don't change EKF2_MIN_RNG

in_air default to true for tests
ekf2: range fusion: while on the ground the rangefinder quality checks are bypassed and a synthetic measurement is fused using the minimum rangefinder distance. The intention of this logic is to ensure the rangefinder can be fused immediately during takeoff even if it's reporting 0 quality while on the ground. This was not working since the rangefinder _time_bad_quality_us was being updated while on the ground. This results in range fusion being disabled as soon as the in_air flag is set, since the time since the last bad quality value has not exceeded the EKF2_RNG_QLTY_T. This commit moves the logic into the SensorRangeFinder::isQualityOk function where the _time_bad_quality_us is only set once airborne.
2026-06-06 06:50:06 +08:00 · 2025-09-16 09:54:12 -08:00 · 2025-09-15 12:49:13 -08:00 · 2025-09-15 12:29:14 -08:00 · 2025-09-12 14:16:16 +02:00 · 2025-09-11 19:30:27 -08:00
391 changed files with 9719 additions and 4115 deletions
@@ -100,3 +100,6 @@
 [submodule "src/drivers/ins/microstrain/mip_sdk"]
 	path = src/drivers/ins/microstrain/mip_sdk
 	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
+[submodule "src/drivers/ins/sbgecom/sbgECom"]
+	path = src/drivers/ins/sbgecom/sbgECom
+	url = https://github.com/PX4/sbgECom.git
@@ -36,6 +36,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
+    px4_sitl_zenoh:
+      short: px4_sitl_zenoh
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -43,7 +43,7 @@
        "files.watcherExclude": {
                "**/build/**": true
        },
-        "git.detectSubmodulesLimit": 20,
+        "git.detectSubmodulesLimit": 25,
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
@@ -73,6 +73,11 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

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


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

 endforeach()

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

 # board extras
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

 # bootloader (optional)
-#  - if systemcmds/bl_update included (with romfs copy) and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
 #  - otherwise remove bootloader binary from extras in final ROMFS
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
 	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE AND CONFIG_BL_UPDATE_BL_ROMFS)
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
 			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
@@ -56,6 +56,17 @@ then
 fi
 unset BOARD_RC_DEFAULTS

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

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

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

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

 uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns

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

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

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

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

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

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

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

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

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

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

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

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



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

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

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

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

    def GetAirframes(self):
@@ -54,6 +54,22 @@ if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
 	return 1
 fi

+# Linux Mint compatibility: use upstream Ubuntu values
+if [ -r /etc/upstream-release/lsb-release ]; then
+    . /etc/upstream-release/lsb-release
+    UBUNTU_CODENAME="${DISTRIB_CODENAME:-${UBUNTU_CODENAME:-}}"
+    UBUNTU_RELEASE="${DISTRIB_RELEASE:-${UBUNTU_RELEASE:-}}"
+
+    lsb_release() {
+        if [ "$1" = "-cs" ]; then
+            printf '%s' "$UBUNTU_CODENAME"
+        elif [ "$1" = "-rs" ]; then
+            printf '%s' "$UBUNTU_RELEASE"
+        else
+            command lsb_release "$@"
+        fi
+    }
+fi

 # check ubuntu version
 # otherwise warn and point to docker?
@@ -42,6 +42,7 @@ import os
 import argparse
 import re
 import sys
+import json

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


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

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

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

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

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

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

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

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

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


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


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


-Zenoh_Subscriber* genSubscriber(const char *name) {
+Zenoh_Subscriber* genSubscriber(const char *name, int instance) {
    for (auto &sub : _topics) {
-        if(strcmp(sub.orb_meta->o_name, name) == 0) {
-            return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return new uORB_Zenoh_Subscriber(sub.orb_topic[i], sub.ops, instance);
+            }
+        }
+    }
+    return NULL;
+}
+
+const char* getTypeName(const char *name) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return sub.data_type_name;
+            }
+        }
+    }
+    return NULL;
+}
+
+
+const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(sub.orb_topic[i]->o_id == meta->o_id) {
+                return sub.hash;
+            }
+        }
+    }
+    return NULL;
+}
+
+const uint8_t* getRIHS01_Hash(const char *name) {
+    for (auto &sub : _topics) {
+        for(int i = 0; i < sub.orb_topics_size; i++) {
+            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
+                return sub.hash;
+            }
        }
    }
    return NULL;
@@ -75,7 +75,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -36,7 +36,6 @@ param set-default EKF2_MULTI_IMU 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_QLTY_T 0.1

 param set-default SENS_FLOW_RATE 150
 param set-default SENS_IMU_MODE 1
@@ -35,7 +35,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -21,6 +21,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -14,7 +14,7 @@ param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
 param set-default MAV_0_CONFIG 0
 # Disable logger writing to FRAM, only stream over MAVLINK
-set LOGGER_ARGS "-m mavlink"
+param set-default SDLOG_BACKEND 2

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

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

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

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

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

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

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

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

+	# ADDITIONAL INIT
+	if(ADDITIONAL_INIT)
+		set(config_additional_init ${ADDITIONAL_INIT} CACHE INTERNAL "additional init" FORCE)
+	endif()
+
 	if(UAVCAN_INTERFACES)
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()
@@ -71,18 +71,15 @@ add_custom_target(metadata_parameters

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml

 	COMMENT "Generating full parameter metadata (markdown, xml, and json)"
@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: śŕĐýŇí
-# Version: 1.15.4 
+# Vehicle: Multi-Rotor
+# Version: 1.15.4
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -318,7 +318,6 @@
 1	1	COM_OBS_AVOID	0	6
 1	1	COM_OF_LOSS_T	1.000000000000000000	9
 1	1	COM_PARACHUTE	0	6
-1	1	COM_POSCTL_NAVL	0	6
 1	1	COM_POS_FS_DELAY	1	6
 1	1	COM_POS_FS_EPH	5.000000000000000000	9
 1	1	COM_POS_LOW_EPH	-1.000000000000000000	9
@@ -0,0 +1,197 @@
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@@ -157,6 +157,7 @@
        - [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](flight_controller/mindpx.md)
      - [AirMind MindRacer](flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
@@ -281,6 +282,7 @@
      - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
      - [InertialLabs](sensor/inertiallabs.md)
+      - [sbgECom](sensor/sbgecom.md)
      - [VectorNav](sensor/vectornav.md)
    - [Optical Flow](sensor/optical_flow.md)
      - [ARK Flow](dronecan/ark_flow.md)
@@ -659,6 +661,8 @@
        - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
@@ -719,6 +723,7 @@
        - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
        - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
        - [EventV0](msg_docs/EventV0.md)
        - [HomePositionV0](msg_docs/HomePositionV0.md)
@@ -1,10 +1,9 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
- [Introduction](/index.md)

+- [Introduction](/index.md)
  - [Basic Concepts](/getting_started/px4_basic_concepts.md)

 - [Multicopters](/frames_multicopter/index.md)
-
  - [Features](/features_mc/index.md)
    - [Flight Modes](/flight_modes_mc/index.md)
      - [Position Mode (MC)](/flight_modes_mc/position.md)
@@ -37,7 +36,7 @@
    - [Static Pressure Buildup](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [Complete Vehicles](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](/complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
@@ -58,7 +57,6 @@
    - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md)

 - [Planes (Fixed-Wing)](/frames_plane/index.md)
-
  - [Assembly](/assembly/assembly_fw.md)
  - [Config/Tuning](/config_fw/index.md)
    - [Auto-tune](/config/autotune_fw.md)
@@ -86,7 +84,6 @@
    - [Wing Wing Z84 (Pixracer)](/frames_plane/wing_wing_z84.md)

 - [VTOL](/frames_vtol/index.md)
-
  - [Assembly](/assembly/assembly_vtol.md)
  - [VTOL Config/Tuning](/config_vtol/index.md)
    - [Auto-tune](/config/autotune_vtol.md)
@@ -111,7 +108,6 @@
  - [Complete Vehicles](/complete_vehicles_vtol/index.md)

 - [Operations](/config/operations.md)
-
  - [Safety](/config/safety_intro.md)
    - [Safety Configuration (Failsafes)](/config/safety.md)
    - [Failsafe Simulation](/config/safety_simulation.md)
@@ -132,7 +128,6 @@
    - [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)

