AirspeedValidated: correct typo

add comment explaining fallback to trim
AirspeedModule: use TECS throttle
2026-05-26 23:30:04 +08:00 · 2026-01-06 15:51:25 +01:00 · 2026-01-06 15:51:25 +01:00 · 2026-01-06 15:47:20 +01:00 · 2026-01-06 11:41:06 +01:00 · 2026-01-06 17:36:44 +13:00
336 changed files with 7413 additions and 2284 deletions
@@ -0,0 +1,48 @@
+---
+applyTo: "docs/en/**"
+---
+
+# Review Guidelines docs/en Tree
+
+## File System & Structure
+
+- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
+- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
+  - Valid: `docs/en/category/file.md`
+  - Invalid: `docs/en/category/subcategory/file.md`
+- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
+- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
+- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
+
+## Markdown & Style
+
+- **Headings:** Use Title Case ("First Letter Capitalisation"). 
+  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
+  - Do not apply bold or italic styling inside a heading.
+- **Formatting:** 
+  - **Bold:** Only for UI elements (buttons, menu items).
+  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
+  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
+
+## Linking & Navigation
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
+  Note relative link. 
+- **Table Links:** To keep tables readable, use reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
+- **Table Links:** To keep tables easier to edit, prefer reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
+
+## Quality Control
+
+- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
+- **Language:** Enforce **UK English** spelling and grammar.
@@ -15,7 +15,7 @@ jobs:
          stale-issue-label: 'stale'
          stale-pr-label: 'stale'
          remove-stale-when-updated: true
-          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
-          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
-          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
+          stale-issue-message: ''
+          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: ''
+          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
@@ -0,0 +1,167 @@
+#!/bin/sh
+#
+# @name KTH-ATMOS
+#
+# @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-io
+# @url https://atmos.discower.io
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 45
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_CT 1.4
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_CT 1.4
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_CT 1.4
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_CT 1.4
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_CT 1.4
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_CT 1.4
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_PZ 0.0
+param set-default CA_ROTOR6_CT 1.4
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_PZ 0.0
+param set-default CA_ROTOR7_CT 1.4
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+param set-default SIM_GZ_EC_FUNC9 301
+param set-default SIM_GZ_EC_FUNC10 302
+param set-default SIM_GZ_EC_FUNC11 303
+param set-default SIM_GZ_EC_FUNC12 304
+
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MIN3 0
+param set-default SIM_GZ_EC_MIN4 0
+param set-default SIM_GZ_EC_MIN5 0
+param set-default SIM_GZ_EC_MIN6 0
+param set-default SIM_GZ_EC_MIN7 0
+param set-default SIM_GZ_EC_MIN8 0
+param set-default SIM_GZ_EC_MIN9 1100
+param set-default SIM_GZ_EC_MIN10 1100
+param set-default SIM_GZ_EC_MIN11 1100
+param set-default SIM_GZ_EC_MIN12 1100
+
+param set-default SIM_GZ_EC_MAX1 10000
+param set-default SIM_GZ_EC_MAX2 10000
+param set-default SIM_GZ_EC_MAX3 10000
+param set-default SIM_GZ_EC_MAX4 10000
+param set-default SIM_GZ_EC_MAX5 10000
+param set-default SIM_GZ_EC_MAX6 10000
+param set-default SIM_GZ_EC_MAX7 10000
+param set-default SIM_GZ_EC_MAX8 10000
+param set-default SIM_GZ_EC_MAX9 1900
+param set-default SIM_GZ_EC_MAX10 1900
+param set-default SIM_GZ_EC_MAX11 1900
+param set-default SIM_GZ_EC_MAX12 1900
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0
@@ -118,6 +118,7 @@ px4_add_romfs_files(
 	60002_gz_uuv_bluerov2_heavy

 	70000_gz_atmos
+	70001_gz_atmos_dual

 	# [22000, 22999] Reserve for custom models
 )
@@ -18,6 +18,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -16,6 +16,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -7,6 +7,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -11,6 +11,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -9,6 +9,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -12,7 +12,9 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
+# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,9 @@

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

+# Overwrite DDS AG IP to `192.168.0.1`
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

@@ -8,9 +8,6 @@ set VEHICLE_TYPE spacecraft
 # MAV_TYPE_SPACECRAFT_ORBITTER
 param set-default MAV_TYPE 45

-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281
@@ -17,37 +17,12 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
 	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
 	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
-		echo ""
-		echo -e "Different commits:"
+		echo -e "\033[33mWarning: $1 submodule has uncommitted changes:\033[0m"
 		echo -e "$SUBMODULE_STATUS"
 		echo ""
+		echo -e "To update submodules to the expected version, run:"
+		echo -e "   \033[94mgit submodule sync --recursive && git submodule update --init --recursive\033[0m"
 		echo ""
-		echo -e " *******************************************************************************"
-		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
-		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
-		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
-		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
-		echo -e " *******************************************************************************"
-		echo ""
-		echo ""
-		echo -e "   Only for EXPERTS:"
-		echo -e "   $1 submodule is not in the recommended version."
-		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
-		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
-		echo ""
-		read user_cmd
-		if [ "$user_cmd" == "y" ]; then
-			echo "Continuing build with manually overridden submodule.."
-		elif [ "$user_cmd" == "u" ]; then
-			git submodule sync --recursive -- $1
-			git submodule update --init --recursive -- $1 || true
-			git submodule update --init --recursive --force -- $1
-			echo "Submodule fixed, continuing build.."
-		else
-			echo "Build aborted."
-			exit 1
-		fi
 	fi
 else
 	git submodule --quiet sync --recursive --quiet -- $1
@@ -98,40 +98,6 @@ class firmware(object):

    desc = {}
    image = bytes()
-    crctab = array.array('I', [
-        0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-        0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-        0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-        0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-        0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-        0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-        0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-        0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-        0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-        0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-        0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-        0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-        0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-        0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-        0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-        0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-        0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-        0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-        0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-        0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-        0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-        0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-        0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-        0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-        0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-        0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-        0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-        0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-        0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-        0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-        0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-        0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
-    crcpad = bytearray(b'\xff\xff\xff\xff')

    def __init__(self, path):

@@ -149,17 +115,15 @@ class firmware(object):
    def property(self, propname):
        return self.desc[propname]

-    def __crc32(self, bytes, state):
-        for byte in bytes:
-            index = (state ^ byte) & 0xff
-            state = self.crctab[index] ^ (state >> 8)
-        return state
-
    def crc(self, padlen):
-        state = self.__crc32(self.image, int(0))
-        for _ in range(len(self.image), (padlen - 1), 4):
-            state = self.__crc32(self.crcpad, state)
-        return state
+        state = 0xFFFFFFFF
+        state = zlib.crc32(self.image, state)
+        padding_length = padlen - len(self.image)
+        if padding_length > 0:
+            padding = b'\xff' * padding_length
+            state = zlib.crc32(padding, state)
+
+        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF


 class uploader:
@@ -71,6 +71,5 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
-			platform_gpio_mcp23009
 	)
 endif()
@@ -74,7 +74,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
-#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -286,13 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

-	ret = mcp23009_register_gpios(3, 0x25);
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
 #endif /* !defined(BOOTLOADER) */

 	return OK;
@@ -35,7 +35,6 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -19,7 +19,15 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -20,9 +20,9 @@ safety_button start
 if ver hwbasecmp 009 010 011
 then
 	# No USB
-	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
+	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -M 0 -U 10
 fi
 if ver hwbasecmp 00a 008
 then
-	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
+	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -M 0 -U 10
 fi
@@ -86,8 +86,5 @@ fi
 #external baro
 bmp388 -X start

-# Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
-#ms5611 -X start
-
 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -69,6 +69,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
-			platform_gpio_mcp23009
+			platform_gpio_mcp
 	)
 endif()
@@ -74,7 +74,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
-#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -282,13 +281,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

-	ret = mcp23009_register_gpios(3, 0x25);
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
 #endif /* !defined(BOOTLOADER) */

 	return OK;
@@ -68,7 +68,7 @@ fi

 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
-iim42652 -R 6 -s start
+iim42652 -R 6 -s -C 32768 start
 icm45686 -R 2 -s start

 rm3100 -I -b 4 start
@@ -71,6 +71,5 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
-			platform_gpio_mcp23009
 	)
 endif()
@@ -74,7 +74,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
-#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -286,13 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

-	ret = mcp23009_register_gpios(3, 0x25);
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
 #endif /* !defined(BOOTLOADER) */

 	return OK;
@@ -13,7 +13,7 @@ CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/narinfc/h7/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="PX4 NarinFC-H7"
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743XI=y
 CONFIG_ARCH_CHIP_STM32H7=y
@@ -31,11 +31,11 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004c
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL NarinFC H7"
+CONFIG_CDCACM_PRODUCTID=0x0047
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL VOLOLAND NarinFC-H7"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3163
+CONFIG_CDCACM_VENDORID=0x3fc5
 CONFIG_CDCACM_VENDORSTR="VOLOLAND"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -29,9 +29,9 @@ safety_button start
 if ver hwbasecmp 009
 then
 	# No USB
-	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
+	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -M 0 -U 10
 fi
 if ver hwbasecmp 00a 008
 then
-	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
+	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -M 0 -U 10
 fi
@@ -43,8 +43,6 @@ add_library(drivers_board
 	usb.c
 )

-add_dependencies(drivers_board platform_gpio_mcp23009)
-
 target_link_libraries(drivers_board
 	PRIVATE
 		arch_io_pins
@@ -54,5 +52,5 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		platform_gpio_mcp23009
+		platform_gpio_mcp
 )
@@ -74,7 +74,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
-#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -280,12 +279,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

-	ret = mcp23009_register_gpios(3, 0x25);
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
 	return OK;
 }
@@ -12,7 +12,6 @@ CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -146,8 +146,5 @@ else
 	bmp388 -X start
 fi

-# Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
-#ms5611 -X start
-
 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -1 +1,2 @@
 CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
@@ -54,6 +54,7 @@ CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_GPIO=y
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
@@ -312,15 +312,17 @@
    - [Actuator Allocation](config/actuators.md)
    - [ESC Calibration](advanced_config/esc_calibration.md)
    - [ESCs & Motors](peripherals/esc_motors.md)
+      - [ESC Protocols](esc/esc_protocols.md)
      - [PWM ESCs and Servos](peripherals/pwm_escs_and_servo.md)
      - [DShot ESCs](peripherals/dshot.md)
      - [OneShot ESCs and Servos](peripherals/oneshot.md)
      - [DroneCAN ESCs](dronecan/escs.md)
-        - [Zubax Telega](dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](dronecan/sapog.md)
-          - [Holybro Kotleta](dronecan/holybro_kotleta.md)
-      - [Vertiq](peripherals/vertiq.md)
-      - [VESC](peripherals/vesc.md)
+      - [ARK 4IN1 ESC](esc/ark_4in1_esc.md)
+      - [Holybro Kotleta](dronecan/holybro_kotleta.md)
+      - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
+      - [VESC Project ESCs](peripherals/vesc.md)
+      - [Zubax Telega ESCs](dronecan/zubax_telega.md)
  - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
    - [Radio Setup](config/radio.md)
    - [Flight Modes](config/flight_mode.md)
@@ -499,6 +501,7 @@
    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [Middleware](middleware/index.md)
    - [uORB Messaging](middleware/uorb.md)
+    - [uORB Docs Standard](uorb/uorb_documentation.md)
    - [uORB Graph](middleware/uorb_graph.md)
    - [uORB Message Reference](msg_docs/index.md)
      - [Versioned](msg_docs/versioned_messages.md)
@@ -561,6 +564,7 @@
        - [DebugKeyValue](msg_docs/DebugKeyValue.md)
        - [DebugValue](msg_docs/DebugValue.md)
        - [DebugVect](msg_docs/DebugVect.md)
+        - [DeviceInformation](msg_docs/DeviceInformation.md)
        - [DifferentialPressure](msg_docs/DifferentialPressure.md)
        - [DistanceSensor](msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
@@ -25,6 +25,7 @@ It may also be supported on other boards.

