusion();
-	_sensor_simulator.runSeconds(1);
+	_sensor_simulator.runSeconds(2);
 
 	EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::BARO); // Fallback to baro as GNSS alt is disabled
 	EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
@@ -251,7 +251,7 @@ TEST_F(EkfHeightFusionTest, baroRefFailOver)
 	EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::GNSS);
 
 	_sensor_simulator.stopGps();
-	_sensor_simulator.runSeconds(10);
+	_sensor_simulator.runSeconds(12);
 	EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::RANGE);
 
 	_sensor_simulator.stopRangeFinder();

src/modules/ekf2/test/test_EKF_terrain.cpp

@@ -219,11 +219,36 @@ TEST_F(EkfTerrainTest, testRngStartInAir)
 {
 	// GIVEN: rng for terrain but not flow
 	_ekf_wrapper.disableFlowFusion();
-	_ekf_wrapper.enableRangeHeightFusion();
+	const float rng_height = 16.f;
 
-	const float rng_height = 18;
-	const float flow_height = 1.f;
-	runFlowAndRngScenario(rng_height, flow_height);
+	_sensor_simulator.startGps();
+	_ekf->set_min_required_gps_health_time(1e6);
+	_ekf->set_in_air_status(false);
+	_ekf->set_vehicle_at_rest(true);
+	_ekf_wrapper.enableGpsFusion();
+	_sensor_simulator.runSeconds(1.5); // Run to pass the GPS checks
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
+
+	const Vector3f simulated_velocity(0.5f, -1.0f, 0.0f);
+
+	// Configure GPS simulator data
+	_sensor_simulator._gps.setVelocity(simulated_velocity);
+	_sensor_simulator._gps.setPositionRateNED(simulated_velocity);
+
+	// Simulate flight above max range finder distance
+	// run for a while to let terrain uncertainty increase
+	_sensor_simulator._rng.setData(30.f, 100);
+	_sensor_simulator._rng.setLimits(0.1f, 20.f);
+	_sensor_simulator.startRangeFinder();
+	_ekf->set_in_air_status(true);
+	_ekf->set_vehicle_at_rest(false);
+	_sensor_simulator.runSeconds(40);
+
+	// quick range finder change to bypass stuck-check
+	_sensor_simulator._rng.setData(rng_height - 1.f, 100);
+	_sensor_simulator.runSeconds(1);
+	_sensor_simulator._rng.setData(rng_height, 100);
+	_sensor_simulator.runSeconds(10);
 
 	// THEN: the terrain should reset using rng
 	EXPECT_NEAR(rng_height, _ekf->getHagl(), 2e-2f);
@@ -234,13 +259,13 @@ TEST_F(EkfTerrainTest, testRngStartInAir)
 
 	const float corr_terrain_vz = P(State::vel.idx + 2,
 					State::terrain.idx) / sqrtf(_ekf->getVelocityVariance()(2) * var_terrain);
-	EXPECT_NEAR(corr_terrain_vz, 0.6f, 0.03f);
+	EXPECT_TRUE(fabsf(corr_terrain_vz) > 0.6f && fabsf(corr_terrain_vz) < 1.f);
 
 	const float corr_terrain_z = P(State::pos.idx + 2,
 				       State::terrain.idx) / sqrtf(_ekf->getPositionVariance()(2) * var_terrain);
-	EXPECT_NEAR(corr_terrain_z, 0.8f, 0.03f);
+	EXPECT_TRUE(fabsf(corr_terrain_z) > 0.8f && fabsf(corr_terrain_z) < 1.f);
 
 	const float corr_terrain_abias_z = P(State::accel_bias.idx + 2,
 					     State::terrain.idx) / sqrtf(_ekf->getAccelBiasVariance()(2) * var_terrain);
-	EXPECT_NEAR(corr_terrain_abias_z, -0.3f, 0.03f);
+	EXPECT_TRUE(corr_terrain_abias_z < -0.1f);
 }

src/modules/mavlink/mavlink_main.cpp

@@ -1832,7 +1832,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("AVAILABLE_MODES", 0.3f);
 		configure_stream_local("BATTERY_STATUS", 0.5f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", 2.0f);
-		configure_stream_local("COLLISION", 2.0f);
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 0.5f);
@@ -1852,7 +1851,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("SYS_STATUS", 0.5f);
 		configure_stream_local("SYSTEM_TIME", 2.0f);
 		configure_stream_local("TIME_ESTIMATE_TO_TARGET", 0.5f);
-		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 2.0f);
 		configure_stream_local("VFR_HUD", 1.0f);
 		configure_stream_local("VIBRATION", 0.1f);
 		configure_stream_local("WIND_COV", 0.1f);

src/modules/rover_ackermann/AckermannActControl/AckermannActControl.cpp

@@ -57,7 +57,7 @@ void AckermannActControl::updateActControl()
 {
 	const hrt_abstime timestamp_prev = _timestamp;
 	_timestamp = hrt_absolute_time();
-	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
 