 - [Hardware Selection & Setup](/hardware/drone_parts.md)
-
  - [Flight Controllers (Autopilots)](/flight_controller/index.md)
    - [Flight Controller Selection](/getting_started/flight_controller_selection.md)
    - [Pixhawk Series](/flight_controller/pixhawk_series.md)
@@ -164,18 +159,18 @@
        - [mRo (3DR) Pixhawk Wiring Quickstart](/assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](/flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](/flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](/flight_controller/mindpx.md)
      - [AirMind MindRacer](/flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md)
      - [ARK Pi6X Flow Flight Controller](/flight_controller/ark_pi6x.md)
-      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [CUAV Nora](/flight_controller/cuav_nora.md)
      - [CUAV V5+ (FMUv5)](/flight_controller/cuav_v5_plus.md)
        - [Wiring Quickstart](/assembly/quick_start_cuav_v5_plus.md)
      - [CUAV V5 nano (FMUv5)](/flight_controller/cuav_v5_nano.md)
        - [CUAV V5 nano Wiring Quickstart](/assembly/quick_start_cuav_v5_nano.md)
-      - [CUAV Pixhack v3 (FMUv3)](/flight_controller/pixhack_v3.md)
+      - [CUAV X25 EVO](/flight_controller/cuav_x25-evo.md)
      - [CubePilot Cube Orange+ (CubePilot)](/flight_controller/cubepilot_cube_orangeplus.md)
      - [CubePilot Cube Orange (CubePilot)](/flight_controller/cubepilot_cube_orange.md)
      - [CubePilot Cube Yellow (CubePilot)](/flight_controller/cubepilot_cube_yellow.md)
@@ -188,11 +183,8 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
-      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.md)
      - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
-      - [mRobotics-X2.1 (FMUv2)](/flight_controller/mro_x2.1.md)
-      - [mRo Control Zero F7)](/flight_controller/mro_control_zero_f7.md)
+      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
      - [Sky-Drones AIRLink](/flight_controller/airlink.md)
      - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
      - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
@@ -206,18 +198,20 @@
    - [Discontinued Autopilots/Vehicles](/flight_controller/autopilot_discontinued.md)
      - [Drotek Dropix (FMUv2)](/flight_controller/dropix.md)
      - [Omnibus F4 SD](/flight_controller/omnibus_f4_sd.md)
-      - [BetaFPV Beta75X 2S Brushless Whoop](/complete_vehicles_mc/betafpv_beta75x.md)
      - [Bitcraze Crazyflie 2.0 ](/complete_vehicles_mc/crazyflie2.md)
      - [Aerotenna OcPoC-Zynq Mini](/flight_controller/ocpoc_zynq.md)
+      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [CUAV v5](/flight_controller/cuav_v5.md)
+      - [CUAV Pixhack v3 (FMUv3)](/flight_controller/pixhack_v3.md)
      - [Holybro Kakute F7](/flight_controller/kakutef7.md)
      - [Holybro Pixfalcon](/flight_controller/pixfalcon.md)
      - [Holybro pix32 (FMUv2)](/flight_controller/holybro_pix32.md)
+      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
+      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.md)
+      - [mRo X2.1 (FMUv2)](/flight_controller/mro_x2.1.md)
      - [mRo AUAV-X2](/flight_controller/auav_x2.md)
      - [NXP RDDRONE-FMUK66 FMU](/flight_controller/nxp_rddrone_fmuk66.md)
      - [3DR Pixhawk 1](/flight_controller/pixhawk.md)
-      - [Snapdragon Flight](/flight_controller/snapdragon_flight.md)
-      - [Intel® Aero RTF Drone](/complete_vehicles_mc/intel_aero.md)
    - [Pixhawk Autopilot Bus (PAB) & Carriers](/flight_controller/pixhawk_autopilot_bus.md)
      - [ARK Electronics Pixhawk Autopilot Bus Carrier](/flight_controller/ark_pab.md)
    - [Mounting the Flight Controller](/assembly/mount_and_orient_controller.md)
@@ -241,6 +235,7 @@
      - [Compass Power Compensation](/advanced_config/compass_power_compensation.md)
    - [Airspeed Sensors](/sensor/airspeed.md)
      - [Calibration](/config/airspeed.md)
+      - [Airspeed Validation](/advanced_config/airspeed_validation.md)
      - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md)
    - [Barometers](/sensor/barometer.md)
    - [Distance Sensors \(Rangefinders\)](/sensor/rangefinders.md)
@@ -272,6 +267,7 @@
      - [CUAV C-RTK](/gps_compass/rtk_gps_cuav_c-rtk.md)
      - [CUAV C-RTK2 PPK/RTK GNSS](/gps_compass/rtk_gps_cuav_c-rtk2.md)
      - [CUAV C-RTK 9Ps](/gps_compass/rtk_gps_cuav_c-rtk-9ps.md)
+      - [DATAGNSS NANO HRTK GNSS](/gps_compass/rtk_gps_datagnss_nano_hrtk.md)
      - [DATAGNSS GEM1305 RTK GNSS](/gps_compass/rtk_gps_gem1305.md)
      - [Femtones MINI2 Receiver](/gps_compass/rtk_gps_fem_mini2.md)
      - [Freefly RTK GPS](/gps_compass/rtk_gps_freefly.md)
@@ -287,6 +283,7 @@
      - [Trimble MB-Two](/gps_compass/rtk_gps_trimble_mb_two.md)
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
+      - [InertialLabs](/sensor/inertiallabs.md)
      - [VectorNav](/sensor/vectornav.md)
    - [Optical Flow](/sensor/optical_flow.md)
      - [ARK Flow](/dronecan/ark_flow.md)
@@ -308,7 +305,6 @@
        - [Zubax Telega](/dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](/dronecan/sapog.md)
          - [Holybro Kotleta](/dronecan/holybro_kotleta.md)
-          - [Zubax Orel](/dronecan/zubax_orel.md)
      - [Vertiq](/peripherals/vertiq.md)
      - [VESC](/peripherals/vesc.md)
  - [Radio Control (RC)](/getting_started/rc_transmitter_receiver.md)
@@ -320,6 +316,7 @@
    - [Telemetry Radios](/telemetry/index.md)
      - [SiK Radio](/telemetry/sik_radio.md)
        - [RFD900 (SiK) Telemetry Radio](/telemetry/rfd900_telemetry.md)
+        - [ThunderFly TFSIK01 Telemetry Radio](/telemetry/tfsik_telemetry.md)
        - [HolyBro (SIK) Telemetry Radio](/telemetry/holybro_sik_radio.md)
      - [Telemetry Wifi](/telemetry/telemetry_wifi.md)
        - [ESP8266 WiFi Module](/telemetry/esp8266_wifi_module.md)
@@ -335,6 +332,7 @@
    - [FrSky Telemetry](/peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
+
  - [Power Systems](/power_systems/index.md)
    - [Battery Estimation Tuning](/config/battery.md)
    - [Battery Chemistry Overview](/power_systems/battery_chemistry.md)
@@ -401,7 +399,6 @@
    - [Full Parameter Reference](/advanced_config/parameter_reference.md)