 Supported flight controllers include:

+- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
 - [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
 - [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
 - [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
@@ -486,16 +486,6 @@ The integer refers to the I2C bus number where PCA9685 is connected.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 10       |           | 0       |

-### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
-
-I2C address of PCA9685.
-
-The default address is 0x40 (64).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 127      |           | 64      |
-
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}

 PCA9685 Output Channel 1 Failsafe Value.
@@ -1808,6 +1798,16 @@ The default failsafe value is set according to the selected function:
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0       |

+### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
+
+I2C address of PCA9685.
+
+The default address is 0x40 (64).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 1        | 127      |           | 64      |
+
 ### PCA9685_MAX1 (`INT32`) {#PCA9685_MAX1}

 PCA9685 Output Channel 1 Maximum Value.
@@ -4924,6 +4924,39 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1000     |           | 0       |

+### SIM_GZ_EC_DIS10 (`INT32`) {#SIM_GZ_EC_DIS10}
+
+SIM_GZ ESC 10 Disarmed Value.
+
+This is the output value that is set when not armed.
+Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
+### SIM_GZ_EC_DIS11 (`INT32`) {#SIM_GZ_EC_DIS11}
+
+SIM_GZ ESC 11 Disarmed Value.
+
+This is the output value that is set when not armed.
+Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
+### SIM_GZ_EC_DIS12 (`INT32`) {#SIM_GZ_EC_DIS12}
+
+SIM_GZ ESC 12 Disarmed Value.
+
+This is the output value that is set when not armed.
+Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
 ### SIM_GZ_EC_DIS2 (`INT32`) {#SIM_GZ_EC_DIS2}

 SIM_GZ ESC 2 Disarmed Value.
@@ -5001,6 +5034,17 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1000     |           | 0       |

+### SIM_GZ_EC_DIS9 (`INT32`) {#SIM_GZ_EC_DIS9}
+
+SIM_GZ ESC 9 Disarmed Value.
+
+This is the output value that is set when not armed.
+Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
 ### SIM_GZ_EC_FAIL1 (`INT32`) {#SIM_GZ_EC_FAIL1}

 SIM_GZ ESC 1 Failsafe Value.
@@ -5012,6 +5056,39 @@ When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC1
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | -1       | 1000     |           | -1      |

+### SIM_GZ_EC_FAIL10 (`INT32`) {#SIM_GZ_EC_FAIL10}
+
+SIM_GZ ESC 10 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC10).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 1000     |           | -1      |
+
+### SIM_GZ_EC_FAIL11 (`INT32`) {#SIM_GZ_EC_FAIL11}
+
+SIM_GZ ESC 11 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC11).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 1000     |           | -1      |
+
+### SIM_GZ_EC_FAIL12 (`INT32`) {#SIM_GZ_EC_FAIL12}
+
+SIM_GZ ESC 12 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC12).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 1000     |           | -1      |
+
 ### SIM_GZ_EC_FAIL2 (`INT32`) {#SIM_GZ_EC_FAIL2}

 SIM_GZ ESC 2 Failsafe Value.
@@ -5089,6 +5166,17 @@ When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC8
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | -1       | 1000     |           | -1      |

+### SIM_GZ_EC_FAIL9 (`INT32`) {#SIM_GZ_EC_FAIL9}
+
+SIM_GZ ESC 9 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC9).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 1000     |           | -1      |
+
 ### SIM_GZ_EC_FUNC1 (`INT32`) {#SIM_GZ_EC_FUNC1}

 SIM_GZ ESC 1 Output Function.
@@ -5160,6 +5248,219 @@ The default failsafe value is set according to the selected function:
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0       |

+### SIM_GZ_EC_FUNC10 (`INT32`) {#SIM_GZ_EC_FUNC10}
+
+SIM_GZ ESC 10 Output Function.
+
+Select what should be output on SIM_GZ ESC 10.
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
+### SIM_GZ_EC_FUNC11 (`INT32`) {#SIM_GZ_EC_FUNC11}
+
+SIM_GZ ESC 11 Output Function.
+
+Select what should be output on SIM_GZ ESC 11.
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
+### SIM_GZ_EC_FUNC12 (`INT32`) {#SIM_GZ_EC_FUNC12}
+
+SIM_GZ ESC 12 Output Function.
+
+Select what should be output on SIM_GZ ESC 12.
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
 ### SIM_GZ_EC_FUNC2 (`INT32`) {#SIM_GZ_EC_FUNC2}

 SIM_GZ ESC 2 Output Function.
@@ -5657,6 +5958,77 @@ The default failsafe value is set according to the selected function:
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0       |

+### SIM_GZ_EC_FUNC9 (`INT32`) {#SIM_GZ_EC_FUNC9}
+
+SIM_GZ ESC 9 Output Function.
+
+Select what should be output on SIM_GZ ESC 9.
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
 ### SIM_GZ_EC_MAX1 (`INT32`) {#SIM_GZ_EC_MAX1}

 SIM_GZ ESC 1 Maximum Value.
@@ -5667,6 +6039,36 @@ Maxmimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1000     |           | 1000    |

+### SIM_GZ_EC_MAX10 (`INT32`) {#SIM_GZ_EC_MAX10}
+
+SIM_GZ ESC 10 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 1000    |
+
+### SIM_GZ_EC_MAX11 (`INT32`) {#SIM_GZ_EC_MAX11}
+
+SIM_GZ ESC 11 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 1000    |
+
+### SIM_GZ_EC_MAX12 (`INT32`) {#SIM_GZ_EC_MAX12}
+
+SIM_GZ ESC 12 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 1000    |
+
 ### SIM_GZ_EC_MAX2 (`INT32`) {#SIM_GZ_EC_MAX2}

 SIM_GZ ESC 2 Maximum Value.
@@ -5737,6 +6139,16 @@ Maxmimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1000     |           | 1000    |

+### SIM_GZ_EC_MAX9 (`INT32`) {#SIM_GZ_EC_MAX9}
+
+SIM_GZ ESC 9 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 1000    |
+
 ### SIM_GZ_EC_MIN1 (`INT32`) {#SIM_GZ_EC_MIN1}

 SIM_GZ ESC 1 Minimum Value.
@@ -5747,6 +6159,36 @@ Minimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1000     |           | 0       |

+### SIM_GZ_EC_MIN10 (`INT32`) {#SIM_GZ_EC_MIN10}
+
+SIM_GZ ESC 10 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
+### SIM_GZ_EC_MIN11 (`INT32`) {#SIM_GZ_EC_MIN11}
+
+SIM_GZ ESC 11 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
+### SIM_GZ_EC_MIN12 (`INT32`) {#SIM_GZ_EC_MIN12}
+
+SIM_GZ ESC 12 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
 ### SIM_GZ_EC_MIN2 (`INT32`) {#SIM_GZ_EC_MIN2}

 SIM_GZ ESC 2 Minimum Value.
@@ -5817,6 +6259,16 @@ Minimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1000     |           | 0       |

+### SIM_GZ_EC_MIN9 (`INT32`) {#SIM_GZ_EC_MIN9}
+
+SIM_GZ ESC 9 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1000     |           | 0       |
+
 ### SIM_GZ_EC_REV (`INT32`) {#SIM_GZ_EC_REV}

 Reverse Output Range for SIM_GZ.
@@ -5834,10 +6286,14 @@ Note: this is only useful for servos.
 - `5`: SIM_GZ ESC 6
 - `6`: SIM_GZ ESC 7
 - `7`: SIM_GZ ESC 8
+- `8`: SIM_GZ ESC 9
+- `9`: SIM_GZ ESC 10
+- `10`: SIM_GZ ESC 11
+- `11`: SIM_GZ ESC 12

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 255      |           | 0       |
+| &nbsp; | 0        | 4095     |           | 0       |

 ### SIM_GZ_SV_DIS1 (`INT32`) {#SIM_GZ_SV_DIS1}

@@ -14553,16 +15009,21 @@ If non-negative, then this will be used instead of the online estimated internal

 Battery 1 monitoring source.

-This parameter controls the source of battery data. The value 'Power Module'
-means that measurements are expected to come from a power module. If the value is set to
-'External' then the system expects to receive mavlink battery status messages.
+This parameter controls the source of battery data. The value 'Power Module / Analog'
+means that measurements are expected to come from either analog (ADC) inputs
+or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
+measurements read from the board's ADC channels, typically from an onboard
+voltage divider and current shunt, or an external analog power module.
+I2C power monitors are digital sensors on the I2C bus.
+If the value is set to 'External' then the system expects to receive MAVLink
+or CAN battery status messages, or the battery data is published by an external driver.
 If the value is set to 'ESCs', the battery information are taken from the esc_status message.
-This requires the ESC to provide both voltage as well as current.
+This requires the ESC to provide both voltage as well as current (via ESC telemetry).

 **Values:**

 - `-1`: Disabled
- `0`: Power Module
+- `0`: Power Module / Analog
 - `1`: External
 - `2`: ESCs

@@ -14713,16 +15174,21 @@ If non-negative, then this will be used instead of the online estimated internal

 Battery 2 monitoring source.

-This parameter controls the source of battery data. The value 'Power Module'
-means that measurements are expected to come from a power module. If the value is set to
-'External' then the system expects to receive mavlink battery status messages.
+This parameter controls the source of battery data. The value 'Power Module / Analog'
+means that measurements are expected to come from either analog (ADC) inputs
+or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
+measurements read from the board's ADC channels, typically from an onboard
+voltage divider and current shunt, or an external analog power module.
+I2C power monitors are digital sensors on the I2C bus.
+If the value is set to 'External' then the system expects to receive MAVLink
+or CAN battery status messages, or the battery data is published by an external driver.
 If the value is set to 'ESCs', the battery information are taken from the esc_status message.
-This requires the ESC to provide both voltage as well as current.
+This requires the ESC to provide both voltage as well as current (via ESC telemetry).

 **Values:**

 - `-1`: Disabled
- `0`: Power Module
+- `0`: Power Module / Analog
 - `1`: External
 - `2`: ESCs

@@ -14834,16 +15300,21 @@ If non-negative, then this will be used instead of the online estimated internal

 Battery 3 monitoring source.

-This parameter controls the source of battery data. The value 'Power Module'
-means that measurements are expected to come from a power module. If the value is set to
-'External' then the system expects to receive mavlink battery status messages.
+This parameter controls the source of battery data. The value 'Power Module / Analog'
+means that measurements are expected to come from either analog (ADC) inputs
+or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
+measurements read from the board's ADC channels, typically from an onboard
+voltage divider and current shunt, or an external analog power module.
+I2C power monitors are digital sensors on the I2C bus.
+If the value is set to 'External' then the system expects to receive MAVLink
+or CAN battery status messages, or the battery data is published by an external driver.
 If the value is set to 'ESCs', the battery information are taken from the esc_status message.
-This requires the ESC to provide both voltage as well as current.
+This requires the ESC to provide both voltage as well as current (via ESC telemetry).

 **Values:**

 - `-1`: Disabled
- `0`: Power Module
+- `0`: Power Module / Analog
 - `1`: External
 - `2`: ESCs

@@ -17270,10 +17741,11 @@ Each threshold value is defined by the parameter indicated next to the check. Dr
 - `8`: Vertical speed offset (EKF2_REQ_VDRIFT)
 - `9`: Spoofing
 - `10`: GPS fix type (EKF2_REQ_FIX)
+- `11`: Jamming

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 2047     |           | 2047    |
+| &nbsp; | 0        | 4095     |           | 2047    |

 ### EKF2_GPS_CTRL (`INT32`) {#EKF2_GPS_CTRL}

@@ -20170,6 +20642,14 @@ Mode 6 is intended for use with a ground control station (not necessarily an RTK
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; | 0        | 1        |           | 0       |

+### GPS_UBX_PPK (`INT32`) {#GPS_UBX_PPK}
+
+Enable MSM7 message output for PPK workflow.
+
+| Reboot  | minValue | maxValue | increment | default      | unit |
+| ------- | -------- | -------- | --------- | ------------ | ---- |
+| &check; |          |          |           | Disabled (0) |
+
 ### GPS_YAW_OFFSET (`FLOAT`) {#GPS_YAW_OFFSET}

 Heading/Yaw offset for dual antenna GPS.
@@ -39457,6 +39937,17 @@ uavcan::equipment::ahrs::MagneticFieldStrength2
 | ------- | -------- | -------- | --------- | ----------- | ---- |
 | &check; |          |          |           | Enabled (1) |

+### UAVCAN_SUB_MBD (`INT32`) {#UAVCAN_SUB_MBD}
+
+subscription MovingBaselineData.
+
+Enable UAVCAN MovingBaselineData subscription.
+ardupilot::gnss::MovingBaselineData
+
+| Reboot  | minValue | maxValue | increment | default      | unit |
+| ------- | -------- | -------- | --------- | ------------ | ---- |
+| &check; |          |          |           | Disabled (0) |
+
 ### UAVCAN_SUB_RNG (`INT32`) {#UAVCAN_SUB_RNG}

 subscription range finder.
@@ -284,7 +284,7 @@ A particular vehicle might have more/fewer motors and actuators, but the wiring
 The following sections explain each part in more detail.

 ::: tip
-If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
+If you're using [DroneCAN ESC](../dronecan/escs.md) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
 :::

 ### Flight Controller Power
@@ -425,7 +425,6 @@ They recommend sensors, power systems, and other components from the same manufa
 - [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
 - [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
 - [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes).
-
  - [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
  - [Vibration Isolation](../assembly/vibration_isolation.md)
  - [Mounting a Compass](../assembly/mount_gps_compass.md)
@@ -1,7 +1,13 @@
-# CAN
+# CAN (DroneCAN & Cyphal)

 [Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
-Because it is designed to be democratic and uses differential signaling, it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
+
+It is particularly recommended on larger vehicles.
+
+## Overview
+
+CAN it is designed to be democratic and uses differential signaling.
+For this reason it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
 CAN also allows status feedback from peripherals and convenient firmware upgrades over the bus.

 PX4 supports two software protocols for communicating with CAN devices:
@@ -18,29 +24,35 @@ In 2022 the project split into two: the original version of UAVCAN (UAVCAN v0) w
 The differences between the two protocols are outlined in [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
 :::

-:::warning
 PX4 does not support other CAN software protocols for drones such as KDECAN (at time of writing).
-:::

 ## Wiring

 The wiring for CAN networks is the same for both DroneCAN and Cyphal/CAN (in fact, for all CAN networks).

-Devices are connected in a chain in any order.
+Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
+
+:::warning Don't connect each CAN peripheral to a separate CAN port!
+Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
+:::
+
 At either end of the chain, a 120Ω termination resistor should be connected between the two data lines.
 Flight controllers and some GNSS modules have built in termination resistors for convenience, thus should be placed at opposite ends of the chain.
 Otherwise, you can use a termination resistor such as [this one from Zubax Robotics](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069), or solder one yourself if you have access to a JST-GH crimper.

 The following diagram shows an example of a CAN bus connecting a flight controller to 4 CAN ESCs and a GNSS.
+It includes a redundant bus connected to `CAN 2`.

 ![CAN Wiring](../../assets/can/uavcan_wiring.svg)

 The diagram does not show any power wiring.
 Refer to your manufacturer instructions to confirm whether components require separate power or can be powered from the CAN bus itself.