 	// Motor control
 	if (_rover_throttle_setpoint_sub.updated()) {

src/modules/rover_ackermann/AckermannAttControl/AckermannAttControl.cpp

@@ -65,7 +65,7 @@ void AckermannAttControl::updateAttControl()
 
 	hrt_abstime timestamp_prev = _timestamp;
 	_timestamp = hrt_absolute_time();
-	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
 
 	if (PX4_ISFINITE(_yaw_setpoint)) {
 		// Calculate yaw rate limit for slew rate

src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp

@@ -58,10 +58,8 @@ void AckermannPosControl::updatePosControl()
 
 	hrt_abstime timestamp = hrt_absolute_time();
 
-	const Vector2f target_waypoint_ned(_rover_position_setpoint.position_ned[0], _rover_position_setpoint.position_ned[1]);
-
-	if (target_waypoint_ned.isAllFinite()) {
-		float distance_to_target = (target_waypoint_ned - _curr_pos_ned).norm();
+	if (_target_waypoint_ned.isAllFinite()) {
+		float distance_to_target = (_target_waypoint_ned - _curr_pos_ned).norm();
 
 		if (_arrival_speed > FLT_EPSILON) {
 			distance_to_target -= _acceptance_radius; // shift target to the edge of the acceptance radius if arrival speed not zero
@@ -71,18 +69,13 @@ void AckermannPosControl::updatePosControl()
 
 			float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
 					       _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
-			speed_setpoint = math::min(speed_setpoint, _param_ro_speed_limit.get());
-
-			if (PX4_ISFINITE(_rover_position_setpoint.cruising_speed)) {
-				speed_setpoint = sign(_rover_position_setpoint.cruising_speed) * math::min(speed_setpoint,
-						 fabsf(_rover_position_setpoint.cruising_speed));
-			}
+			speed_setpoint = math::min(speed_setpoint, _cruising_speed);
 
 			pure_pursuit_status_s pure_pursuit_status{};
 			pure_pursuit_status.timestamp = timestamp;
 
 			const float bearing_setpoint = PurePursuit::calcTargetBearing(pure_pursuit_status, _param_pp_lookahd_gain.get(),
-						       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), target_waypoint_ned, _start_ned,
+						       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), _target_waypoint_ned, _start_ned,
 						       _curr_pos_ned, fabsf(speed_setpoint));
 
 			if (_param_ro_speed_red.get() > FLT_EPSILON) {
@@ -114,6 +107,16 @@ void AckermannPosControl::updatePosControl()
 			rover_attitude_setpoint.timestamp = timestamp;
 			rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
 			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+
+			if (!_stopped && fabsf(_vehicle_speed) < FLT_EPSILON) {
+				_stopped = true;
+				_target_waypoint_ned = _curr_pos_ned;
+			}
+
+			if (_stopped && _updated_reset_counter != _reset_counter) {
+				_target_waypoint_ned = _curr_pos_ned;
+				_reset_counter = _updated_reset_counter;
+			}
 		}
 	}
 }
@@ -136,21 +139,24 @@ void AckermannPosControl::updateSubscriptions()
 	if (_vehicle_local_position_sub.updated()) {
 		vehicle_local_position_s vehicle_local_position{};
 		_vehicle_local_position_sub.copy(&vehicle_local_position);
-
-		if (!_global_ned_proj_ref.isInitialized()
-		    || (_global_ned_proj_ref.getProjectionReferenceTimestamp() != vehicle_local_position.ref_timestamp)) {
-			_global_ned_proj_ref.initReference(vehicle_local_position.ref_lat, vehicle_local_position.ref_lon,
-							   vehicle_local_position.ref_timestamp);
-		}
-
+		_updated_reset_counter = vehicle_local_position.xy_reset_counter;
 		_curr_pos_ned = Vector2f(vehicle_local_position.x, vehicle_local_position.y);
+		Vector3f velocity_ned(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
+		Vector3f velocity_xyz = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_ned);
+		Vector2f velocity_2d = Vector2f(velocity_xyz(0), velocity_xyz(1));
+		_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
 	}
 
 	if (_rover_position_setpoint_sub.updated()) {
-		_rover_position_setpoint_sub.copy(&_rover_position_setpoint);
-		_start_ned = Vector2f(_rover_position_setpoint.start_ned[0], _rover_position_setpoint.start_ned[1]);
+		rover_position_setpoint_s rover_position_setpoint;
+		_rover_position_setpoint_sub.copy(&rover_position_setpoint);
+		_start_ned = Vector2f(rover_position_setpoint.start_ned[0], rover_position_setpoint.start_ned[1]);
 		_start_ned = _start_ned.isAllFinite() ? _start_ned : _curr_pos_ned;
-		_arrival_speed = PX4_ISFINITE(_rover_position_setpoint.arrival_speed) ? _rover_position_setpoint.arrival_speed : 0.f;
+		_arrival_speed = PX4_ISFINITE(rover_position_setpoint.arrival_speed) ? rover_position_setpoint.arrival_speed : 0.f;
+		_cruising_speed = PX4_ISFINITE(rover_position_setpoint.cruising_speed) ? rover_position_setpoint.cruising_speed :
+				  _param_ro_speed_limit.get();
+		_target_waypoint_ned = Vector2f(rover_position_setpoint.position_ned[0], rover_position_setpoint.position_ned[1]);
+		_stopped = false;
 	}
 