 - [Other Vehicles](/airframes/index.md)
-
  - [Airships (experimental)](/frames_airship/index.md)
  - [Autogyros (experimental)](/frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](/frames_autogyro/thunderfly_auto_g2.md)
@@ -409,17 +406,17 @@
  - [Helicopter (experimental)](/frames_helicopter/index.md)
    - [Helicopter Config/Tuning](/config_heli/index.md)
  - [Rovers (experimental)](/frames_rover/index.md)
-    - [Ackermann Rovers](/frames_rover/ackermann.md)
-      - [Drive Modes](/flight_modes_rover/ackermann.md)
-      - [Configuration/Tuning](/config_rover/ackermann.md)
-    - [Differential Rovers](/frames_rover/differential.md)
-      - [Drive Modes](/flight_modes_rover/differential.md)
-      - [Configuration/Tuning](/config_rover/differential.md)
-      - [Aion Robotics R1](/frames_rover/aion_r1.md)
-    - [Mecanum Rovers](/frames_rover/mecanum.md)
-      - [Drive Modes](/flight_modes_rover/mecanum.md)
-      - [Configuration/Tuning](/config_rover/mecanum.md)
-    - [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
+    - [Drive Modes](/flight_modes_rover/index.md)
+      - [Manual](/flight_modes_rover/manual.md)
+      - [Auto](/flight_modes_rover/auto.md)
+    - [Configuration/Tuning](/config_rover/index.md)
+      - [Basic Setup](/config_rover/basic_setup.md)
+      - [Rate Tuning](/config_rover/rate_tuning.md)
+      - [Attitude Tuning](/config_rover/attitude_tuning.md)
+      - [Velocity Tuning](/config_rover/velocity_tuning.md)
+      - [Position Tuning](/config_rover/position_tuning.md)
+    - [Complete Vehicles](/complete_vehicles_rover/index.md)
+      - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
  - [Submarines (experimental)](/frames_sub/index.md)
    - [BlueROV2](/frames_sub/bluerov2.md)
  - [Airframes Reference](/airframes/airframe_reference.md)
@@ -531,6 +528,7 @@
        - [Airspeed](/msg_docs/Airspeed.md)
        - [AirspeedWind](/msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
+        - [BatteryInfo](/msg_docs/BatteryInfo.md)
        - [ButtonEvent](/msg_docs/ButtonEvent.md)
        - [CameraCapture](/msg_docs/CameraCapture.md)
        - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -549,6 +547,7 @@
        - [DifferentialPressure](/msg_docs/DifferentialPressure.md)
        - [DistanceSensor](/msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](/msg_docs/DistanceSensorModeChangeRequest.md)
+        - [DronecanNodeStatus](/msg_docs/DronecanNodeStatus.md)
        - [Ekf2Timestamps](/msg_docs/Ekf2Timestamps.md)
        - [EscReport](/msg_docs/EscReport.md)
        - [EscStatus](/msg_docs/EscStatus.md)
@@ -623,6 +622,7 @@
        - [MountOrientation](/msg_docs/MountOrientation.md)
        - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
+        - [NeuralControl](/msg_docs/NeuralControl.md)
        - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
        - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
@@ -662,6 +662,8 @@
        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
@@ -721,7 +723,13 @@
        - [Wind](/msg_docs/Wind.md)
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
+        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
+        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
+        - [EventV0](/msg_docs/EventV0.md)
+        - [HomePositionV0](/msg_docs/HomePositionV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
+        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
    - [MAVLink Messaging](/mavlink/index.md)
      - [Adding Messages](/mavlink/adding_messages.md)
@@ -761,7 +769,7 @@
    - [Debugging with GDB](/debug/gdb_debugging.md)
      - [SWD Debug Port](/debug/swd_debug.md)
      - [JLink Probe](/debug/probe_jlink.md)
-      - [Black Magic/DroneCode Probe](/debug/probe_bmp.md)
+      - [Black Magic/Zubax BugFace BF1 Probe](/debug/probe_bmp.md)
      - [STLink Probe](/debug/probe_stlink.md)
      - [MCU-Link Probe](/debug/probe_mculink.md)
      - [Hardfault Debugging](/debug/gdb_hardfault.md)
@@ -785,6 +793,9 @@
    - [Camera Integration/Architecture](/camera/camera_architecture.md)
    - [Computer Vision](/advanced/computer_vision.md)
      - [Motion Capture (VICON, Optitrack, NOKOV)](/tutorials/motion-capture.md)
+    - [Neural Networks](/advanced/neural_networks.md)
+      - [Neural Network Module Utilities](/advanced/nn_module_utilities.md)
+      - [TensorFlow Lite Micro (TFLM)](/advanced/tflm.md)
    - [Installing driver for Intel RealSense R200](/advanced/realsense_intel_driver.md)
    - [Switching State Estimators](/advanced/switching_state_estimators.md)
    - [Out-of-Tree Modules](/advanced/out_of_tree_modules.md)
@@ -816,8 +827,12 @@
      - [Test MC_02 - Full Autonomous](/test_cards/mc_02_full_autonomous.md)
      - [Test MC_03 - Auto Manual Mix](/test_cards/mc_03_auto_manual_mix.md)
      - [Test MC_04 - Failsafe Testing](/test_cards/mc_04_failsafe_testing.md)
-      - [Test MC_05 - Indoor Flight (Manual Modes)](/test_cards/mc_05_indoor_flight_manual_modes.md)
+      - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
+      - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
+      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
+      - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
    - [Unit Tests](/test_and_ci/unit_tests.md)
+      - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
    - [Continuous Integration](/test_and_ci/continous_integration.md)
    - [Integration Testing](/test_and_ci/integration_testing.md)
      - [MAVSDK Integration Testing](/test_and_ci/integration_testing_mavsdk.md)
@@ -692,6 +692,16 @@ to 0 and 4096. Other standard params follows the same rule.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 65535    |           | 0       |

+### PCA9685_EN_BUS (`INT32`) {#PCA9685_EN_BUS}
+
+Enable the PCA9685 output driver.
+
+The integer refers to the I2C bus number where PCA9685 is connected.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 10       |           | 0       |
+
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}

 PCA9685 Output Channel 1 Failsafe Value.
@@ -14435,9 +14445,9 @@ Set bits in the following positions to enable:

 ### FW_AT_MAN_AUX (`INT32`) {#FW_AT_MAN_AUX}

-Enable/disable auto tuning using an RC AUX input.
+Enable/disable auto tuning using a manual control AUX input.

-Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.
+Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.

 **Values:**

@@ -16242,21 +16252,6 @@ Expect and require a healthy MAVLink parachute system.
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 | &nbsp; |          |          |           | Disabled (0) |

-### COM_POSCTL_NAVL (`INT32`) {#COM_POSCTL_NAVL}
-
-Position mode navigation loss response.
-
-This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.
-
-**Values:**
-
- `0`: Altitude mode
- `1`: Land mode (descend)
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0       |
-
 ### COM_POS_FS_EPH (`FLOAT`) {#COM_POS_FS_EPH}

 Horizontal position error threshold for hovering systems.
@@ -16363,7 +16358,7 @@ A negative value disables the check.

 ### COM_RCL_EXCEPT (`INT32`) {#COM_RCL_EXCEPT}

-RC loss exceptions.
+Manual control loss exceptions.

 Specify modes where manual control loss is ignored and no failsafe is triggered.
 External modes requiring stick input will still failsafe.
@@ -16381,7 +16376,7 @@ External modes requiring stick input will still failsafe.

 ### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}

-RC input arm/disarm command duration.
+Manual control input arm/disarm command duration.

 The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.

@@ -16429,9 +16424,9 @@ Ensure the value is not set lower than the update interval of the RC or Joystick

 ### COM_RC_OVERRIDE (`INT32`) {#COM_RC_OVERRIDE}

-Enable RC stick override of auto and/or offboard modes.
+Enable manual control stick override.

-When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV
+When enabled, moving the sticks more than COM_RC_STICK_OV
 immediately gives control back to the pilot by switching to Position mode and
 if position is unavailable Altitude mode.
 Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
@@ -16447,7 +16442,7 @@ Note: Only has an effect on multicopters, and VTOLs in multicopter mode.

 ### COM_RC_STICK_OV (`FLOAT`) {#COM_RC_STICK_OV}

-RC stick override threshold.
+Stick override threshold.

 If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
 the autopilot the pilot takes over control.
@@ -16591,11 +16586,10 @@ action will be executed.

 ### NAV_RCL_ACT (`INT32`) {#NAV_RCL_ACT}

-Set RC loss failsafe mode.
+Set manual control loss failsafe mode.

-The RC loss failsafe will only be entered after a timeout,
-set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
-by setting the COM_RC_IN_MODE param it will not be triggered.
+The manual control loss failsafe will only be entered after a timeout,
+set by COM_RC_LOSS_T in seconds.

 **Values:**

@@ -16876,7 +16870,7 @@ armed.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        | 0.01      | 0.055   | %    |
+| &nbsp; | 0        | 1        | 0.01      | 0.055   | norm |

 ### DSHOT_TEL_CFG (`INT32`) {#DSHOT_TEL_CFG}

@@ -19929,7 +19923,7 @@ Yaw behaviour during orbit flight.
 - `1`: Hold Initial Heading
 - `2`: Uncontrolled
 - `3`: Hold Front Tangent to Circle
- `4`: RC Controlled
+- `4`: Manually (yaw stick) Controlled

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -20268,6 +20262,7 @@ Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In additi
 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).