+::: info
 For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
 While the article is written with the Cyphal protocol in mind, it applies equally to DroneCAN hardware and any other CAN setup.
 For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
+:::

 ### Connectors

@@ -54,7 +66,30 @@ However, as long as the device firmware supports DroneCAN or Cyphal, it can be u

 DroneCAN and Cyphal/CAN support using a second (redundant) CAN interface.
 This is completely optional but increases the robustness of the connection.
-All Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
+
+Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
+
+### Flight Controllers with Multiple CAN Ports
+
+[Flight Controllers](../flight_controller/index.md) may have up to three independent CAN ports, such as `CAN1`, `CAN2`, `CAN3` (neither DroneCAN or Cyphal support more than three).
+Note that you can't have both DroneCAN and Cyphal running on PX4 at the same time.
+
+::: tip
+You only _need_ one CAN port to support an arbitrary number of CAN devices using a particular CAN protocol.
+Don't connect each CAN peripheral to a separate CAN port!
+:::
+
+Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
+If three are three ports, you might use the remaining network for devices that support another CAN protocol.
+
+The documentation for your flight controller should indicate which ports are supported/enabled.
+At runtime you can check what DroneCAN ports are enabled and their status using the following command on the [MAVLink Shell](../debug/mavlink_shell.md) (or some other console):
+
+```sh
+uavcan status
+```
+
+Note that you can also check the number of supported CAN interfaces for a board by searching for `CONFIG_BOARD_UAVCAN_INTERFACES` in its [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#) configuration file.

 ## Firmware

@@ -70,7 +70,7 @@ Airframes with more than two frequency noise spikes typically clean the first tw
 Dynamic notch filters use ESC RPM feedback and/or the onboard FFT analysis.
 The ESC RPM feedback is used to track the rotor blade pass frequency and its harmonics, while the FFT analysis can be used to track a frequency of another vibration source, such as a fuel engine.

-ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/esc_motors.md#dshot) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
+ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
 Before enabling, make sure that the ESC RPM is correct.
 You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).

@@ -92,10 +92,10 @@ To reduce the control latency, we want to increase the cutoff frequency for the
 The effect on latency of increasing `IMU_GYRO_CUTOFF` is approximated below.

 | Cutoff (Hz) | Delay approx. (ms) |
-| ------------ | ------------------ |
-| 30           | 8                  |
-| 60           | 3.8                |
-| 120          | 1.9                |
+| ----------- | ------------------ |
+| 30          | 8                  |
+| 60          | 3.8                |
+| 120         | 1.9                |

 However this is a trade-off as increasing `IMU_GYRO_CUTOFF` will also increase the noise of the signal that is fed to the motors.
 Noise on the motors has the following consequences:
@@ -95,6 +95,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -92,6 +92,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -1,7 +1,14 @@
 # DroneCAN ESCs

 PX4 supports DroneCAN compliant ESCs.
-For more information, see the following articles for specific hardware/firmware:
+
+## Supported ESC
+
+:::info
+[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
+:::
+
+The following articles have specific hardware/firmware information:

 - [PX4 Sapog ESC Firmware](sapog.md)
  - [Holybro Kotleta 20](holybro_kotleta.md)
@@ -0,0 +1,58 @@
+# ARK 4IN1 ESC (with/without Connectors)
+
+4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
+
+The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required).
+
+![ARK 4IN1 ESC without connectors ](../../assets/hardware/esc/ark/ark_4_in_1_esc.jpg)![ARK 4IN1 ESC with connectors](../../assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US)
+- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US)
+
+## Hardware Specifications
+
+- Battery Voltage: 3-8s
+  - 6V Minimum
+  - 65V Absolute Maximum
+- Current Rating: 50A Continuous, 75A Burst Per Motor
+- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html)
+- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27)
+- Onboard Current Sensor, Serial Telemetry
+  - 100V/A
+- Input Protocols
+  - DShot (300, 600)
+  - Bi-directional DShot
+  - KISS Serial Telemetry
+  - PWM
+- 8 Pin JST-SH Input/Output
+- 10 Pin JST-SH Debug
+
+- Motor & Battery Connectors (with-connector version)
+
+  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
+  - Four MR30 Motor Connectors
+
+- Dimensions (with connectors)
+
+  - Size: 77.00mm x 42.00mm x 9.43mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 24g
+
+- Dimensions (without connectors)
+  - Size: 43.00mm x 40.50mm x 7.60mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 14.5g
+
+Other
+
+- Made in the USA
+- Open source AM32 firmware
+- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
+
+## See Also
+
+- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
@@ -0,0 +1,66 @@
+# ESC Protocols
+
+This topic lists the main [Electronic Speed Controller (ESC)](../peripherals/esc_motors.md) protocols supported by PX4.
+
+## DShot
+
+[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduced latency, in particular racing multicopters, VTOL vehicles, and so on.
+
+It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
+In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can reverse motor spin directions.
+
+PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
+Selecting a higher rate DShot ESC in the UI results in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
+- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
+
+## DroneCAN
+
+[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
+The PX4 implementation is currently limited to update rates of 200 Hz.
+
+DroneCAN shares many similar benefits to [DShot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
+
+[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
+
+## PWM
+
+[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
+
+PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired speed.
+The pulse width typically ranges between 1000 μs for zero power and 2000 μs for full power.
+The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50 Hz and 490 Hz (the theoretical maximum being 500 Hz for a very small "off" cycle).
+A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
+For PWM servos 50 Hz is usually sufficient, and many don't support higher rates.
+
+![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png)
+
+In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the pulse widths representing low and high values can vary significantly.
+Unlike [DShot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
+- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
+- [ESC Calibration](../advanced_config/esc_calibration.md)
+
+## OneShot 125
+
+[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
+They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
+There are a number of variants of the OneShot protocol, which support different rates.
+PX4 only supports OneShot 125.
+
+OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125 μs to 250 μs for zero to full power).
+This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
+For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
+The actual supported rate depends on the ESC used.
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
+- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
+- [ESC Calibration](../advanced_config/esc_calibration.md)
@@ -280,6 +280,8 @@ For more information see: [Plotting uORB Topic Data in Real Time using PlotJuggl

 ## See Also

+- [uORB Documentation Standard](../uorb/uorb_documentation.md)
+
 - _PX4 uORB Explained_ Blog series
  - [Part 1](https://px4.io/px4-uorb-explained-part-1/)
  - [Part 2](https://px4.io/px4-uorb-explained-part-2/)
@@ -15,38 +15,6 @@ Subcategories:
 - [Rpm Sensor](modules_driver_rpm_sensor.md)
 - [Transponder](modules_driver_transponder.md)

-## MCP23009
-
-Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)
-
-### Usage {#MCP23009_usage}
-
-```
-MCP23009 <command> [arguments...]
- Commands:
-   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
-                 (default=1))
-     [-f <val>]  bus frequency in kHz
-     [-q]        quiet startup (no message if no device found)
-     [-a <val>]  I2C address
-                 default: 37
-     [-D <val>]  Direction
-                 default: 0
-     [-O <val>]  Output
-                 default: 0
-     [-P <val>]  Pullups
-                 default: 0
-     [-U <val>]  Update Interval [ms]
-                 default: 0
-
-   stop
-
-   status        print status info
-```
-
 ## atxxxx

 Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@@ -749,6 +717,40 @@ lsm303agr <command> [arguments...]
   status        print status info
 ```

+## mcp230xx
+
+Source: [lib/drivers/mcp_common](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/drivers/mcp_common)
+
+### Usage {#mcp230xx_usage}
+
+```
+mcp230xx <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-a <val>]  I2C address
+                 default: 39
+     [-D <val>]  Direction (1=Input, 0=Output)
+                 default: 0
+     [-O <val>]  Output
+                 default: 0
+     [-P <val>]  Pullups
+                 default: 0
+     [-U <val>]  Update Interval [ms]
+                 default: 0
+     [-M <val>]  First minor number
+                 default: 0
+
+   stop
+
+   status        print status info
+```
+
 ## mcp9808

 Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
@@ -899,8 +901,6 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti
 It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
 that can be accepted by most ESCs and servos.

-The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments.
-
 ### Examples

 It is typically started with:
@@ -127,6 +127,10 @@ commander <command> [arguments...]

   check         Run preflight checks

+   safety        Change prearm safety state
+     on|off      [on] to activate safety, [off] to deactivate safety and allow
+                 control surface movements
+
   arm
     [-f]        Force arming (do not run preflight checks)

@@ -2,7 +2,7 @@

 Battery status

-Battery status information for up to 4 battery instances.
+Battery status information for up to 3 battery instances.
 These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 Battery instance information is also logged and streamed in MAVLink telemetry.

@@ -11,7 +11,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
 ```c
 # Battery status
 #
-# Battery status information for up to 4 battery instances.
+# Battery status information for up to 3 battery instances.
 # These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 # Battery instance information is also logged and streamed in MAVLink telemetry.

@@ -33,9 +33,9 @@ uint8 cell_count           # [-] [@invalid 0] Number of cells


 uint8 source                   # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0  # Power module
-uint8 SOURCE_EXTERNAL = 1      # External
-uint8 SOURCE_ESCS = 2          # ESCs
+uint8 SOURCE_POWER_MODULE = 0  # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1      # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2          # ESCs (via ESC telemetry)

 uint8 priority                # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity               # [mAh] Capacity of the battery when fully charged
@@ -32,9 +32,9 @@ uint8 cell_count # [@invalid 0] Number of cells


 uint8 source # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module
-uint8 SOURCE_EXTERNAL = 1 # External
-uint8 SOURCE_ESCS = 2 # ESCs
+uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)

 uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity # [mAh] Capacity of the battery when fully charged
@@ -0,0 +1,45 @@
+# DeviceInformation (UORB message)
+
+Device information
+
+Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
+as well as tracking of the used firmware versions on the devices.
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
+
+```c
+# Device information
+#
+# Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
+# as well as tracking of the used firmware versions on the devices.
+
+uint64 timestamp  # time since system start (microseconds)
+
+uint8 device_type  # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
+
+uint8 DEVICE_TYPE_GENERIC = 0                 # Generic/unknown sensor
+uint8 DEVICE_TYPE_AIRSPEED = 1                # Airspeed sensor
+uint8 DEVICE_TYPE_ESC = 2                     # ESC
+uint8 DEVICE_TYPE_SERVO = 3                   # Servo
+uint8 DEVICE_TYPE_GPS = 4                     # GPS
+uint8 DEVICE_TYPE_MAGNETOMETER = 5            # Magnetometer
+uint8 DEVICE_TYPE_PARACHUTE = 6               # Parachute
+uint8 DEVICE_TYPE_RANGEFINDER = 7             # Rangefinder
+uint8 DEVICE_TYPE_WINCH = 8                   # Winch
+uint8 DEVICE_TYPE_BAROMETER = 9               # Barometer
+uint8 DEVICE_TYPE_OPTICAL_FLOW = 10           # Optical flow
+uint8 DEVICE_TYPE_ACCELEROMETER = 11          # Accelerometer
+uint8 DEVICE_TYPE_GYROSCOPE = 12              # Gyroscope
+uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13  # Differential pressure
+uint8 DEVICE_TYPE_BATTERY = 14                # Battery
+uint8 DEVICE_TYPE_HYGROMETER = 15             # Hygrometer
+
+char[32] vendor_name  # Name of the device vendor
+char[32] model_name   # Name of the device model
+
+uint32   device_id         # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
+char[24] firmware_version  # [-] [@invalid empty if not available] Firmware version.
+char[24] hardware_version  # [-] [@invalid empty if not available] Hardware version.
+char[33] serial_number     # [-] [@invalid empty if not available] Device serial number or unique identifier.
+
+```
@@ -21,6 +21,7 @@ uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7		# 7 : maximum allowed vertical position
 uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8	# 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9	# 9 : maximum allowed vertical velocity discrepancy fail
 uint8 GPS_CHECK_FAIL_SPOOFED = 10		# 10 : GPS signal is spoofed
+uint8 GPS_CHECK_FAIL_JAMMED = 11		# 11 : GPS signal is jammed

 uint64 control_mode_flags	# Bitmask to indicate EKF logic state
 uint8 CS_TILT_ALIGN = 0		# 0 - true if the filter tilt alignment is complete
@@ -6,6 +6,7 @@ GPIO mask and state

 ```c
 # GPIO mask and state
+uint8 MAX_INSTANCES = 8

 uint64 timestamp			# time since system start (microseconds)
 uint32 device_id			# Device id
@@ -9,11 +9,15 @@ This message is used to dump the raw gps communication to the log.

 uint64 timestamp # time since system start (microseconds)

+uint8 INSTANCE_MAIN = 0
+uint8 INSTANCE_SECONDARY = 1
+
 uint8 instance   # Instance of GNSS receiver
+uint32 device_id
 uint8 len        # length of data, MSB bit set = message to the gps device,
                 # clear = message from the device
 uint8[79] data   # data to write to the log

-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16

 ```
@@ -108,6 +108,7 @@ uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
 uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
 uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
 uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
+uint16 VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE = 5300 # Command safety on/off. |1 to activate safety, 0 to deactivate safety and allow control surface movements|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
 uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
 uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
@@ -187,6 +188,10 @@ int8 ARMING_ACTION_ARM = 1
 uint8 GRIPPER_ACTION_RELEASE = 0
 uint8 GRIPPER_ACTION_GRAB = 1

+# Used as param1 in DO_SET_SAFETY_SWITCH_STATE command.
+uint8 SAFETY_OFF = 0
+uint8 SAFETY_ON = 1
+
 uint8 ORB_QUEUE_LENGTH = 8

 float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
@@ -105,6 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [DebugKeyValue](DebugKeyValue.md)
 - [DebugValue](DebugValue.md)
 - [DebugVect](DebugVect.md)
+- [DeviceInformation](DeviceInformation.md) — Device information
 - [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
 - [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
 - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
@@ -11,6 +11,10 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p

 This topic shows how to connect and configure DShot ESCs.