 }

src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.hpp

@@ -41,7 +41,6 @@
 #include <matrix/matrix/math.hpp>
 #include <lib/pure_pursuit/PurePursuit.hpp>
 #include <math.h>
-#include <lib/geo/geo.h>
 
 // uORB includes
 #include <uORB/Publication.hpp>
@@ -80,6 +79,11 @@ public:
 	 */
 	bool runSanityChecks();
 
+	/**
+	 * @brief Reset position controller.
+	 */
+	void reset() {_start_ned = Vector2f{NAN, NAN}; _target_waypoint_ned = Vector2f{NAN, NAN}; _arrival_speed = 0.f; _cruising_speed = _param_ro_speed_limit.get(); _stopped = false;};
+
 protected:
 	/**
 	 * @brief Update the parameters of the module.
@@ -97,7 +101,6 @@ private:
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription _rover_position_setpoint_sub{ORB_ID(rover_position_setpoint)};
 	uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};
-	rover_position_setpoint_s _rover_position_setpoint{};
 
 	// uORB publications
 	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
@@ -108,14 +111,17 @@ private:
 	Quatf _vehicle_attitude_quaternion{};
 	Vector2f _curr_pos_ned{};
 	Vector2f _start_ned{};
+	Vector2f _target_waypoint_ned{};
 	float _arrival_speed{0.f};
 	float _vehicle_yaw{0.f};
 	float _max_yaw_rate{0.f};
 	float _acceptance_radius{0.f}; // Acceptance radius for the waypoint.
 	float _min_speed{NAN};
-
-	// Class Instances
-	MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates
+	float _vehicle_speed{0.f};
+	float _cruising_speed{NAN};
+	bool _stopped{false};
+	uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
+	uint8_t _updated_reset_counter{0}; /**< counter for estimator resets in xy-direction */
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
@@ -128,6 +134,7 @@ private:
 		(ParamFloat<px4::params::PP_LOOKAHD_MIN>)   _param_pp_lookahd_min,
 		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
 		(ParamFloat<px4::params::RA_WHEEL_BASE>)    _param_ra_wheel_base,
-		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang
+		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang,
+		(ParamFloat<px4::params::RO_SPEED_TH>)      _param_ro_speed_th
 	)
 };

src/modules/rover_ackermann/AckermannRateControl/AckermannRateControl.cpp

@@ -62,7 +62,7 @@ void AckermannRateControl::updateRateControl()
 
 	hrt_abstime timestamp_prev = _timestamp;
 	_timestamp = hrt_absolute_time();
-	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
 
 	if (PX4_ISFINITE(_yaw_rate_setpoint)) {
 		if (fabsf(_estimated_speed) > FLT_EPSILON) {

src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.cpp

@@ -63,7 +63,7 @@ void AckermannSpeedControl::updateSpeedControl()
 
 	const hrt_abstime timestamp_prev = _timestamp;
 	_timestamp = hrt_absolute_time();
-	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 5000_ms) * 1e-6f;
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
 
 	// Throttle Setpoint
 	if (PX4_ISFINITE(_speed_setpoint)) {

src/modules/rover_ackermann/AckermannSpeedControl/AckermannSpeedControl.hpp

@@ -113,7 +113,7 @@ private:
 
 	// Controllers
 	PID _pid_speed;
-	SlewRate<float> _adjusted_speed_setpoint;
+	SlewRate<float> _adjusted_speed_setpoint{0.f};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,

src/modules/rover_ackermann/RoverAckermann.cpp

@@ -97,7 +97,7 @@ void RoverAckermann::Run()
 void RoverAckermann::generateSetpoints()
 {
 	vehicle_status_s vehicle_status{};
-	_vehicle_status_sub.update(&vehicle_status);
+	_vehicle_status_sub.copy(&vehicle_status);
 
 	switch (vehicle_status.nav_state) {
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
@@ -182,6 +182,7 @@ void RoverAckermann::runSanityChecks()
 
 void RoverAckermann::reset()
 {
+	_ackermann_pos_control.reset();
 	_ackermann_speed_control.reset();
 	_ackermann_att_control.reset();
 	_ackermann_rate_control.reset();