 **Values:**

@@ -20277,6 +20272,7 @@ RTK is still possible with this setup.
 - `3`: Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 - `4`: Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 - `5`: Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
+- `6`: Ground Control Station (UART2 outputs NMEA)

 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
@@ -29542,6 +29538,16 @@ Distance from the center of the right wheel to the center of the left wheel.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 100      | 0.001     | 0       | m    |

+### RD_YAW_STK_GAIN (`FLOAT`) {#RD_YAW_STK_GAIN}
+
+Yaw stick gain for Manual mode.
+
+Assign value <1.0 to decrease stick response for yaw control.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.1      | 1        | 0.01      | 1       |
+
 ## Rover Mecanum

 ### RM_COURSE_CTL_TH (`FLOAT`) {#RM_COURSE_CTL_TH}
@@ -29567,6 +29573,16 @@ Distance from the center of the right wheel to the center of the left wheel.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 100      | 0.001     | 0       | m    |

+### RM_YAW_STK_GAIN (`FLOAT`) {#RM_YAW_STK_GAIN}
+
+Yaw stick gain for Manual mode.
+
+Assign value <1.0 to decrease stick response for yaw control.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.1      | 1        | 0.01      | 1       |
+
 ## Rover Rate Control

 ### RO_YAW_ACCEL_LIM (`FLOAT`) {#RO_YAW_ACCEL_LIM}
@@ -29591,6 +29607,18 @@ Set to -1 to disable.
 | ------ | -------- | -------- | --------- | ------- | ------- |
 | &nbsp; | -1       | 10000    | 0.01      | -1.     | deg/s^2 |

+### RO_YAW_EXPO (`FLOAT`) {#RO_YAW_EXPO}
+
+Yaw rate expo factor.
+
+Exponential factor for tuning the input curve shape.
+0 Purely linear input curve
+1 Purely cubic input curve
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1        |           | 0.      |
+
 ### RO_YAW_RATE_CORR (`FLOAT`) {#RO_YAW_RATE_CORR}

 Yaw rate correction factor.
@@ -29651,6 +29679,19 @@ Percentage of stick input range that will be interpreted as zero around the stic
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1        | 0.01      | 0.1     |

+### RO_YAW_SUPEXPO (`FLOAT`) {#RO_YAW_SUPEXPO}
+
+Yaw rate super expo factor.
+
+"Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
+0 Pure Expo function
+0.7 reasonable shape enhancement for intuitive stick feel
+0.95 very strong bent input curve only near maxima have effect
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 0.95     |           | 0.      |
+
 ## Rover Velocity Control

 ### RO_ACCEL_LIM (`FLOAT`) {#RO_ACCEL_LIM}
@@ -29838,6 +29879,24 @@ Selects the algorithm used for logfile encryption
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 2       |

+### SDLOG_BACKEND (`INT32`) {#SDLOG_BACKEND}
+
+Logging Backend (integer bitmask).
+
+If no logging is set the logger will not be started.
+Set bits true to enable:
+0: SD card logging
+1: Mavlink logging
+
+**Bitmask:**
+
+- `0`: SD card logging
+- `1`: Mavlink logging
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; | 0        | 3        |           | 3       |
+
 ### SDLOG_BOOT_BAT (`INT32`) {#SDLOG_BOOT_BAT}

 Battery-only Logging.
@@ -29924,10 +29983,12 @@ Logging Mode.

 Determines when to start and stop logging. By default, logging is started
 when arming the system, and stopped when disarming.
+Note: The logging start/end points that can be configured here only apply to
+SD logging. The mavlink backend is started/stopped independently
+of these points.

 **Values:**

- `-1`: disabled
 - `0`: when armed until disarm (default)
 - `1`: from boot until disarm
 - `2`: from boot until shutdown
@@ -33018,6 +33079,31 @@ The mode will switch from long to short range when the distance is less than the
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 1        | 50       |           | 4       | m    |

+### SENS_BAHRS_CFG (`INT32`) {#SENS_BAHRS_CFG}
+
+Serial Configuration for EULER-NAV BAHRS.
+
+Configure on which serial port to run EULER-NAV BAHRS.
+
+**Values:**
+
+- `0`: Disabled
+- `6`: UART 6
+- `101`: TELEM 1
+- `102`: TELEM 2
+- `103`: TELEM 3
+- `104`: TELEM/SERIAL 4
+- `201`: GPS 1
+- `202`: GPS 2
+- `203`: GPS 3
+- `300`: Radio Controller
+- `301`: Wifi Port
+- `401`: EXT2
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; |          |          |           | 0       |
+
 ### SENS_BARO_QNH (`FLOAT`) {#SENS_BARO_QNH}

 QNH for barometer.
@@ -35562,6 +35648,86 @@ Note: certain drivers such as the GPS can determine the Baudrate automatically.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 1       |

+## Simulation
+
+### SIM_GZ_EN_ASPD (`INT32`) {#SIM_GZ_EN_ASPD}
+
+Enable airspeed sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_BARO (`INT32`) {#SIM_GZ_EN_BARO}
+
+Enable barometer/air pressure sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_FLOW (`INT32`) {#SIM_GZ_EN_FLOW}
+
+Enable optical flow sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_GPS (`INT32`) {#SIM_GZ_EN_GPS}
+
+Enable GPS/NavSat sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_LIDAR (`INT32`) {#SIM_GZ_EN_LIDAR}
+
+Enable laser/lidar sensors in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_ODOM (`INT32`) {#SIM_GZ_EN_ODOM}
+
+Enable odometry in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
 ## Simulation In Hardware

 ### SIH_DISTSNSR_MAX (`FLOAT`) {#SIH_DISTSNSR_MAX}
@@ -41075,3 +41241,11 @@ SPC_VEHICLE_RESP.
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0.5     |
+
+### ZENOH_DOMAIN_ID (`INT32`) {#ZENOH_DOMAIN_ID}
+
+ROS2 RMW_ZENOH_CPP Domain id.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 232      |           | 0       |
@@ -628,7 +628,16 @@ div.frame_variant td, div.frame_variant th {
 ### Free-Flyer

 <div class="frame_common">
-<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
+<img src="../../assets/airframes/types/FreeFlyer.svg"/>
+<table>
+ <thead>
+   <tr><th>Common Outputs</th></tr>
+ </thead>
+ <tbody>
+<tr>
+ <td><ul><li><b>Motor1</b>: back left thruster, +x thrust</li><li><b>Motor2</b>: front left thruster, -x thrust</li><li><b>Motor3</b>: back right thruster, +x thrust</li><li><b>Motor4</b>: front right thruster, -x thrust</li><li><b>Motor5</b>: front left thruster, +y thrust</li><li><b>Motor6</b>: front right thruster, -y thrust</li><li><b>Motor7</b>: back left thruster, +y thrust</li><li><b>Motor8</b>: back right thruster, -y thrust</li></ul></td>
+</tr>
+</tbody></table>
 </div>

 <div class="frame_variant">
@@ -638,7 +647,7 @@ div.frame_variant td, div.frame_variant th {
 </thead>
 <tbody>
 <tr id="spacecraft_free-flyer_kth-atmos">
- <td>KTH-ATMOS</td>
+ <td><a href="https://atmos.discower.io">KTH-ATMOS</a></td>
 <td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
 </tr>
 </tbody>
@@ -290,7 +290,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power

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

 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
@@ -13,9 +13,9 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot

 The following sections are split according to the operating system that PX4 runs on.

-## Posix (Linux/MacOS)
+## POSIX (Linux/MacOS)

-On Posix, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
+On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
 For that to work, a few things are required:

 - PX4 modules need to look like individual executables to the system.
@@ -54,7 +54,7 @@ cd <PX4-Autopilot>/build/px4_sitl_default/bin
 ### Dynamic Modules