+## Supported ESC
+
+[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
+
 ## Wiring/Connections {#wiring}

 DShot ESC are wired the same way as [PWM ESCs](pwm_escs_and_servo.md).
@@ -76,7 +80,6 @@ The most important ones are:
  ```

 - Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning):
-
  - Set spin direction to `reversed`:

    ```sh
@@ -104,7 +107,6 @@ The most important ones are:
    ```

  ::: info
-
  - The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction.
  - The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction.

@@ -3,80 +3,44 @@
 Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC).
 The ESC takes a signal from the flight controller and uses it to set control the level of power delivered to the motor.

-PX4 supports a number of common protocols for sending the signals to ESCs: [PWM ESCs](../peripherals/pwm_escs_and_servo.md), [OneShot ESCs](../peripherals/oneshot.md), [DShot ESCs](../peripherals/dshot.md), [DroneCAN ESCs](../dronecan/escs.md), PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec).
+PX4 supports a number of [common protocols](../esc/esc_protocols.md) for sending the signals to ESCs: [PWM ESCs](../peripherals/pwm_escs_and_servo.md), [OneShot ESCs](../peripherals/oneshot.md), [DShot ESCs](../peripherals/dshot.md), [DroneCAN ESCs](../dronecan/escs.md), PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec).
+
+## Supported ESC
+
+The following list is non-exhaustive.
+
+| ESC Device                     | Protocols                            | Firmwares                | Notes                                                 |
+| ------------------------------ | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
+| [ARK 4IN1 ESC]                 | [Dshot], [PWM]                       | [AM32]                   | Has versions with/without connnectors                 |
+| [Holybro Kotleta 20]           | [DroneCAN], [PWM]                    | [PX4 Sapog ESC Firmware] |                                                       |
+| [Vertiq Motor & ESC modules]   | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware          | Larger modules support DroneCAN, ESC and Motor in one |
+| [RaccoonLab CAN PWM ESC nodes] | [DroneCAN], Cyphal                   |                          | Cyphal and DroneCAN notes for PWM ESC                 |
+| [VESC ESCs]                    | [DroneCAN], [PWM]                    | VESC project firmware    |                                                       |
+| [Zubax Telega]                 | [DroneCAN], [PWM]                    | Telega-based             | ESC and Motor in one                                  |
+
+<!-- Links for table above -->
+
+[ARK 4IN1 ESC]: ../esc/ark_4in1_esc.md
+[AM32]: https://am32.ca/
+[PX4 Sapog ESC Firmware]: ../dronecan/sapog.md
+[VESC ESCs]: ../peripherals/vesc.md
+[DroneCAN]: ../dronecan/escs.md
+[Dshot]: ../peripherals/dshot.md
+[OneShot]: ../peripherals/oneshot.md
+[PWM]: ../peripherals/pwm_escs_and_servo.md
+[Holybro Kotleta 20]: ../dronecan/holybro_kotleta.md
+[Vertiq Motor & ESC modules]: ../peripherals/vertiq.md
+[RaccoonLab CAN PWM ESC nodes]: ../dronecan/raccoonlab_nodes.md
+[Zubax Telega]: ../dronecan/zubax_telega.md
+
+## See Also

 For more information see:

+- [ESC Protocols](../esc/esc_protocols.md) — overview of main ESC/Servo protocols supported by PX4
 - [PWM ESCs and Servos](../peripherals/pwm_escs_and_servo.md)
 - [OneShot ESCs and Servos](../peripherals/oneshot.md)
 - [DShot](../peripherals/dshot.md)
 - [DroneCAN ESCs](../dronecan/escs.md)
 - [ESC Calibration](../advanced_config/esc_calibration.md)
 - [ESC Firmware and Protocols Overview](https://oscarliang.com/esc-firmware-protocols/) (oscarliang.com)
-
-A high level overview of the main ESC/Servo protocols supported by PX4 is given below.
-
-## ESC Protocols
-
-### PWM
-
-[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
-
-PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired power level.
-The pulse wdith typically ranges between 1000uS for zero power and 2000uS for full power.
-The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50Hz and 490 Hz (the theoretical maximum being 500Hz for a very small "off" cycle).
-A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
-For PWM servos 50Hz is usually sufficient, and many don't support higher rates.
-
-![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png)
-
-In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the range values representing low and high values can vary significantly.
-Unlike [dshot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
-
-### Oneshot 125
-
-[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
-They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
-There are a number of variants of the OneShot protocol, which support different rates.
-PX4 only supports OneShot 125.
-
-OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125us to 250us for zero to full power).
-This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
-For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
-The actual supported rate depends on the ESC used.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
-
-### DShot
-
-[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduce latency, in particular racing multicopters, VTOL vehicles, and so on.
-
-It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
-In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can revers motor spin directions
-
-PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
-Selecting a higher rate DShot ESC in the UI result in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
-
-### DroneCAN
-
-[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
-The PX4 implementation is currently limited to update rates of 200Hz.
-
-DroneCAN shares many similar benefits to [Dshot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
-
-[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
@@ -0,0 +1,170 @@
+# uORB Documentation Standard
+
+This topic demonstrates and explains how to document uORB messages.
+
+::: info
+At time of writing many topics have not been updated.
+:::
+
+## Overview
+
+The [AirspeedValidated](../msg_docs/AirspeedValidated.md) message shown below is a good example of a uORB topic that has been documented to the current standard.
+
+```py
+# Validated airspeed
+#
+# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+# Used by controllers, estimators and for airspeed reporting to operator.
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
+
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1 # Sensor 1
+int8 SOURCE_SENSOR_2 = 2 # Sensor 2
+int8 SOURCE_SENSOR_3 = 3 # Sensor 3
+int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
+
+float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
+float32 throttle_filtered # [-] Filtered fixed-wing throttle
+float32 pitch_filtered # [rad] Filtered pitch
+```
+
+The main things to note are:
+
+- Documentation is added using formatted uORB comments.
+  Any text on a line after the `#` character is a comment, except for lines that start with the text `# TOPIC` (which indicates a multi-topic message).
+- The message starts with a comment block consisting of short description (mandatory), followed by a longer description and then a space.
+- Field and constants almost all have comments.
+  The comments are added on the same line as the field/constant, separated by one space.
+- Fields:
+  - Comments are all on the same line as the field (extra lines become internal comments).
+  - Comments start with metadata, such as the units (`[m/s]`, `[rad/s]`) or allowed values (`[@enum SOURCE]`), and can also list invalid values (`[@invalid NaN]`) and allowed ranges (`[@range min, max]`).
+  - Units are required except for boolean fields or for fields with an enum value.
+    `[-]` is used to indicate unitless fields.
+  - Comments follow the metadata after a space.
+    The line should not be terminated in a full stop.
+- Constants:
+  - Don't have metadata: the description follows the comment marker after one space.
+  - Some constants, such as `MESSAGE_VERSION`, don't need documentation because they are standardized.
+  - Constants with the same name prefix are grouped together as enums after the associated field.
+
+The following sections expand on the allowed formats.
+
+## Message Description
+
+Every message should start with a comment block that describes the message:
+
+```py
+# Short description (mandatory)
+#
+# Longer description for the message if needed.
+# Can be multiline, and should have punctuation.
+# Should be followed by an empty line.
+```
+
+This consists of a mandatory short description, optionally followed by an empty comment line, and then a longer description.
+
+Short description (mandatory):
+
+- A succinct explanation for the purpose of the message.
+- Usually just one line without a terminating full stop.
+- Minimally it may just mirror the message name.
+- For example, [`AirspeedValidated`](../msg_docs/AirspeedValidated.md) above has the short description `Validated airspeed`.
+
+Long description (Optional):
+
+- Additional context required to understand how the message is used.
+- In particular this should be anything that can't be inferred from the name, fields or constants, such as the publishers and expected consumers.
+  It might also cover whether the message is only used for a particular frame type or mode.
+- The message is often multiline and contains punctuation.
+- May include comment lines that are empty, in order to indicate paragraphs.
+
+Both short and long descriptions may be multi-line.
+Single line descriptions should not include a terminating full stop, but multiline comments should do so.
+
+The message description block ends at the first non-comment line, which should be an empty line, but might be a field or constant.
+Any subsequent comment lines are considered "internal comments".
+
+### Fields
+
+A typical field comment looks like this:
+
+```py
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+```
+
+Field comments must all be on the same line as the field, and consist of optional metadata followed by a description:
+
+- `metadata` (Optional)
+  - Information about the field units and allowed values:
+    - `[<unit>]`
+      - The unit of measurement inside square brackets (note, no `@` delineator indicates a unit), such as `[m]` for metres.
+        - Allowed units include: `m`, `m/s`, `m/s^2`, `rad`, `rad/s`, `rpm`, `V`, `A`, `mA`, `mAh`, `W`, `dBm`, `s`, `ms`, `us`, `Ohm`, `MB`, `Kb/s`, `degC`, `Pa`.
+        - Units are required unless clearly invalid, such as when the field is a boolean, or is an enum value.
+        - Unitless values should be specified as `[-]`.
+          Note though that units are not required for boolean fields or enum fields.
+    - `[@enum <enum_name>]`
+      - The `enum_name` gives the prefix of constant values in the message that can be assigned to the field.
+        Note that enums in uORB are just a naming convention: they are not explicitly declared.
+        Multiple enum names allowed for a field indicates a possible error in the field design.
+    - `[@range <lower_value>, <upper_value>]`
+      - The allowed range of the field, specified as a `lower_value` and/or an `upper_value`.
+        Either value can be omitted to indicate an unbounded upper or lower value.
+        For example `[@range 0, 3]`, `[@range 5.3, ]`, `[@range , 3]`.
+    - `[@invalid <value> <description>]`
+      - The `value` to set the field to indicate that the field doesn't contain valid data, such as `[@invalid NaN]`.
+        The `description` is optional, and might be used to indicate the conditions under which data is invalid.
+    - `[@frame <value>]`
+      - The `frame` in which the field is set, such as `[@frame NED]` or `[@frame Body]`.
+- `description`
+  - A concise description of the purpose of the field, and including any important information that can't be inferred from the name!
+    Use a capital first letter, and omit the full stop if the description is a single sentence.
+    Multiple sentences may also omit the final full stop.
+
+### Constants
+
+Constants follow the documentation conventions as fields except they only have a description (no metadata).
+Documentation for a constant might look like this:
+
+```py
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+```
+
+Constants are often grouped together following a field as enum values.
+Note below how the prefix `SOURCE` for the values is specified as an enum against the _field_.
+
+```py
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+...
+```
+
+A small number of constants have a standardised meaning and do not require documentation.
+These are:
+
+- `ORB_QUEUE_LENGTH`
+- `MESSAGE_VERSION`
+
+### `# TOPICS`
+
+The prefix `# TOPICS` is used to indicate topic names for multi-topic messages.
+For example, the [VehicleGlobalPosition.msg](../msg_docs/VehicleGlobalPosition.md) message definition is used to define the topic ids as shown:
+
+```text
+# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
+# TOPICS estimator_global_position
+# TOPICS aux_global_position
+```
+
+At time of writing there is no format for documenting these.
@@ -315,15 +315,17 @@
    - [ADSB/FLARM (트래픽 회피)](config/actuators.md)
    - [ESC 보정](advanced_config/esc_calibration.md)
    - [ESC와 모터](peripherals/esc_motors.md)
+      - [ESC Protocols](esc/esc_protocols.md)
      - [PWM ESC와 서보](peripherals/pwm_escs_and_servo.md)
      - [DShot ESCs](peripherals/dshot.md)
      - [OneShot ESCs and Servos](peripherals/oneshot.md)
      - [DroneCAN ESCs](dronecan/escs.md)
-        - [Zubax Telega](dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](dronecan/sapog.md)
-          - [Holybro Kotleta](dronecan/holybro_kotleta.md)
-      - [Vertiq](peripherals/vertiq.md)
-      - [VESC](peripherals/vesc.md)
+      - [ARK 4IN1 ESC](esc/ark_4in1_esc.md)
+      - [Holybro Kotleta](dronecan/holybro_kotleta.md)
+      - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
+      - [VESC Project ESCs](peripherals/vesc.md)
+      - [Zubax Telega ESCs](dronecan/zubax_telega.md)

  - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
    - [무선 조종기 설정](config/radio.md)
@@ -519,6 +521,7 @@
    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [미들웨어](middleware/index.md)
    - [uORB 메시지 전송](middleware/uorb.md)
+    - [uORB Docs Standard](uorb/uorb_documentation.md)
    - [uORB 그라프](middleware/uorb_graph.md)
    - [uORB Message Reference](msg_docs/index.md)
      - [Versioned](msg_docs/versioned_messages.md)
@@ -581,6 +584,7 @@
        - [DebugKeyValue](msg_docs/DebugKeyValue.md)
        - [DebugValue](msg_docs/DebugValue.md)
        - [DebugVect](msg_docs/DebugVect.md)
+        - [DeviceInformation](msg_docs/DeviceInformation.md)
        - [DifferentialPressure](msg_docs/DifferentialPressure.md)
        - [DistanceSensor](msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
@@ -26,6 +26,10 @@ If you are looking for more resources to learn about the module, a website has b

 ## Neural Network PX4 Firmware

+:::warning
+This module requires Ubuntu 24.04 or newer (it is not supported in Ubuntu 22.04).
+:::
+
 The module has been tested on a number of configurations, which can be build locally using the commands:

 ```sh
@@ -25,6 +25,7 @@ It may also be supported on other boards.

 Supported flight controllers include:

+- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
 - [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
 - [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
 - [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
@@ -285,7 +285,7 @@ A particular vehicle might have more/fewer motors and actuators, but the wiring
 The following sections explain each part in more detail.