 Normally, all modules are compiled into a single PX4 executable.
-However, on Posix, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
+However, on POSIX, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.

 ```sh
 dyn ./test.px4mod
@@ -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 +147,37 @@ The following example shows how to start custom applications:

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
+
+#### Additional Init-File 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 compiled into the binary for a particular `make` target build variant.
+
+::: warning
+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.
+:::
+
+The steps are:
+
+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup.
+  For example:
+
+  ```sh
+  # File: boards/<vendor>/<board>/init/rc.additional
+  param set-default <param> <value>
+  ```
+
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script.
+  For example:
+
+  ```sh
+  # File: boards/<vendor>/<board>/var.px4board
+  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
+  ```
+
+- Compile the firmware with your new variant by appending the variant name to the compile target.
+  For example:
+
+  ```sh
+  make <target>_var
+  ```
@@ -206,23 +206,13 @@ The relevant parameters shown below.

 ### Position Loss Failsafe Action

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

 The relevant parameters for all vehicles shown below.

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

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

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

 Useful settings for specific cases:

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

 ### Logger module

@@ -33,7 +33,7 @@ _QGroundControl for Windows_ is additionally required if you need to:
  Note that you can also use it to monitor a simulation, but you must manually [connect to the simulation running in WSL](#qgroundcontrol-on-windows).

 ::: info
-Connecting to an USB device from within WSL is not natively supported, however it can still be achieved by using the [USBIPD-WIN](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) project. With this you can automatically upload firmware from the command line in WSL using the  [`upload`](../dev_setup/building_px4.md#uploading-firmware-flashing-the-board) function.
+Connecting to an USB device from within WSL is not natively supported, however it can still be achieved by using the [USBIPD-WIN](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) project. With this you can automatically upload firmware from the command line in WSL using the [`upload`](../dev_setup/building_px4.md#uploading-firmware-flashing-the-board) function.
 :::

 ::: info
@@ -325,3 +325,9 @@ sudo add-apt-repository ppa:kisak/kisak-mesa
 sudo apt update
 sudo apt upgrade
 ```
+
+### QGroundControl not connecting to PX4 SITL
+
+- The connection between PX4 SITL on WSL2 and QGroundControl on Windows requires [broadcasting](../simulation/index.md#enable-udp-broadcasting) or [streaming to a specific address](../simulation/index.md#enable-streaming-to-specific-address) to be enabled.
+  Streaming to a specific address should be enabled by default, but is something to check if a connection can't be established.
+- Network traffic might be blocked by firewall or antivirus on you system.
@@ -0,0 +1,153 @@
+# Accton Godwit G-A1
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
+:::
+
+The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
+
+It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
+It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
+
+With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
+
+:::tip
+Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information.
+:::
+
+![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1")
+
+![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View")
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## Specifications
+
+### Processor
+
+- STM32H753IIK (Arm® Cortex®-M7 480MHz)
+- STM32F103 (Arm® Cortex®-M3, 72MHz)
+
+### Sensors
+
+- Bosch BMI088 (vibration isolated)
+- TDK InvenSense ICM-42688-P x 2 (one vibration isolated)
+- TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated)
+- PNI RM3100 Geomagnetic Sensor (vibration isolated)
+
+### Power
+
+- 4.6V to 5.7V
+
+### External ports
+
+- 2 CAN Buses (CAN1 and CAN2)
+- 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
+- 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2)
+- 1 PPM IN
+- 1 SBUS OUT
+- 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
+- 1 10/100Base-T Ethernet Port
+- 1 DSM/SBUS RC
+- 1 UART 4
+- 1 AD&IO Port
+- 2 Debug Ports (1 IO Debug and 1 FMU Debug)
+- 1 SPI6 Bus
+- 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2)
+- 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO)
+- Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
+
+### Size and Dimensions
+
+- 92.2 (L) x 51.2 (W) x 28.3 (H) mm
+- 77.6g (carrier board with IMU)
+
+## Where to Buy
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+
+## Pinout
+
+![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition")
+
+## UART Mapping
+
+| Serial# | Protocol  | Port   | Notes      |
+| ------- | --------- | ------ | ---------- |
+| SERIAL1 | Telem1    | UART7  | /dev/ttyS6 |
+| SERIAL2 | Telem2    | UART5  | /dev/ttyS4 |
+| SERIAL3 | GPS1      | USART1 | /dev/ttyS0 |
+| SERIAL4 | GPS2      | UART8  | /dev/ttyS7 |
+| SERIAL5 | Telem3    | USART2 | /dev/ttyS1 |
+| SERIAL6 | UART4     | UART4  | /dev/ttyS3 |
+| SERIAL7 | FMU Debug | USART3 |            |
+| SERIAL8 | OTG2      | USB    |            |
+
+## Wiring Diagram
+
+![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")
+
+## PWM Output
+
+PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
+All these 16 support normal PWM output formats.
+FMU PWM A1-A6 can support DShot and B-Directional DShot.
+A1-A8(FMU PWM) are grouped as:
+
+- Group 1: A1, A2, A3, A4
+- Group 2: A5, A6
+- Group 3: A7, A8
+
+The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
+
+![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
+
+## RC Input
+
+For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition.
+PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports.
+
+![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio")
+
+## GPS/Compass
+
+The Godwit G-A1 has a built-in compass
+Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
+
+![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
+
+## Power Connection and Battery Monitor
+
+This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries.
+To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface.
+
+This universal controller does not provide power to the servos.
+To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.
+
+![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power")
+
+## SD Card
+
+The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
+
+![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card")
+
+## Firmware
+
+The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1"
+
+To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
+
+```sh
+make accton-godwit_ga1
+```
+
+## More Information and Support
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+- [support@accton-iot.com](mailto:support@accton-iot.com)
@@ -12,6 +12,7 @@ This category includes boards that are not fully compliant with the pixhawk stan

 The boards in this category are:

+- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
@@ -45,6 +45,41 @@ MicroStrain <command> [arguments...]
   status        Driver status
 ```

+## eulernav_bahrs
+
+Source: [drivers/ins/eulernav_bahrs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/eulernav_bahrs)
+
+### Description
+
+Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+
+```
+eulernav_bahrs start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+eulernav_bahrs stop
+```
+
+### Usage {#eulernav_bahrs_usage}
+
+```
+eulernav_bahrs <command> [arguments...]
+ Commands:
+   start         Start driver
+     -d <val>    Serial device
+
+   status        Print driver status
+
+   stop          Stop driver
+```
+
 ## ilabs

 Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
@@ -15,25 +15,25 @@ Request are published by `manual_control` and subscribed by the `commander` and
 # It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
 # Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.

-uint64 timestamp # [us] Time since system start
+uint64 timestamp  # [us] Time since system start

-uint8 action # [@enum ACTION] Requested action
-uint8 ACTION_DISARM = 0 # Disarm vehicle
-uint8 ACTION_ARM = 1 # Arm vehicle
-uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
-uint8 ACTION_UNKILL = 3 # Revert a kill action
-uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
-uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
-uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
-uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute
+uint8 action                                     # [@enum ACTION] Requested action
+uint8 ACTION_DISARM = 0                          # Disarm vehicle
+uint8 ACTION_ARM = 1                             # Arm vehicle
+uint8 ACTION_TOGGLE_ARMING = 2                   # Toggle arming
+uint8 ACTION_UNKILL = 3                          # Revert a kill action
+uint8 ACTION_KILL = 4                            # Kill vehicle (instantly stop the motors)
+uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
+uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
+uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
+uint8 ACTION_TERMINATION = 8                     # Irreversibly output failsafe values on all outputs, trigger parachute

-uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
-uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
-uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
-uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
-uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
+uint8 source                    # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
+uint8 SOURCE_STICK_GESTURE = 0  # Triggered by holding the sticks in a certain position
+uint8 SOURCE_RC_SWITCH = 1      # Triggered by an RC switch moving into a certain position
+uint8 SOURCE_RC_BUTTON = 2      # Triggered by a momentary button on the RC being pressed or held
+uint8 SOURCE_RC_MODE_SLOT = 3   # Mode change through the RC mode selection mechanism

-uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
+uint8 mode  # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.

 ```
@@ -15,14 +15,14 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp         # [us] Time since system start
+uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

-uint16 reversible_flags # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible

-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #

-uint8 NUM_CONTROLS = 12
-float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
+uint8 NUM_CONTROLS = 12  #
+float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)

 ```
@@ -15,10 +15,10 @@ Published by the vehicle's allocation and consumed by the actuator output driver

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp         # [us] Time since system start
+uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

-uint8 NUM_CONTROLS = 8
-float32[8] control # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+uint8 NUM_CONTROLS = 8  #
+float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.

 ```
@@ -13,10 +13,10 @@ It is subscribed by the airspeed selector module, which validates the data from
 # This is published by airspeed sensor drivers, CAN airspeed sensors, simulators.
 # It is subscribed by the airspeed selector module, which validates the data from multiple sensors and passes on a single estimation to the EKF, controllers and telemetry providers.

-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Timestamp of the raw data
-float32 indicated_airspeed_m_s # [m/s] Indicated airspeed
-float32 true_airspeed_m_s # [m/s] True airspeed
-float32 confidence # [@range 0,1] Confidence value for this sensor
+uint64 timestamp                 # [us] Time since system start
+uint64 timestamp_sample          # [us] Timestamp of the raw data
+float32 indicated_airspeed_m_s   # [m/s] Indicated airspeed
+float32 true_airspeed_m_s        # [m/s] True airspeed
+float32 confidence               # [@range 0,1] Confidence value for this sensor

 ```
@@ -21,39 +21,39 @@ The message is not used by internal/FMU components, as their mode requirements a
 # Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
 # The message is not used by internal/FMU components, as their mode requirements are known at compile time.

-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION  = 1

 uint64 timestamp # [us] Time since system start.

-uint8 request_id # Id of ArmingCheckRequest for which this is a response.
-uint8 registration_id # Id of external component emitting this response.
+uint8 request_id       # Id of ArmingCheckRequest for which this is a response.
+uint8 registration_id  # Id of external component emitting this response.

-uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.

-uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
+uint8 health_component_index      # [@enum HEALTH_COMPONENT_INDEX]
+bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json).

-bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
+bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.

-uint8 num_events # Number of queued failure messages (Event) in the events field.
+uint8 num_events  # Number of queued failure messages (Event) in the events field.

-Event[5] events # Arming failure reasons (Queue of events to report to GCS).
+Event[5] events  # Arming failure reasons (Queue of events to report to GCS).

 # Mode requirements
-bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
-bool mode_req_attitude # Requires an attitude estimate.
-bool mode_req_local_alt # Requires a local altitude estimate.
-bool mode_req_local_position # Requires a local position estimate.
-bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
-bool mode_req_global_position # Requires a global position estimate.
-bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
-bool mode_req_mission # Requires an uploaded mission.
-bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
-bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
-bool mode_req_manual_control # Requires a manual controller
+bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope).
+bool mode_req_attitude                 # Requires an attitude estimate.
+bool mode_req_local_alt                # Requires a local altitude estimate.
+bool mode_req_local_position           # Requires a local position estimate.
+bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate.
+bool mode_req_global_position          # Requires a global position estimate.
+bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate.
+bool mode_req_mission                  # Requires an uploaded mission.
+bool mode_req_home_position            # Requires a home position (such as RTL/Return mode).
+bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
+bool mode_req_manual_control           # Requires a manual controller

-uint8 ORB_QUEUE_LENGTH = 4 #
+uint8 ORB_QUEUE_LENGTH  = 4

 ```
@@ -21,10 +21,12 @@ The reply will also include the registration_id for each external component, pro
 # 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.
+uint64 timestamp  # [us] Time since system start.

-uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+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)

 ```
@@ -0,0 +1,30 @@
+# ArmingCheckRequestV0 (UORB message)
+
+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).
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
+
+```c
+# 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.
+
+```
@@ -11,39 +11,39 @@ This is currently used only for logging cell status from MAVLink.
 #
 # This is currently used only for logging cell status from MAVLink.

-uint64 timestamp # [us] Time since system start
+uint64 timestamp  # [us] Time since system start

-uint16 status # [@enum STATUS_FLAG] Status bitmap
-uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable
-uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable
-uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized
-uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked
-uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down
-uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state
-uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state
-uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections
-uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register
-uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use
-uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
-uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
-uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected
+uint16 status                            # [@enum STATUS_FLAG] Status bitmap
+uint16 STATUS_FLAG_UNKNOWN = 1           # State unknown or not reportable
+uint16 STATUS_FLAG_FAILED = 2            # Modem is unusable
+uint16 STATUS_FLAG_INITIALIZING = 4      # Modem is being initialized
+uint16 STATUS_FLAG_LOCKED = 8            # Modem is locked
+uint16 STATUS_FLAG_DISABLED = 16         # Modem is not enabled and is powered down
+uint16 STATUS_FLAG_DISABLING = 32        # Modem is currently transitioning to the STATUS_FLAG_DISABLED state
+uint16 STATUS_FLAG_ENABLING = 64         # Modem is currently transitioning to the STATUS_FLAG_ENABLED state
+uint16 STATUS_FLAG_ENABLED = 128         # Modem is enabled and powered on but not registered with a network provider and not available for data connections
+uint16 STATUS_FLAG_SEARCHING = 256       # Modem is searching for a network provider to register
+uint16 STATUS_FLAG_REGISTERED = 512      # Modem is registered with a network provider, and data connections and messaging may be available for use
+uint16 STATUS_FLAG_DISCONNECTING = 1024  # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
+uint16 STATUS_FLAG_CONNECTING = 2048     # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
+uint16 STATUS_FLAG_CONNECTED = 4096      # One or more packet data bearers is active and connected

-uint8 failure_reason # [@enum FAILURE_REASON] Failure reason
-uint8 FAILURE_REASON_NONE = 0 # No error
-uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown
-uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing
-uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection
+uint8 failure_reason                  # [@enum FAILURE_REASON] Failure reason
+uint8 FAILURE_REASON_NONE = 0         # No error
+uint8 FAILURE_REASON_UNKNOWN = 1      # Error state is unknown
+uint8 FAILURE_REASON_SIM_MISSING = 2  # SIM is required for the modem but missing
+uint8 FAILURE_REASON_SIM_ERROR = 3    # SIM is available, but not usable for connection

-uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type
-uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None
-uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM
-uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA
-uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA
-uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE
+uint8 type                                   # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type
+uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0   # None
+uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1    # GSM
+uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2   # CDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3  # WCDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4    # LTE

-uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value
-uint16 mcc # [@invalid UINT16_MAX] Mobile country code
-uint16 mnc # [@invalid UINT16_MAX] Mobile network code
-uint16 lac # [@invalid 0] Location area code
+uint8 quality  # [dBm] Cellular network RSSI/RSRP, absolute value
+uint16 mcc     # [@invalid UINT16_MAX] Mobile country code
+uint16 mnc     # [@invalid UINT16_MAX] Mobile network code
+uint16 lac     # [@invalid 0] Location area code

 ```
@@ -0,0 +1,14 @@
+# RoverSpeedSetpoint (UORB message)
+
+Rover Speed Setpoint
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg)
+
+```c
+# Rover Speed Setpoint
+
+uint64 timestamp # [us] Time since system start
+float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
+float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
+
+```
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jacob Dahl	b6df1c6388	don't change EKF2_MIN_RNG	2025-09-16 09:54:12 -08:00
Jacob Dahl	6fc9720e25	in_air default to true for tests	2025-09-15 12:49:13 -08:00
Jacob Dahl	569849665f	ekf2: range fusion: while on the ground the rangefinder quality checks are bypassed and a synthetic measurement is fused using the minimum rangefinder distance. The intention of this logic is to ensure the rangefinder can be fused immediately during takeoff even if it's reporting 0 quality while on the ground. This was not working since the rangefinder _time_bad_quality_us was being updated while on the ground. This results in range fusion being disabled as soon as the in_air flag is set, since the time since the last bad quality value has not exceeded the EKF2_RNG_QLTY_T. This commit moves the logic into the SensorRangeFinder::isQualityOk function where the _time_bad_quality_us is only set once airborne.	2025-09-15 12:29:14 -08:00
Silvan	db8a1f11a7	EstimatorCheck: fix reporting of low position accuracy failsafe Signed-off-by: Silvan <silvan@auterion.com>	2025-09-12 14:16:16 +02:00
jmackay2	8669947bcb	Support Gazebo Jetty (#25521 ) * Support Gazebo Jetty * Gazebo jetty cmake spelling fix --------- Co-authored-by: jmackay2 <jmackay2@gmail.com>	2025-09-11 19:30:27 -08:00
Jacob Dahl	1aad8b6ec9	serial: nuttx: revert tcdrain back to fsync (#25538 ) * serial: nuttx: revert tcdrain back to fsync * serial: do not print error on EAGAIN --------- Co-authored-by: Alexander Lerach <alexander@auterion.com>	2025-09-11 12:32:34 -08:00
Matthias Grob	7b68c5dbfc	parameters: remove parameters_injected.xml and support for it in the build system (#25549 ) This was apparently added 10 years ago to store metadata of UAVCAN components within the PX4 binary. The parameters in the xml are mostly early UAVCAN ESC parameters that are presumably out of date and not used. Also it does not scale to maintain metadata for all the possible UAVCAN components and it causes confusion when users read the metadata documentation because these parameters are not available in PX4. That's why I suggest to remove it.	2025-09-11 10:47:45 -08:00
Samuel Toledano	b2672910da	sbgecom: Implement sbgECom INS driver (#24137 ) * Add new INS driver sbgECom Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot Be able to parametrize the serial port, baudrate and the communicating mode Clone sbgECom library only if sbgecom support is enabled and apply a patch Be able to send SBG Systems INS settings in several ways when starting sbgecom driver * Fix sensor airspeed simulator units * Fix HIGHRES_IMU pressure unit * Allow HIGHRES_IMU to support 4 IMUs * sbgECom: Add documentation * Use submodule instead of fetching sbgECom using CMake * Remove patch strategy * Fix dates * Remove patch file * Update SBG dev type ID Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-09-11 00:37:41 -08:00
SolderSyntax	05394162ce	Update dev_env_windows_wsl.md (#25441 ) * Update dev_env_windows_wsl.md Add info about enabling broadcasting or streaming to work with PX4 SITL on WSL and QGC on Windows. * Update dev_env_windows_wsl.md Fix links * Update dev_env_windows_wsl.md moved troubleshooting section at the bottom of WSL2<>Windows section. * Move under troubleshooting --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-09-11 17:55:02 +10:00
Hamish Willee	d1da30911e	Update metadata and tidy a few docs (#25547 ) * Fix up metadata except for uorb graphs * Additional customization of startup tidy	2025-09-11 16:06:51 +10:00
Holden Ramsey	264b8fe277	Tools: Support Setup for Linux Mint (#25486 )	2025-09-10 18:01:37 -08:00
JM Wang	47c0fef8c8	[DOCS] accton godwit ga1, a new manufacture board (#25411 ) * Add docs for Accton-Godwit-GA1 * Update Accton-Godwit_GA1 in SUMMARY.md add docs of accton’s new manufacturer board GA1 in TOC(SUMMARY.md) * Subedit * update wording in accton-godwit_ga1.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-09-11 09:34:13 +10:00
PX4 Build Bot	ae60c66613	New Crowdin translations - ko (#25481 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-09-11 08:30:54 +10:00
PX4 Build Bot	a20afc88c8	New Crowdin translations - uk (#25482 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-09-11 08:30:05 +10:00
PX4 Build Bot	2e84e55d93	New Crowdin translations - zh-CN (#25483 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-09-11 08:29:25 +10:00
rmahoney-skai	472e0657b5	Corrected max number of submodules displayed in VSCode (#25539 ) Co-authored-by: rmahoney_skai <rmahoney@alakai.com>	2025-09-10 11:09:22 -08:00
Pernilla	b4395d5960	FlightTaskManualAcceleration: fix velocity constraint overwriting + altitude limit slow down - The velocity constraint gets set from multiple places e.g. Position slow knob and altitude related slow down. Depending on the execution order it was overwritten with a higher value again not obeying a stricter limit. - The slowdown used valocities as inputs instead of the ratio of available altitude.	2025-09-10 10:18:09 +02:00
Matthias Grob	63ec2f0406	docs/safety: clarification for position loss in manual position controlled flight Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-09-08 09:41:52 +02:00
Matthias Grob	e0cdcdb436	Remove COM_POSCTL_NAVL In an effort to reduce configuration space. I've not seen use for this option. If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference. Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.	2025-09-08 09:41:52 +02:00
renjieDLUT	3962419669	Update _assembly.md (#25527 )	2025-09-07 17:58:33 -08:00
renjieDLUT	63e257782a	Update accelerometer.md (#25532 )	2025-09-07 17:58:12 -08:00
Alexander Lerach	fd2b7cbea4	gps: update submodule (#25529 )	2025-09-05 17:46:32 +02:00
Silvan Fuhrer	5f5a1aa4ab	Mavlink stream low bandwidth: add some important missing ones, update rates (#25524 ) * mavlink stream low bandwidth: add GLOBAL_POSITION Signed-off-by: Silvan <silvan@auterion.com> * mavlink stream low bandwidth: add FIGURE_EIGHT_EXECUTION_STATUS Signed-off-by: Silvan <silvan@auterion.com> * mavlink stream low bandwidth: increase sending rate for all positioning messages to 2Hz Signed-off-by: Silvan <silvan@auterion.com> * mavlink stream low bandwidth: reduce sending rate for a couple of status messages Signed-off-by: Silvan <silvan@auterion.com> * mavlink stream low bandwidth: add ATTITUDE_QUATERNION Signed-off-by: Silvan <silvan@auterion.com> * mavlink stream low bandwidth: use ATTITUDE_QUATERNION instead of ATTITUDE as its preferred by GCS * mavlink stream low bandwidth: add RAW_RPM for vehicles with ICE * mavlink stream low bandwidth: increase VFR_HUD rate * mavlink stream low bandwidth: decrease FIGURE_EIGHT_EXECUTION_STATUS rate --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Alexander Lerach <alexander@auterion.com>	2025-09-05 16:28:09 +02:00
Claudio Chies	1840c0db48	UAVCAN:BAT: improve remaining time calculation (#25500 ) * UAVCAN:BAT: improve remaining time calculation * UAVCAN:BAT: fix time_remaining calculation, bugfixes, improved filter convergence time * UAVCAN:BAT: remove BatteryInfo Publishing if no valid info * UAVCAN + Battery library: suggestions while reviewing --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-09-05 10:57:13 +02:00
alexklimaj	89c6d24946	Update GPS submodule	2025-09-04 17:02:31 -06:00
Alex Klimaj	af6bf931c1	uavcan bootloader watchdog_pet during long flashes (#25523 )	2025-09-04 12:20:03 -08:00
fbaklanov	fc8e2021e7	A driver for EULER-NAV Baro-Inertial AHRS (#24534 ) * Create a dummy BAHRS driver * Resolve compilation * Switch back to cpp, fix compilation * Create module.yaml * Implement required module APIs and open serial port * Revise info and error messages * Poll serial port * Push received bytes into the ring buffer * Process data buffer (1) * Process data buffer (2) * Process data buffer (3) * Process data buffer (4) * Process data buffer (5) * Process data buffer (6) * Implement and use initialize() and deinitialize() methods * Implement print_usage() and print_status() * Collect all config constants in a class * Put info about next found message into a class * Print CRC failure count * Remove unneeded print * Add comments * Disable EKF2, advertise vehicle attitude * Decode and publish BAHRS signals (1) * Run the driver as an additional source of sensor signals * Add tiny noise to baro-inertial pressure signal * Fix the sensor ID * Add copyrights * Fix formatting * Remove redundant newline character * Fix long parameter name * Fix findings (1) * Fix finding (2) * Fix formatting * Fix the timeout value * Remove aliases * Fix copyright * Fix indent * Comply with naming convention * Rework comparison to false * Reduce nesting (1) * Reduce nesting (2) * Reduce nesting (3) * Fix BAHRS sensor ID	2025-09-04 09:31:36 -08:00
Silvan Fuhrer	e6f60ef403	Sensors: remove some distance sensors from COMMON_DISTANCE_SENSOR again (#25522 ) * distance sensors common: remove DISTANCE_SENSOR_TERARANGER Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * distance sensors common: remove DISTANCE_SENSOR_CM8JL65 Signed-off-by: Silvan Fuhrer <silvan@auterion.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-09-04 09:28:37 -08:00
Pedro Roque	944b3e763a	doc: Change email for Pedro Roque (#25514 )	2025-09-02 16:07:55 -08:00
Pedro Roque	271cb49597	feat: airframe documentation for spacecraft (#25294 )	2025-09-02 16:27:26 -07:00
Alexander Lerach	9015001b42	uavcan: fix driver init after stop/start (#25511 )	2025-09-02 10:02:15 -08:00
Silvan	ce207837cf	rc.sensors: add iis2mdc mag to list of probed for sensors Signed-off-by: Silvan <silvan@auterion.com>	2025-09-02 10:16:32 -06:00