 :::tip
-If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
+If you're using [DroneCAN ESC](../dronecan/escs.md) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
 :::

 ### Flight Controller Power
@@ -426,7 +426,6 @@ They recommend sensors, power systems, and other components from the same manufa
 - [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
 - [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
 - [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes).
-
  - [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
  - [Vibration Isolation](../assembly/vibration_isolation.md)
  - [Mounting a Compass](../assembly/mount_gps_compass.md)
@@ -1,7 +1,13 @@
-# CAN
+# CAN (DroneCAN & Cyphal)

 [Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
-Because it is designed to be democratic and uses differential signaling, it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
+
+It is particularly recommended on larger vehicles.
+
+## 개요
+
+CAN it is designed to be democratic and uses differential signaling.
+For this reason it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
 CAN also allows status feedback from peripherals and convenient firmware upgrades over the bus.

 PX4 supports two software protocols for communicating with CAN devices:
@@ -18,29 +24,36 @@ In 2022 the project split into two: the original version of UAVCAN (UAVCAN v0) w
 The differences between the two protocols are outlined in [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
 :::

-:::warning
 PX4 does not support other CAN software protocols for drones such as KDECAN (at time of writing).
-:::

 ## 배선

 The wiring for CAN networks is the same for both DroneCAN and Cyphal/CAN (in fact, for all CAN networks).

-Devices are connected in a chain in any order.
+Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
+
+:::warning
+Don't connect each CAN peripheral to a separate CAN port!
+Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
+:::
+
 At either end of the chain, a 120Ω termination resistor should be connected between the two data lines.
 Flight controllers and some GNSS modules have built in termination resistors for convenience, thus should be placed at opposite ends of the chain.
 Otherwise, you can use a termination resistor such as [this one from Zubax Robotics](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069), or solder one yourself if you have access to a JST-GH crimper.

 The following diagram shows an example of a CAN bus connecting a flight controller to 4 CAN ESCs and a GNSS.
+It includes a redundant bus connected to `CAN 2`.

 ![CAN Wiring](../../assets/can/uavcan_wiring.svg)

 The diagram does not show any power wiring.
 Refer to your manufacturer instructions to confirm whether components require separate power or can be powered from the CAN bus itself.

+:::info
 For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
 While the article is written with the Cyphal protocol in mind, it applies equally to DroneCAN hardware and any other CAN setup.
 For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
+:::

 ### 커넥터

@@ -54,7 +67,30 @@ However, as long as the device firmware supports DroneCAN or Cyphal, it can be u

 DroneCAN and Cyphal/CAN support using a second (redundant) CAN interface.
 This is completely optional but increases the robustness of the connection.
-All Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
+
+Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
+
+### Flight Controllers with Multiple CAN Ports
+
+[Flight Controllers](../flight_controller/index.md) may have up to three independent CAN ports, such as `CAN1`, `CAN2`, `CAN3` (neither DroneCAN or Cyphal support more than three).
+Note that you can't have both DroneCAN and Cyphal running on PX4 at the same time.
+
+:::tip
+You only _need_ one CAN port to support an arbitrary number of CAN devices using a particular CAN protocol.
+Don't connect each CAN peripheral to a separate CAN port!
+:::
+
+Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
+If three are three ports, you might use the remaining network for devices that support another CAN protocol.
+
+The documentation for your flight controller should indicate which ports are supported/enabled.
+At runtime you can check what DroneCAN ports are enabled and their status using the following command on the [MAVLink Shell](../debug/mavlink_shell.md) (or some other console):
+
+```sh
+uavcan status
+```
+
+Note that you can also check the number of supported CAN interfaces for a board by searching for `CONFIG_BOARD_UAVCAN_INTERFACES` in its [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#) configuration file.

 ## 펌웨어

@@ -10,7 +10,7 @@ If you have [mounted the compass](../assembly/mount_gps_compass.md#compass-orien

 ## 개요

-You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to recalibrate it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.
+You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to [recalibrate](#recalibration) it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.

 :::tip
 Indications of a poor compass calibration include multicopter circling during hover, toilet bowling (circling at increasing radius/spiraling-out, usually constant altitude, leading to fly-way), or veering off-path when attempting to fly straight.
@@ -20,13 +20,16 @@ _QGroundControl_ should also notify the error `mag sensors inconsistent`.
 The process calibrates all compasses and autodetects the orientation of any external compasses.
 If any external magnetometers are available, it then disables the internal magnetometers (these are primarily needed for automatic rotation detection of external magnetometers).

+### Types of Calibration
+
 Several types of compass calibration are available:

 1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
   It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
 2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
   This type of calibration only estimates the offsets to compensate for a hard iron effect.
-3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. This type of calibration only estimates the offsets to compensate for a hard iron effect.
+3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration.
+   This type of calibration only estimates the offsets to compensate for a hard iron effect.

 ## 보정 절차

@@ -57,19 +60,23 @@ Before starting the calibration:
   ![Select Compass calibration PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.png)

   ::: info
-   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). 미리 설정하지 않았다면, 여기에서 설정할 수 있습니다.
+   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md).
+   미리 설정하지 않았다면, 여기에서 설정할 수 있습니다.

 :::

 4. Click **OK** to start the calibration.

-5. 기체를 아래에 표시된 자세로 놓고 그대로 유지해주십시오 메시지가 표시되면(방향 이미지가 노란색으로 변함) 기체를 지정축을 기준으로 한 방향으로 회전시킵니다. 현재 방향에 대해 보정이 완료되면 화면의 그림이 녹색으로 바뀝니다.
+5. 기체를 아래에 표시된 자세로 놓고 그대로 유지해주십시오
+   메시지가 표시되면(방향 이미지가 노란색으로 변함) 기체를 지정축을 기준으로 한 방향으로 회전시킵니다.
+   현재 방향에 대해 보정이 완료되면 화면의 그림이 녹색으로 바뀝니다.

   ![Compass calibration steps on PX4](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.png)

 6. 드론의 모든 방향에 대해 보정 과정을 반복합니다.

-Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely). 그런 다음 다음 센서의 보정 작업을 진행합니다.
+Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely).
+그런 다음 다음 센서의 보정 작업을 진행합니다.

 ### Partial "Quick" Calibration

@@ -92,7 +99,8 @@ This calibration is similar to the well-known figure-8 compass calibration done

 This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.

-1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
+1. Ensure GNSS Fix.
+   This is required to find the expected Earth magnetic field in WMM tables.
 2. Align the vehicle to face True North.
   Be as accurate as possible for best results.
 3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
@@ -112,6 +120,30 @@ This calibration process leverages external knowledge of vehicle's orientation a

 After the calibration is complete, check that the heading indicator and the heading of the arrow on the map are stable and match the orientation of the vehicle when turning it e.g. to the cardinal directions.

+## Recalibration
+
+Recalibration is recommended whenever the magnetic environment of the vehicle has changed or when heading behavior appears unreliable.
+
+You can use either complete calibration or mag quick calibration depending on the size of the vehicle and your ability to rotate it through the required orientations.
+Complete calibration provides the most accurate soft-iron compensation.
+
+Recalibrate the compass when:
+
+- _The compass module or its mounting orientation has changed._
+  This includes replacing the GPS or mag unit, rotating the mast, or altering how the module is fixed to the airframe.
+- _The vehicle has been exposed to a strong magnetic disturbance._
+  Examples include transport or storage near large steel structures, welding operations near the airframe, or operation close to high-current equipment.
+- _Structural, wiring, or payload changes may have altered the magnetic field around the sensors._
+  New payloads, rerouted wires, additional batteries, or metal fasteners can introduce soft-iron effects that affect heading accuracy.
+- _The vehicle is operated in a region with significantly different magnetic characteristics._
+  Large changes in latitude, longitude, or magnetic inclination can require re-estimation of offsets.
+- _QGroundControl reports magnetometer inconsistencies_.
+  For example, if you see the error `mag sensors inconsistent`.
+- _Heading behavior does not match the vehicle’s observed orientation._
+  Symptoms include drifting yaw, sudden heading jumps when attempting to fly straight, and toilet bowling
+- _QGroundControl_ sends the error `mag sensors inconsistent`.
+  This indicates that multiple magnetometers are reporting different headings.
+
 ## Additional Calibration/Configuration

 The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
@@ -70,7 +70,7 @@ Airframes with more than two frequency noise spikes typically clean the first tw
 Dynamic notch filters use ESC RPM feedback and/or the onboard FFT analysis.
 The ESC RPM feedback is used to track the rotor blade pass frequency and its harmonics, while the FFT analysis can be used to track a frequency of another vibration source, such as a fuel engine.

-ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/esc_motors.md#dshot) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
+ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
 Before enabling, make sure that the ESC RPM is correct.
 You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).

@@ -94,6 +94,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -91,6 +91,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -1,7 +1,14 @@
 # DroneCAN ESCs

 PX4 supports DroneCAN compliant ESCs.
-For more information, see the following articles for specific hardware/firmware:
+
+## Supported ESC
+
+:::info
+[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
+:::
+
+The following articles have specific hardware/firmware information:

 - [PX4 Sapog ESC Firmware](sapog.md)
  - [Holybro Kotleta 20](holybro_kotleta.md)
@@ -0,0 +1,65 @@
+# ARK 4IN1 ESC (with/without Connectors)
+
+4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
+
+The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required).
+
+![ARK 4IN1 ESC without connectors ](../../assets/hardware/esc/ark/ark_4_in_1_esc.jpg)![ARK 4IN1 ESC with connectors](../../assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg)
+
+## 구매처
+
+Order this module from:
+
+- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US)
+- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US)
+
+## Hardware Specifications
+
+- Battery Voltage: 3-8s
+  - 6V Minimum
+  - 65V Absolute Maximum
+
+- Current Rating: 50A Continuous, 75A Burst Per Motor
+
+- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html)
+
+- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27)
+
+- Onboard Current Sensor, Serial Telemetry
+  - 100V/A
+
+- Input Protocols
+  - DShot (300, 600)
+  - Bi-directional DShot
+  - KISS Serial Telemetry
+  - PWM
+
+- 8 Pin JST-SH Input/Output
+
+- 10 Pin JST-SH Debug
+
+- Motor & Battery Connectors (with-connector version)
+
+  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
+  - Four MR30 Motor Connectors
+
+- Dimensions (with connectors)
+
+  - Size: 77.00mm x 42.00mm x 9.43mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 24g
+
+- Dimensions (without connectors)
+  - Size: 43.00mm x 40.50mm x 7.60mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 14.5g
+
+Other
+
+- Made in the USA
+- Open source AM32 firmware
+- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
+
+## See Also
+
+- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
@@ -0,0 +1,66 @@
+# ESC Protocols
+
+This topic lists the main [Electronic Speed Controller (ESC)](../peripherals/esc_motors.md) protocols supported by PX4.
+
+## DShot
+
+[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduced latency, in particular racing multicopters, VTOL vehicles, and so on.
+
+It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
+In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can reverse motor spin directions.
+
+PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
+Selecting a higher rate DShot ESC in the UI results in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
+- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
+
+## DroneCAN
+
+[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
+The PX4 implementation is currently limited to update rates of 200 Hz.
+
+DroneCAN shares many similar benefits to [DShot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
+
+[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
+
+## PWM
+
+[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
+
+PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired speed.
+The pulse width typically ranges between 1000 μs for zero power and 2000 μs for full power.
+The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50 Hz and 490 Hz (the theoretical maximum being 500 Hz for a very small "off" cycle).
+A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
+For PWM servos 50 Hz is usually sufficient, and many don't support higher rates.
+
+![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png)
+
+In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the pulse widths representing low and high values can vary significantly.
+Unlike [DShot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
+- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
+- [ESC Calibration](../advanced_config/esc_calibration.md)
+
+## OneShot 125
+
+[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
+They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
+There are a number of variants of the OneShot protocol, which support different rates.
+PX4 only supports OneShot 125.
+
+OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125 μs to 250 μs for zero to full power).
+This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
+For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
+The actual supported rate depends on the ESC used.
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
+- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
+- [ESC Calibration](../advanced_config/esc_calibration.md)
@@ -2,7 +2,7 @@

 <Badge type="tip" text="PX4 v1.15" />

-PX4 implements the MAVLink [Standard Modes Protocol](https://mavlink.io/en/services/standard_modes.md) from PX4 v1.15, with a corresponding implementation in QGroundControl Daily builds (and future release builds).
+PX4 implements the MAVLink [Standard Modes Protocol](https://mavlink.io/en/services/standard_modes.html) from PX4 v1.15, with a corresponding implementation in QGroundControl Daily builds (and future release builds).

 The protocol allows you to discover all flight modes available to the vehicle, including PX4 External modes created using the [PX4 ROS 2 Control Interface](../ros2/px4_ros2_control_interface.md), and get or set the current mode.

@@ -280,6 +280,8 @@ For more information see: [Plotting uORB Topic Data in Real Time using PlotJuggl

 ## See Also

+- [uORB Documentation Standard](../uorb/uorb_documentation.md)
+
 - _PX4 uORB Explained_ Blog series
  - [Part 1](https://px4.io/px4-uorb-explained-part-1/)
  - [Part 2](https://px4.io/px4-uorb-explained-part-2/)
@@ -15,38 +15,6 @@
 - [Rpm Sensor](modules_driver_rpm_sensor.md)
 - [Transponder](modules_driver_transponder.md)

-## MCP23009
-
-Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)
-
-### Usage {#MCP23009_usage}
-
-```
-MCP23009 <command> [arguments...]
- Commands:
-   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
-                 (default=1))
-     [-f <val>]  bus frequency in kHz
-     [-q]        quiet startup (no message if no device found)
-     [-a <val>]  I2C address
-                 default: 37
-     [-D <val>]  Direction
-                 default: 0
-     [-O <val>]  Output
-                 default: 0
-     [-P <val>]  Pullups
-                 default: 0
-     [-U <val>]  Update Interval [ms]
-                 default: 0
-
-   stop
-
-   status        print status info
-```
-
 ## atxxxx

 Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@@ -749,6 +717,40 @@ lsm303agr <command> [arguments...]
   status        print status info
 ```

+## mcp230xx
+
+Source: [lib/drivers/mcp_common](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/drivers/mcp_common)
+
+### Usage {#mcp230xx_usage}
+
+```
+mcp230xx <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-a <val>]  I2C address
+                 default: 39
+     [-D <val>]  Direction (1=Input, 0=Output)
+                 default: 0
+     [-O <val>]  Output
+                 default: 0
+     [-P <val>]  Pullups
+                 default: 0
+     [-U <val>]  Update Interval [ms]
+                 default: 0
+     [-M <val>]  First minor number
+                 default: 0
+
+   stop
+
+   status        print status info
+```
+
 ## mcp9808

 Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
@@ -127,6 +127,10 @@ commander <command> [arguments...]

   check         Run preflight checks

+   safety        Change prearm safety state
+     on|off      [on] to activate safety, [off] to deactivate safety and allow
+                 control surface movements
+
   arm
     [-f]        Force arming (do not run preflight checks)

@@ -2,7 +2,7 @@

 Battery status

-Battery status information for up to 4 battery instances.
+Battery status information for up to 3 battery instances.
 These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 Battery instance information is also logged and streamed in MAVLink telemetry.

@@ -11,7 +11,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
 ```c
 # Battery status
 #
-# Battery status information for up to 4 battery instances.
+# Battery status information for up to 3 battery instances.
 # These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 # Battery instance information is also logged and streamed in MAVLink telemetry.

@@ -33,9 +33,9 @@ uint8 cell_count           # [-] [@invalid 0] Number of cells


 uint8 source                   # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0  # Power module
-uint8 SOURCE_EXTERNAL = 1      # External
-uint8 SOURCE_ESCS = 2          # ESCs
+uint8 SOURCE_POWER_MODULE = 0  # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1      # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2          # ESCs (via ESC telemetry)

 uint8 priority                # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity               # [mAh] Capacity of the battery when fully charged
@@ -32,9 +32,9 @@ uint8 cell_count # [@invalid 0] Number of cells


 uint8 source # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module
-uint8 SOURCE_EXTERNAL = 1 # External
-uint8 SOURCE_ESCS = 2 # ESCs
+uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)

 uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity # [mAh] Capacity of the battery when fully charged
@@ -0,0 +1,45 @@
+# DeviceInformation (UORB message)
+
+Device information
+
+Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
+as well as tracking of the used firmware versions on the devices.
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
+
+```c
+# Device information
+#
+# Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
+# as well as tracking of the used firmware versions on the devices.
+
+uint64 timestamp  # time since system start (microseconds)
+
+uint8 device_type  # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
+
+uint8 DEVICE_TYPE_GENERIC = 0                 # Generic/unknown sensor
+uint8 DEVICE_TYPE_AIRSPEED = 1                # Airspeed sensor
+uint8 DEVICE_TYPE_ESC = 2                     # ESC
+uint8 DEVICE_TYPE_SERVO = 3                   # Servo
+uint8 DEVICE_TYPE_GPS = 4                     # GPS
+uint8 DEVICE_TYPE_MAGNETOMETER = 5            # Magnetometer
+uint8 DEVICE_TYPE_PARACHUTE = 6               # Parachute
+uint8 DEVICE_TYPE_RANGEFINDER = 7             # Rangefinder
+uint8 DEVICE_TYPE_WINCH = 8                   # Winch
+uint8 DEVICE_TYPE_BAROMETER = 9               # Barometer
+uint8 DEVICE_TYPE_OPTICAL_FLOW = 10           # Optical flow
+uint8 DEVICE_TYPE_ACCELEROMETER = 11          # Accelerometer
+uint8 DEVICE_TYPE_GYROSCOPE = 12              # Gyroscope
+uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13  # Differential pressure
+uint8 DEVICE_TYPE_BATTERY = 14                # Battery
+uint8 DEVICE_TYPE_HYGROMETER = 15             # Hygrometer
+
+char[32] vendor_name  # Name of the device vendor
+char[32] model_name   # Name of the device model
+
+uint32   device_id         # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
+char[24] firmware_version  # [-] [@invalid empty if not available] Firmware version.
+char[24] hardware_version  # [-] [@invalid empty if not available] Hardware version.
+char[33] serial_number     # [-] [@invalid empty if not available] Device serial number or unique identifier.
+
+```
@@ -21,6 +21,7 @@ uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7		# 7 : maximum allowed vertical position
 uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8	# 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9	# 9 : maximum allowed vertical velocity discrepancy fail
 uint8 GPS_CHECK_FAIL_SPOOFED = 10		# 10 : GPS signal is spoofed
+uint8 GPS_CHECK_FAIL_JAMMED = 11		# 11 : GPS signal is jammed

 uint64 control_mode_flags	# Bitmask to indicate EKF logic state
 uint8 CS_TILT_ALIGN = 0		# 0 - true if the filter tilt alignment is complete
@@ -6,6 +6,7 @@ GPIO mask and state

 ```c
 # GPIO mask and state
+uint8 MAX_INSTANCES = 8

 uint64 timestamp			# time since system start (microseconds)
 uint32 device_id			# Device id
@@ -9,11 +9,15 @@ This message is used to dump the raw gps communication to the log.

 uint64 timestamp # time since system start (microseconds)

+uint8 INSTANCE_MAIN = 0
+uint8 INSTANCE_SECONDARY = 1
+
 uint8 instance   # Instance of GNSS receiver
+uint32 device_id
 uint8 len        # length of data, MSB bit set = message to the gps device,
                 # clear = message from the device
 uint8[79] data   # data to write to the log

-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16

 ```
@@ -69,6 +69,7 @@ uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute. |a
 uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # Motor test command. |Instance (@range 1, )|throttle type|throttle|timeout [s]|Motor count|Test order|Unused|
 uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight. |inverted (0=normal, 1=inverted)|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper.
+uint16 VEHICLE_CMD_DO_AUTOTUNE_ENABLE = 212 # Enable autotune module. |1 to enable|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight. |[m] Camera trigger distance|Shutter integration time (ms)|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)|q2 - quaternion param #2, x (0 in null-rotation)|q3 - quaternion param #3, y (0 in null-rotation)|q4 - quaternion param #4, z (0 in null-rotation)|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
@@ -107,6 +108,7 @@ uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
 uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
 uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
 uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
+uint16 VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE = 5300 # Command safety on/off. |1 to activate safety, 0 to deactivate safety and allow control surface movements|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
 uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
 uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
@@ -186,6 +188,10 @@ int8 ARMING_ACTION_ARM = 1
 uint8 GRIPPER_ACTION_RELEASE = 0
 uint8 GRIPPER_ACTION_GRAB = 1

+# Used as param1 in DO_SET_SAFETY_SWITCH_STATE command.
+uint8 SAFETY_OFF = 0
+uint8 SAFETY_ON = 1
+
 uint8 ORB_QUEUE_LENGTH = 8

 float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
@@ -105,6 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [DebugKeyValue](DebugKeyValue.md)
 - [DebugValue](DebugValue.md)
 - [DebugVect](DebugVect.md)
+- [DeviceInformation](DeviceInformation.md) — Device information
 - [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
 - [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
 - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
@@ -11,6 +11,10 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p

 이 항목에서는 DShot ESC 연결과 설정 방법을 설명합니다.

+## Supported ESC
+
+[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
+
 ## Wiring/Connections {#wiring}

 DShot ESC are wired the same way as [PWM ESCs](pwm_escs_and_servo.md).
@@ -3,80 +3,44 @@
 Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC).
 The ESC takes a signal from the flight controller and uses it to set control the level of power delivered to the motor.

-PX4 supports a number of common protocols for sending the signals to ESCs: [PWM ESCs](../peripherals/pwm_escs_and_servo.md), [OneShot ESCs](../peripherals/oneshot.md), [DShot ESCs](../peripherals/dshot.md), [DroneCAN ESCs](../dronecan/escs.md), PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec).
+PX4 supports a number of [common protocols](../esc/esc_protocols.md) for sending the signals to ESCs: [PWM ESCs](../peripherals/pwm_escs_and_servo.md), [OneShot ESCs](../peripherals/oneshot.md), [DShot ESCs](../peripherals/dshot.md), [DroneCAN ESCs](../dronecan/escs.md), PCA9685 ESC (via I2C), and some UART ESCs (from Yuneec).
+
+## Supported ESC
+
+The following list is non-exhaustive.
+
+| ESC Device                     | Protocols                            | Firmwares                | 참고                                                    |
+| ------------------------------ | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
+| [ARK 4IN1 ESC]                 | [Dshot], [PWM]                       | [AM32]                   | Has versions with/without connnectors                 |
+| [Holybro Kotleta 20]           | [DroneCAN], [PWM]                    | [PX4 Sapog ESC Firmware] |                                                       |
+| [Vertiq Motor & ESC modules]   | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware          | Larger modules support DroneCAN, ESC and Motor in one |
+| [RaccoonLab CAN PWM ESC nodes] | [DroneCAN], Cyphal                   |                          | Cyphal and DroneCAN notes for PWM ESC                 |
+| [VESC ESCs]                    | [DroneCAN], [PWM]                    | VESC project firmware    |                                                       |
+| [Zubax Telega]                 | [DroneCAN], [PWM]                    | Telega-based             | ESC and Motor in one                                  |
+
+<!-- Links for table above -->
+
+[ARK 4IN1 ESC]: ../esc/ark_4in1_esc.md
+[AM32]: https://am32.ca/
+[PX4 Sapog ESC Firmware]: ../dronecan/sapog.md
+[VESC ESCs]: ../peripherals/vesc.md
+[DroneCAN]: ../dronecan/escs.md
+[Dshot]: ../peripherals/dshot.md
+[OneShot]: ../peripherals/oneshot.md
+[PWM]: ../peripherals/pwm_escs_and_servo.md
+[Holybro Kotleta 20]: ../dronecan/holybro_kotleta.md
+[Vertiq Motor & ESC modules]: ../peripherals/vertiq.md
+[RaccoonLab CAN PWM ESC nodes]: ../dronecan/raccoonlab_nodes.md
+[Zubax Telega]: ../dronecan/zubax_telega.md
+
+## See Also

 더 자세한 정보는 다음을 참고하십시오.

+- [ESC Protocols](../esc/esc_protocols.md) — overview of main ESC/Servo protocols supported by PX4
 - [PWM ESCs and Servos](../peripherals/pwm_escs_and_servo.md)
 - [OneShot ESCs and Servos](../peripherals/oneshot.md)
 - [DShot](../peripherals/dshot.md)
 - [DroneCAN ESCs](../dronecan/escs.md)
 - [ESC Calibration](../advanced_config/esc_calibration.md)
 - [ESC Firmware and Protocols Overview](https://oscarliang.com/esc-firmware-protocols/) (oscarliang.com)
-
-A high level overview of the main ESC/Servo protocols supported by PX4 is given below.
-
-## ESC Protocols
-
-### PWM
-
-[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
-
-PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired power level.
-The pulse wdith typically ranges between 1000uS for zero power and 2000uS for full power.
-The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50Hz and 490 Hz (the theoretical maximum being 500Hz for a very small "off" cycle).
-A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
-For PWM servos 50Hz is usually sufficient, and many don't support higher rates.
-
-![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png)
-
-In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the range values representing low and high values can vary significantly.
-Unlike [dshot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
-
-### Oneshot 125
-
-[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
-They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
-There are a number of variants of the OneShot protocol, which support different rates.
-PX4 only supports OneShot 125.
-
-OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125us to 250us for zero to full power).
-This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
-For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
-The actual supported rate depends on the ESC used.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
-
-### DShot
-
-[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduce latency, in particular racing multicopters, VTOL vehicles, and so on.
-
-It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
-In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can revers motor spin directions
-
-PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
-Selecting a higher rate DShot ESC in the UI result in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
-
-### DroneCAN
-
-[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
-The PX4 implementation is currently limited to update rates of 200Hz.
-
-DroneCAN shares many similar benefits to [Dshot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
-
-[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
@@ -55,6 +55,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### 센서

 - Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
+- Quick magnetometer calibration now supports specifying an arbitrary initial heading ([PX4-Autopilot#24637](https://github.com/PX4/PX4-Autopilot/pull/24637))