Niklas Hauser	3a734bc846	[board] Add PCA9685 driver to FMUv6s board	2025-08-29 14:05:40 +02:00
Niklas Hauser	9062d0cc7d	[driver] Add a parameter to enable the PCA9685 driver	2025-08-29 14:05:40 +02:00
Niklas Hauser	b2b80e8075	[board] Reformat FMUv6s init script to start internal sensor first	2025-08-29 14:05:40 +02:00
Balduin	2eac6cca38	dds_topics: accept landing_gear command from external modes (#25496 )	2025-08-28 08:30:27 -08:00
Claudio Chies	fe1abb5b92	the PR has long been merged (#25495 )	2025-08-28 08:28:44 -08:00
Marco Hauswirth	073013cf85	reset terrain w flow based on current horizontal velocity	2025-08-28 13:58:29 +02:00
Silvan Fuhrer	547582b16b	DSHOT: fix unit for DSHOT_MIN parameter (#25493 ) Signed-off-by: Silvan <silvan@auterion.com>	2025-08-27 09:21:16 -08:00
Alexander Lerach	8f2c36689d	logging: allow logging backend config * logging: allow logging backend config * correct board comments * documentation: updated logging section	2025-08-27 15:44:36 +02:00
Jacob Dahl	30fcb4fcb1	uavcan: esc: init msg to avoid publishing random values (#25485 )	2025-08-27 17:09:36 +12:00
Davide Iafrate	ec436d3be3	Enable selectively disabling sensors in the Gazebo bridge. (#25484 ) * Initial plan * Add configurable sensor subscription parameters Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com>	2025-08-26 10:00:47 -08:00
Beat Küng	6ec8dec63a	commander: add valid_registrations_mask to ArmingCheckRequest.msg This allows external modes to individually check if they are flagged as invalid/unresponsive. Previously this was done only based on whether or not ArmingCheckRequest was received, which does not work when multiple modes are running.	2025-08-26 14:38:05 +02:00
Beat Küng	edfcdaa008	commander: check for stale arming_check_reply messages based on the message timestamp. Previously it was possible to run into the following case: - 2 external modes are registered (running inside the same ROS node) - they time out due to the micro xrce agent being blocked for some reason - PX4 removes them - the latest arming check replies still arrive to PX4 - the application restarts - the first mode gets registered - PX4 handles the previous arming check reply, and clears waiting_for_first_response, which reduces the timeout - the second mode registers and as part of that checks for message compatibility. This takes ~1s, triggering a timeout of the first mode	2025-08-26 14:38:05 +02:00
Silvan	a1ee9eb2c4	mavlink: remove streams from LOW_BANDWIDTH that are deprecated Signed-off-by: Silvan <silvan@auterion.com>	2025-08-25 17:34:34 +02:00
bresch	4a697d0191	ekf2: stop GNSS altittude and velocity aiding when gnss_fault is set	2025-08-25 10:22:23 +02:00
mahima-yoga	db3f33760e	docs: add instructions for controlling actuators in SIH	2025-08-25 09:28:43 +02:00
mahima-yoga	dd09cdf986	Commander: remove HIL_STATE_ON from arming lockdown Removing this from the boolean allows users to send pwm values in SIH.	2025-08-25 09:28:43 +02:00
chfriedrich98	4a5eabb61e	rover: constrain update steps	2025-08-22 12:13:01 +02:00
chfriedrich98	248f113141	rover: improve hold position logic (#25466 )	2025-08-22 12:10:16 +02:00
Peter van der Perk	c1d15d0e09	Zenoh: use strncpy and bool	2025-08-22 08:22:59 +02:00
Peter van der Perk	8689c00be7	Zenoh: cleanup and review	2025-08-22 08:22:59 +02:00
Peter van der Perk	17e843a985	zenoh: remove MessageFormat since Zenoh RIHS01 already provides it RIHS01 has the same functionality and already provides type safety with rmw_zenoh_cpp. The user on ROS2 can compare the PX4 ros2_lv hashes with their own px4_msgs for a mismatch	2025-08-22 08:22:59 +02:00
Peter van der Perk	44ff6d9c62	zenoh: exclude src/modules/zenoh/dds_topics.yaml from yaml check	2025-08-22 08:22:59 +02:00
Peter van der Perk	747bcc9db5	zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h Allows for re-use for later ROS2 Service / Zenoh queryable	2025-08-22 08:22:59 +02:00
Benjamin Chung	c41216376a	Add an explicatory comment to Zenoh publisher's handling of the uOrb topic number (or lack thereof)	2025-08-22 08:22:59 +02:00
Benjamin Chung	88c1412d25	Zenoh CLI improvements	2025-08-22 08:22:59 +02:00
Benjamin Chung	01bf700f3d	Fix dds topics naming	2025-08-22 08:22:59 +02:00
Benjamin Chung	0bb9e5952a	Pubsub constructor template fix	2025-08-22 08:22:59 +02:00
Benjamin Chung	70054fc567	Implement instance selection & pub/sub deletion for Zenoh	2025-08-22 08:22:59 +02:00
Benjamin Chung	7a98c87fcb	Copy the uxrce config for Zenoh	2025-08-22 08:22:59 +02:00
Benjamin Chung	80b5cf2ed7	Prevent conversion warnings from static integers in zenoh-pico	2025-08-22 08:22:59 +02:00
Peter van der Perk	9ffd31097d	zenoh: Use CDRv1 to match ROS2 Fixes various padding related serialization issues.	2025-08-22 08:22:59 +02:00
Peter van der Perk	f99759db87	zenoh: Fix status keyexpr printf	2025-08-22 08:22:59 +02:00
Peter van der Perk	231128c68e	Zenoh set transport lease to 60000 to match ros2	2025-08-22 08:22:59 +02:00
Peter van der Perk	5622565eea	Zenoh optimize memory usage and add optional publish on matching	2025-08-22 08:22:59 +02:00
Peter van der Perk	7887f16daa	Update NuttX config for use with Zenoh	2025-08-22 08:22:59 +02:00
Peter van der Perk	0763bbe2cf	Generate default Zenoh config from dds_topics.yaml For easy transition from uxrce to zenoh and a sane base config to begin with	2025-08-22 08:22:59 +02:00
Peter van der Perk	bac009c2b8	Enable Zenoh by default on big-flash targets These targets can easily support Zenoh by default eases adoption and testing	2025-08-22 08:22:59 +02:00
Peter van der Perk	ac2627cca9	rmw attachment serialization changes Use new atachment serialization format Subscriber fix parsing payload and remove uorb publisher on destructor	2025-08-22 08:22:59 +02:00
Peter van der Perk	61e2f566ca	Zenoh config, lv and connection fixes Fixes a bug in the csv parsing Use % for / seperators in ros2_lv On startup retry connecting	2025-08-22 08:22:59 +02:00
Peter van der Perk	3d30eaae5f	Fix NuttX keepalive socketoption	2025-08-22 08:22:59 +02:00
Peter van der Perk	e052f35664	zenoh: omit timestamp attachment This isn't needed for the rmw_zenoh zenohd configuration	2025-08-22 08:22:59 +02:00
Peter van der Perk	2bc9cb4ead	zenoh: implemement experimental liveliness to get ROS2 graph to work	2025-08-22 08:22:59 +02:00
Peter van der Perk	5211d9c92e	zenoh: pubsub factory fix datatype naming convention	2025-08-22 08:22:59 +02:00
Peter van der Perk	575923b534	Zenoh: fix topic_name and datatype mapping Using substring was buggy instad we make dictionary based on datatypes and the get_topics function	2025-08-22 08:22:59 +02:00
Peter van der Perk	e37f20e94d	zenoh: Don't use uORB o_name as type but check for parent type For example vehicle_local_position_groundtruth has ROS2 type vehicle_local_position, so we've to use px4_msgs/VehicleLocalPosition as typename	2025-08-22 08:22:59 +02:00
Peter van der Perk	cb74cee970	zenoh: Increase CDR safety margin Figure out by trial and error with padding on vehicle_local_position	2025-08-22 08:22:59 +02:00
Peter van der Perk	70536766db	zenoh: Handle parsing errors in config	2025-08-22 08:22:59 +02:00
Peter van der Perk	40bba0069d	zenoh: Fix handling for non-existing types	2025-08-22 08:22:59 +02:00
Peter van der Perk	35004e357c	zenoh: Add px4_sitl_zenoh to cmake-variants.yaml	2025-08-22 08:22:59 +02:00
Peter van der Perk	923257779a	zenoh: Default to 127.0.0.1 when using sitl/posix Also improve error message when connection failed	2025-08-22 08:22:59 +02:00
Peter van der Perk	a24b3a121c	zenoh: Improve error message when there are no scouting results	2025-08-22 08:22:59 +02:00
Peter van der Perk	85cab5a4db	sitl: autostart zenoh if enabled	2025-08-22 08:22:59 +02:00
Peter van der Perk	859ba81e33	Zenoh fix gcc/sitl compile errors	2025-08-22 08:22:59 +02:00
Peter van der Perk	4aff095f9b	IDL 2 RIHS01 remove tempfile and print	2025-08-22 08:22:59 +02:00
Peter van der Perk	796efeebe7	Implement Domain id parameter and move gid to zenoh	2025-08-22 08:22:59 +02:00
Peter van der Perk	9d02698987	Update Zenoh for library and implement rmw_zenoh features New zenoh-pico library Keyexpr instrospection RIHS01 Types	2025-08-22 08:22:59 +02:00
Peter van der Perk	e1a7fbce71	Update cdrstream code generator including typehash	2025-08-22 08:22:59 +02:00
Peter van der Perk	a87456b38b	Update rosidl Adds support for typehashes	2025-08-22 08:22:59 +02:00
Peter van der Perk	33a5122916	Update Zenoh-pico	2025-08-22 08:22:59 +02:00
ljarvela	b53ecf7f68	uavcan: increase battery filter sample interval to 500ms (#25454 ) Fixes issue #25430 Co-authored-by: Lasse Järvelä <lasse.jarvela@iceye.com>	2025-08-21 19:19:52 -07:00
Alexander Lerach	138427b3a8	config: add dynamic init file * config: add dynamic init file * added review feedback * added docs	2025-08-21 16:46:06 +02:00
Alexander Lerach	785ea1a137	ubx: add new mode for GCS usage * ubx: add new mode for GCS usage * use head ref	2025-08-21 15:45:40 +02:00
chfriedrich98	8e5cd59502	rover: fix setpoint generation	2025-08-21 13:33:19 +02:00
Beat Küng	df11aa1d69	fix commander: handle mode executor correctly on disarm There were a number of cases where the state was not correct or not as desired after disarming, when running an external mode 'MyMission' with executor: - run MyMission, which triggers Hold, then Land - before: Mode: Hold, executor_in_charge: 1 - after: Mode: MyMission, executor_in_charge: 1 - run MyMission, then user switches to RTL - before: Mode: MyMission, executor_in_charge: 0 - after: Mode: MyMission, executor_in_charge: 1 - run MyMission, then while in Hold mode, low battery failsafe (RTL) - before: Mode: Hold, executor_in_charge: 1 - after: Mode: MyMission, executor_in_charge: 1 - run MyMission, then stop external mode (terminate the process) - before: Mode: (mode not available), executor_in_charge: 0 - after: Mode: Hold, executor_in_charge: 0 This case is unchanged: - run MyMission, then low battery failsafe (RTL) - before: Mode: MyMission, executor_in_charge: 1 - after: Mode: MyMission, executor_in_charge: 1	2025-08-21 10:06:30 +02:00