 ### 시뮬레이션

@@ -0,0 +1,170 @@
+# uORB Documentation Standard
+
+This topic demonstrates and explains how to document uORB messages.
+
+:::info
+At time of writing many topics have not been updated.
+:::
+
+## 개요
+
+The [AirspeedValidated](../msg_docs/AirspeedValidated.md) message shown below is a good example of a uORB topic that has been documented to the current standard.
+
+```py
+# Validated airspeed
+#
+# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+# Used by controllers, estimators and for airspeed reporting to operator.
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
+
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1 # Sensor 1
+int8 SOURCE_SENSOR_2 = 2 # Sensor 2
+int8 SOURCE_SENSOR_3 = 3 # Sensor 3
+int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
+
+float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
+float32 throttle_filtered # [-] Filtered fixed-wing throttle
+float32 pitch_filtered # [rad] Filtered pitch
+```
+
+The main things to note are:
+
+- Documentation is added using formatted uORB comments.
+  Any text on a line after the `#` character is a comment, except for lines that start with the text `# TOPIC` (which indicates a multi-topic message).
+- The message starts with a comment block consisting of short description (mandatory), followed by a longer description and then a space.
+- Field and constants almost all have comments.
+  The comments are added on the same line as the field/constant, separated by one space.
+- Fields:
+  - Comments are all on the same line as the field (extra lines become internal comments).
+  - Comments start with metadata, such as the units (`[m/s]`, `[rad/s]`) or allowed values (`[@enum SOURCE]`), and can also list invalid values (`[@invalid NaN]`) and allowed ranges (`[@range min, max]`).
+  - Units are required except for boolean fields or for fields with an enum value.
+    `[-]` is used to indicate unitless fields.
+  - Comments follow the metadata after a space.
+    The line should not be terminated in a full stop.
+- Constants:
+  - Don't have metadata: the description follows the comment marker after one space.
+  - Some constants, such as `MESSAGE_VERSION`, don't need documentation because they are standardized.
+  - Constants with the same name prefix are grouped together as enums after the associated field.
+
+The following sections expand on the allowed formats.
+
+## Message Description
+
+Every message should start with a comment block that describes the message:
+
+```py
+# Short description (mandatory)
+#
+# Longer description for the message if needed.
+# Can be multiline, and should have punctuation.
+# Should be followed by an empty line.
+```
+
+This consists of a mandatory short description, optionally followed by an empty comment line, and then a longer description.
+
+Short description (mandatory):
+
+- A succinct explanation for the purpose of the message.
+- Usually just one line without a terminating full stop.
+- Minimally it may just mirror the message name.
+- For example, [`AirspeedValidated`](../msg_docs/AirspeedValidated.md) above has the short description `Validated airspeed`.
+
+Long description (Optional):
+
+- Additional context required to understand how the message is used.
+- In particular this should be anything that can't be inferred from the name, fields or constants, such as the publishers and expected consumers.
+  It might also cover whether the message is only used for a particular frame type or mode.
+- The message is often multiline and contains punctuation.
+- May include comment lines that are empty, in order to indicate paragraphs.
+
+Both short and long descriptions may be multi-line.
+Single line descriptions should not include a terminating full stop, but multiline comments should do so.
+
+The message description block ends at the first non-comment line, which should be an empty line, but might be a field or constant.
+Any subsequent comment lines are considered "internal comments".
+
+### Fields
+
+A typical field comment looks like this:
+
+```py
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+```
+
+Field comments must all be on the same line as the field, and consist of optional metadata followed by a description:
+
+- `metadata` (Optional)
+  - Information about the field units and allowed values:
+    - `[<unit>]`
+      - The unit of measurement inside square brackets (note, no `@` delineator indicates a unit), such as `[m]` for metres.
+        - Allowed units include: `m`, `m/s`, `m/s^2`, `rad`, `rad/s`, `rpm`, `V`, `A`, `mA`, `mAh`, `W`, `dBm`, `s`, `ms`, `us`, `Ohm`, `MB`, `Kb/s`, `degC`, `Pa`.
+        - Units are required unless clearly invalid, such as when the field is a boolean, or is an enum value.
+        - Unitless values should be specified as `[-]`.
+          Note though that units are not required for boolean fields or enum fields.
+    - `[@enum <enum_name>]`
+      - The `enum_name` gives the prefix of constant values in the message that can be assigned to the field.
+        Note that enums in uORB are just a naming convention: they are not explicitly declared.
+        Multiple enum names allowed for a field indicates a possible error in the field design.
+    - `[@range <lower_value>, <upper_value>]`
+      - The allowed range of the field, specified as a `lower_value` and/or an `upper_value`.
+        Either value can be omitted to indicate an unbounded upper or lower value.
+        For example `[@range 0, 3]`, `[@range 5.3, ]`, `[@range , 3]`.
+    - `[@invalid <value> <description>]`
+      - The `value` to set the field to indicate that the field doesn't contain valid data, such as `[@invalid NaN]`.
+        The `description` is optional, and might be used to indicate the conditions under which data is invalid.
+    - `[@frame <value>]`
+      - The `frame` in which the field is set, such as `[@frame NED]` or `[@frame Body]`.
+- `description`
+  - A concise description of the purpose of the field, and including any important information that can't be inferred from the name!
+    Use a capital first letter, and omit the full stop if the description is a single sentence.
+    Multiple sentences may also omit the final full stop.
+
+### Constants
+
+Constants follow the documentation conventions as fields except they only have a description (no metadata).
+Documentation for a constant might look like this:
+
+```py
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+```
+
+Constants are often grouped together following a field as enum values.
+Note below how the prefix `SOURCE` for the values is specified as an enum against the _field_.
+
+```py
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+...
+```
+
+A small number of constants have a standardised meaning and do not require documentation.
+These are:
+
+- `ORB_QUEUE_LENGTH`
+- `MESSAGE_VERSION`
+
+### `# TOPICS`
+
+The prefix `# TOPICS` is used to indicate topic names for multi-topic messages.
+For example, the [VehicleGlobalPosition.msg](../msg_docs/VehicleGlobalPosition.md) message definition is used to define the topic ids as shown:
+
+```text
+# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
+# TOPICS estimator_global_position
+# TOPICS aux_global_position
+```
+
+At time of writing there is no format for documenting these.
@@ -315,15 +315,17 @@
    - [Розподіл приводу](config/actuators.md)
    - [Калібрування ESC (плати контролю двигунів)](advanced_config/esc_calibration.md)
    - [ESCs & Двигуни](peripherals/esc_motors.md)
+      - [ESC Protocols](esc/esc_protocols.md)
      - [PWM ESCs та сервоприводи](peripherals/pwm_escs_and_servo.md)
      - [DShot ESCs](peripherals/dshot.md)
      - [OneShot ESCs та сервоприводи](peripherals/oneshot.md)
      - [DroneCAN ESCs](dronecan/escs.md)
-        - [Zubax Telega](dronecan/zubax_telega.md)
-        - [Прошивка PX4 Sapog ESC](dronecan/sapog.md)
-          - [Holybro Kotleta](dronecan/holybro_kotleta.md)
-      - [Vertiq](peripherals/vertiq.md)
-      - [VESC](peripherals/vesc.md)
+        - [PX4 Sapog ESC Firmware](dronecan/sapog.md)
+      - [ARK 4IN1 ESC](esc/ark_4in1_esc.md)
+      - [Holybro Kotleta](dronecan/holybro_kotleta.md)
+      - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
+      - [VESC Project ESCs](peripherals/vesc.md)
+      - [Zubax Telega ESCs](dronecan/zubax_telega.md)

  - [Радіокерування (RC)](getting_started/rc_transmitter_receiver.md)
    - [Налаштування радіо](config/radio.md)
@@ -519,6 +521,7 @@
    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [Проміжне програмне забезпечення](middleware/index.md)
    - [Повідомлення uORB](middleware/uorb.md)
+    - [uORB Docs Standard](uorb/uorb_documentation.md)
    - [Граф uORB](middleware/uorb_graph.md)
    - [Опис повідомлень uORB](msg_docs/index.md)
      - [Versioned](msg_docs/versioned_messages.md)
@@ -581,6 +584,7 @@
        - [DebugKeyValue](msg_docs/DebugKeyValue.md)
        - [DebugValue](msg_docs/DebugValue.md)
        - [DebugVect](msg_docs/DebugVect.md)
+        - [DeviceInformation](msg_docs/DeviceInformation.md)
        - [DifferentialPressure](msg_docs/DifferentialPressure.md)
        - [DistanceSensor](msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
@@ -26,6 +26,10 @@ If you are looking for more resources to learn about the module, a website has b

 ## Neural Network PX4 Firmware

+:::warning
+This module requires Ubuntu 24.04 or newer (it is not supported in Ubuntu 22.04).
+:::
+
 The module has been tested on a number of configurations, which can be build locally using the commands:

 ```sh
@@ -25,6 +25,7 @@ PX4 supports Ethernet connectivity on [Pixhawk 5X-standard](https://github.com/p

 Підтримувані автопілоти включають:

+- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
 - [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
 - [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
 - [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
@@ -285,7 +285,7 @@ A particular vehicle might have more/fewer motors and actuators, but the wiring
 The following sections explain each part in more detail.

 :::tip
-If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
+If you're using [DroneCAN ESC](../dronecan/escs.md) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
 :::

 ### Flight Controller Power
@@ -426,7 +426,6 @@ They recommend sensors, power systems, and other components from the same manufa
 - [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
 - [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
 - [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes).
-
  - [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
  - [Vibration Isolation](../assembly/vibration_isolation.md)
  - [Mounting a Compass](../assembly/mount_gps_compass.md)
@@ -1,7 +1,13 @@
-# CAN
+# CAN (DroneCAN & Cyphal)

-[Мережа контролера (CAN)](https://en.wikipedia.org/wiki/CAN_bus) – це надійна дротова мережа, яка дозволяє компонентам дрона, таким як контролер польоту, ESC, датчики та інші периферійні пристрої, спілкуватися один з одним.
-Так як він розроблений, щоб бути демократичним та використовує диференційну сигналізацію, він є дуже надійним навіть на довгих кабельних ділянках (на великих транспортних засобах) і уникне виникнення однієї точки відмови.
+[Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
+
+It is particularly recommended on larger vehicles.
+
+## Загальний огляд
+
+CAN it is designed to be democratic and uses differential signaling.
+For this reason it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
 CAN також дозволяє отримання зворотного зв'язку від периферійних пристроїв та зручне оновлення прошивки через шину.

 PX4 підтримує два програмні протоколи для взаємодії з пристроями CAN:
@@ -18,29 +24,36 @@ PX4 підтримує два програмні протоколи для вз
 Відмінності між цими двома протоколами описані в [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
 :::

-:::warning
 У PX4 немає підтримки інших програмних протоколів CAN для безпілотних літальних апаратів, таких як KDECAN (на момент написання).
-:::

 ## Підключення

 Проводка для мереж CAN однакова як для DroneCAN, так і для Cyphal/CAN (фактично, для всіх мереж CAN).

-Пристрої з'єднані у ланцюжку в будь-якому порядку.
+Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
+
+:::warning
+Don't connect each CAN peripheral to a separate CAN port!
+Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
+:::
+
 На обох кінцях ланцюга між двома лініями передачі даних слід під’єднати термінальний резистор 120 Ом.
 Польотні контролери та деякі модулі GNSS мають вбудовані резистори завершення для зручності, тому їх слід розміщувати на протилежних кінцях ланцюга.
 В іншому випадку, ви можете використовувати резистор завершення, наприклад, [цей від Zubax Robotics](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069), або припаяти його самостійно, якщо у вас є доступ до затискача JST-GH.

 Наступна діаграма показує приклад шини CAN, що з'єднує автопілот з 4 контролерами ESC CAN та GNSS.
+It includes a redundant bus connected to `CAN 2`.

 ![CAN Wiring](../../assets/can/uavcan_wiring.svg)

 На схемі не показано електропроводку.
 Для підтвердження, чи компоненти потребують окремого живлення, чи можуть бути живлені від самої шини CAN, звертайтеся до інструкцій виробника.

+:::info
 For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
 Хоча стаття написана з урахуванням протоколу Cyphal, вона однаково стосується апаратного забезпечення DroneCAN і будь-яких інших налаштувань CAN.
 Для більш складних сценаріїв зверніться до розділу [Про топологію та термінацію шини CAN](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
+:::

 ### З’єднання

@@ -54,7 +67,30 @@ For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax

 DroneCAN та Cyphal/CAN підтримують використання другого (резервного) інтерфейсу CAN.
 Це абсолютно необов'язково, але збільшує надійність підключення.
-Всі контролери польоту Pixhawk мають 2 інтерфейси CAN; якщо ваші пристрої також підтримують 2 інтерфейси CAN, рекомендується підключити обидва для збільшення безпеки.
+
+Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
+
+### Flight Controllers with Multiple CAN Ports
+
+[Flight Controllers](../flight_controller/index.md) may have up to three independent CAN ports, such as `CAN1`, `CAN2`, `CAN3` (neither DroneCAN or Cyphal support more than three).
+Note that you can't have both DroneCAN and Cyphal running on PX4 at the same time.
+
+:::tip
+You only _need_ one CAN port to support an arbitrary number of CAN devices using a particular CAN protocol.
+Don't connect each CAN peripheral to a separate CAN port!
+:::
+
+Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
+If three are three ports, you might use the remaining network for devices that support another CAN protocol.
+
+The documentation for your flight controller should indicate which ports are supported/enabled.
+At runtime you can check what DroneCAN ports are enabled and their status using the following command on the [MAVLink Shell](../debug/mavlink_shell.md) (or some other console):
+
+```sh
+uavcan status
+```
+
+Note that you can also check the number of supported CAN interfaces for a board by searching for `CONFIG_BOARD_UAVCAN_INTERFACES` in its [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#) configuration file.

 ## Прошивка

@@ -10,7 +10,7 @@ If you have [mounted the compass](../assembly/mount_gps_compass.md#compass-orien

 ## Загальний огляд

-You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to recalibrate it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.
+You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to [recalibrate](#recalibration) it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.

 :::tip
 Indications of a poor compass calibration include multicopter circling during hover, toilet bowling (circling at increasing radius/spiraling-out, usually constant altitude, leading to fly-way), or veering off-path when attempting to fly straight.
@@ -20,13 +20,16 @@ _QGroundControl_ should also notify the error `mag sensors inconsistent`.
 The process calibrates all compasses and autodetects the orientation of any external compasses.
 If any external magnetometers are available, it then disables the internal magnetometers (these are primarily needed for automatic rotation detection of external magnetometers).

+### Types of Calibration
+
 Several types of compass calibration are available:

 1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
   Воно компенсує впливи твердого та м'якого заліза, оцінюючи зміщення та коефіцієнт масштабу для кожної вісі.
 2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
   Цей тип калібрування лише оцінює зміщення для компенсації ефекту твердого заліза.
-3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. Цей тип калібрування лише оцінює зміщення для компенсації ефекту твердого заліза.
+3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration.
+   Цей тип калібрування лише оцінює зміщення для компенсації ефекту твердого заліза.

 ## Виконання калібрування

@@ -57,19 +60,23 @@ Several types of compass calibration are available:
   ![Select Compass calibration PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.png)

   ::: info
-   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). Якщо ні, ви також можете встановити це тут.
+   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md).
+   Якщо ні, ви також можете встановити це тут.

 :::

 4. Click **OK** to start the calibration.

-5. Розмістіть транспортний засіб у будь-якому з показаних червоних орієнтацій (неповний) та утримуйте його нерухомим. Після запиту (орієнтаційне зображення стає жовтим) обертайте транспортний засіб навколо вказаної вісі в одному або обох напрямках. Після завершення калібрування для поточного орієнтації пов'язане зображення на екрані стане зеленим.
+5. Розмістіть транспортний засіб у будь-якому з показаних червоних орієнтацій (неповний) та утримуйте його нерухомим.
+   Після запиту (орієнтаційне зображення стає жовтим) обертайте транспортний засіб навколо вказаної вісі в одному або обох напрямках.
+   Після завершення калібрування для поточного орієнтації пов'язане зображення на екрані стане зеленим.

   ![Compass calibration steps on PX4](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.png)

 6. Повторіть процес калібрування для всіх орієнтацій автомобіля.

-Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely). Ви можете потім перейти до наступного сенсора.
+Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely).
+Ви можете потім перейти до наступного сенсора.

 ### Часткова "Швидка" Калібрування

@@ -92,7 +99,8 @@ Once you've calibrated the vehicle in all the positions _QGroundControl_ will di

 This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.

-1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
+1. Ensure GNSS Fix.
+   This is required to find the expected Earth magnetic field in WMM tables.
 2. Align the vehicle to face True North.
   Be as accurate as possible for best results.
 3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
@@ -112,6 +120,30 @@ This calibration process leverages external knowledge of vehicle's orientation a

 Після завершення калібрування перевірте, щоб індикатор напрямку та напрямок стрілки на карті були стабільними і відповідали орієнтації транспортного засобу при його повороті, наприклад, на головні сторони.

+## Recalibration
+
+Recalibration is recommended whenever the magnetic environment of the vehicle has changed or when heading behavior appears unreliable.
+
+You can use either complete calibration or mag quick calibration depending on the size of the vehicle and your ability to rotate it through the required orientations.
+Complete calibration provides the most accurate soft-iron compensation.
+
+Recalibrate the compass when:
+
+- _The compass module or its mounting orientation has changed._
+  This includes replacing the GPS or mag unit, rotating the mast, or altering how the module is fixed to the airframe.
+- _The vehicle has been exposed to a strong magnetic disturbance._
+  Examples include transport or storage near large steel structures, welding operations near the airframe, or operation close to high-current equipment.
+- _Structural, wiring, or payload changes may have altered the magnetic field around the sensors._
+  New payloads, rerouted wires, additional batteries, or metal fasteners can introduce soft-iron effects that affect heading accuracy.
+- _The vehicle is operated in a region with significantly different magnetic characteristics._
+  Large changes in latitude, longitude, or magnetic inclination can require re-estimation of offsets.
+- _QGroundControl reports magnetometer inconsistencies_.
+  For example, if you see the error `mag sensors inconsistent`.
+- _Heading behavior does not match the vehicle’s observed orientation._
+  Symptoms include drifting yaw, sudden heading jumps when attempting to fly straight, and toilet bowling
+- _QGroundControl_ sends the error `mag sensors inconsistent`.
+  This indicates that multiple magnetometers are reporting different headings.
+
 ## Додаткова калібрування/конфігурація

 The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
@@ -70,7 +70,7 @@ Airframes with more than two frequency noise spikes typically clean the first tw
 Dynamic notch filters use ESC RPM feedback and/or the onboard FFT analysis.
 The ESC RPM feedback is used to track the rotor blade pass frequency and its harmonics, while the FFT analysis can be used to track a frequency of another vibration source, such as a fuel engine.

-ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/esc_motors.md#dshot) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
+ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
 Before enabling, make sure that the ESC RPM is correct.
 You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).

@@ -94,6 +94,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -91,6 +91,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -1,7 +1,14 @@
 # DroneCAN ESCs

-PX4 підтримує ESCs, які відповідають стандарту DroneCAN.
-Для отримання додаткової інформації дивіться наступні статті для конкретного обладнання/прошивки:
+PX4 supports DroneCAN compliant ESCs.
+
+## Supported ESC
+
+:::info
+[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
+:::
+
+The following articles have specific hardware/firmware information:

 - [PX4 Sapog ESC Firmware](sapog.md)
  - [Holybro Kotleta 20](holybro_kotleta.md)
@@ -0,0 +1,65 @@
+# ARK 4IN1 ESC (with/without Connectors)
+
+4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
+
+The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required).
+
+![ARK 4IN1 ESC without connectors ](../../assets/hardware/esc/ark/ark_4_in_1_esc.jpg)![ARK 4IN1 ESC with connectors](../../assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg)
+
+## Де купити
+
+Замовте цей модуль з:
+
+- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US)
+- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US)
+
+## Характеристики обладнання
+
+- Battery Voltage: 3-8s
+  - 6V Minimum
+  - 65V Absolute Maximum
+
+- Current Rating: 50A Continuous, 75A Burst Per Motor
+
+- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html)
+
+- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27)
+
+- Onboard Current Sensor, Serial Telemetry
+  - 100V/A
+
+- Input Protocols
+  - DShot (300, 600)
+  - Bi-directional DShot
+  - KISS Serial Telemetry
+  - PWM
+
+- 8 Pin JST-SH Input/Output
+
+- 10 Pin JST-SH Debug
+
+- Motor & Battery Connectors (with-connector version)
+
+  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
+  - Four MR30 Motor Connectors
+
+- Dimensions (with connectors)
+
+  - Size: 77.00mm x 42.00mm x 9.43mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 24g
+
+- Dimensions (without connectors)
+  - Size: 43.00mm x 40.50mm x 7.60mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 14.5g
+
+Інше
+
+- Made in the USA
+- Open source AM32 firmware
+- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
+
+## Дивіться також
+
+- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Balduin	44a03e8925	AirspeedValidated: correct typo	2026-01-06 15:51:25 +01:00
Balduin	672d3d05c6	add comment explaining fallback to trim	2026-01-06 15:51:25 +01:00
Balduin	164e7e0356	AirspeedModule: use TECS throttle Fixes: - False positive airspeed failures due to first principle check. This was caused by mixing different throttle units in the check: Some with battery scaling, some without. As the battery depletes, this difference can already trigger the quite sensitive check. Now it uses purely TECS setpoints again, which are without battery scaling. - Slightly wrong synthetic airspeed as battery depletes. Previously, the synthetic airspeed used thrust from vehicle_thrust_setpoint_0, which already includes battery scaling. Battery scaling is intended to offset the effects of a depleted battery, so we command a higher throttle when the battery is empty but we do not go faster. The TECS throttle setpoint more closely reflects the physical response of the vehicle and so it is preferrable to use that for synthetic airspeed. Small simplifications without changing functionality: - update throttle filter only on TECS update. This removes the need to check for data recency inside of it. Functionality is kept - in any case if synthetic airspeed is demanded outside of fixed wing we give trim airspeed. For this we add an explicit if - remove current time argument from update_throttle_filter, is already class variable	2026-01-06 15:47:20 +01:00
Balduin	e34cc2953c	FwLateralLongitudinalControl: publish flight phase cherrypicked from https://github.com/PX4/PX4-Autopilot/pull/26219. remove when rebasing on that.	2026-01-06 11:41:06 +01:00
MDLZCOOL	819c783b6c	px_uploader.py: optimize crc32 calculation using zlib (#26205 ) Replaces the legacy pure-Python lookup table CRC32 implementation with the built-in `zlib.crc32`. The previous implementation relied on a manual loop over bytes, which was inefficient for large firmware files (taking ~0.5s for 2MB on modern CPUs). The new implementation reduces this to ~1ms. Implementation details: - Removed the hardcoded `crctab` array to clean up the code. - Adjusted `zlib` initial state (0xFFFFFFFF) and final XOR operations to ensure bit-perfect compatibility with the specific CRC32 variant expected by the PX4 bootloader. Benchmark (2MB firmware): - Legacy: ~0.48s - zlib: ~0.001s	2026-01-06 17:36:44 +13:00
Silvan Fuhrer	14558e9304	rangefinder: remove unused class member (#26212 ) Signed-off-by: Silvan <silvan@auterion.com>	2026-01-05 17:46:59 -09:00
Jacob Dahl	6bc24c8cd1	msg: VehicleCommandAck: bump queue length from 4 to 8 (#26217 )	2026-01-06 14:07:53 +13:00
Alex Klimaj	d8220d4948	logger: add logger_status topic to default topics (#26197 )	2026-01-05 10:50:03 -09:00
PX4 Build Bot	435040f2d5	New Crowdin translations - zh-CN (#26203 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-05 08:08:48 +11:00
PX4 Build Bot	dad58f31a6	New Crowdin translations - ko (#26201 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-05 08:08:39 +11:00
PX4 Build Bot	6ecbfb2262	New Crowdin translations - uk (#26202 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-05 08:08:30 +11:00
Pedro Roque	9563f4c8c6	fix: move required dds ip to hardware, leave default on sim (#26190 )	2026-01-03 21:00:25 +01:00
Jacob Dahl	cea6c10864	tools: check_submodules: remove user prompt and continue with build	2026-01-02 10:37:49 -07:00
Hamish Willee	1e34c80115	Minor link fix (#26196 )	2026-01-02 17:50:17 +11:00
PX4 Build Bot	076b673977	New Crowdin translations - zh-CN (#26180 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-02 17:37:12 +11:00
PX4 Build Bot	00f2c149d1	New Crowdin translations - uk (#26179 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-02 17:31:03 +11:00
PX4 Build Bot	e370d15c72	New Crowdin translations - ko (#26146 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-02 17:29:23 +11:00
Julian Oes	aa850d5c1c	mavlink: don't send out GPS_GLOBAL_ORIGIN too early (#26115 ) This prevents PX4 from sending out the GPS_GLOBAL_ORIGIN message immediately when a SET_GPS_GLOBAL_ORIGIN message arrives. Instead, we apply the new origin in the EKF, and only then send out the new origin, which is much more intuitive and doesn't confuse a user of the API.	2025-12-30 07:31:00 +13:00
Tom Willow	1e618a7eb0	gps: use UTC timestamp when GPS fixed (#26127 )	2025-12-26 15:50:37 -09:00
Jacob Dahl	f46fd89057	gz_bridge: GZGimbal: fix frame flags (#26172 )	2025-12-24 12:42:30 -08:00
Pedro Roque	33c7eed5f1	feature: add ATMOS dual actuation model (#26088 ) * init: working towards dual-action ATMOS * fix: update gz sim to latest * fix: add motor number max fitting Actuator * fix: revert non-necessary changes * fix: ensure esc count does not exceed maximum number of ESCs * feat: update gz to latest, includes ATMOS dual action * fix: restore dds_topics * fix: update gazebo model commit	2025-12-23 22:38:58 -08:00
Hamish Willee	96f428b683	docs: Update metadata (#26167 )	2025-12-24 14:57:46 +11:00
PX4 Build Bot	722133f79a	New Crowdin translations - uk (#26147 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-24 11:08:37 +11:00
PX4 Build Bot	66c5644f1b	New Crowdin translations - zh-CN (#26158 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-24 11:08:31 +11:00
Alex Klimaj	3ef13da044	Adds ARKV6X to supported Ethernet controller list (#26165 ) Documents ARK Electronics ARKV6X as a supported flight controller for Ethernet setup, improving clarity for users seeking compatible hardware.	2025-12-24 11:00:36 +11:00
CUAV Chen	161b530247	cuav_fmu-v6x: cuav-v6x_v2 iim42652 Sensor enable external clock (#26133 )	2025-12-22 01:24:55 -05:00
Jacob Dahl	b5c0867101	airframes: exclude ark_fmu-v6x	2025-12-19 11:40:17 -09:00
PX4 Build Bot	ca6d257ed8	New Crowdin translations - zh-CN (#26148 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-19 08:52:57 +11:00
Nick	c51502781f	ekf2: revent yaw spikes on reset (#25972 )	2025-12-18 09:08:44 -09:00
Jacob Dahl	339a0b40af	airframes: exclude px4_fmu-v6x on 6002_draco_r	2025-12-18 08:52:17 -09:00
Jacob Dahl	d2aa1b801c	airframes: exclude px4_fmu-v6x on 4052_holybro_qav250	2025-12-18 08:52:17 -09:00
Jacob Dahl	26d847e6e7	airframes: exclude px4_fmu-v6x on 4016_holybro_px4vision	2025-12-18 08:52:17 -09:00
Jacob Dahl	1cf2dc8791	airframes: exclude px4_fmu-v6x on 17002_TF-AutoG2	2025-12-18 08:52:17 -09:00
Jacob Dahl	209a9935e7	airframes: exclude px4_fmu-v6x on 17003_TF-G2	2025-12-18 08:52:17 -09:00
Jacob Dahl	0fa667fd92	airframes: exclude px4_fmu-v6x on 4053_holybro_kopis2 (uses Kakute FC)	2025-12-18 08:52:17 -09:00
Marco Hauswirth	bbf32a537e	EKF2: Improve Manual Position Reset Handling (#25885 ) * reset by fusion: * state correction with tiny observation variance * covariance matrix upate with correct observation variance * reset wind to 0 on hard-reset during global-position-reset increase gate * adjust unittest: velocity gets now reset on resetGlobalPosToExternalObservation	2025-12-18 15:21:09 +01:00
Matthias Grob	3e425210e0	Hysteresis: enable initializing arrays with default constructor initial state false	2025-12-18 13:29:40 +01:00
Matthias Grob	f25997a15b	RoverLandDetector: move static hysteresis configuration to constructor	2025-12-18 13:29:40 +01:00
Matthias Grob	e132568430	FixedWingLandDetector: remove useless 0 delay away from landed	2025-12-18 13:29:40 +01:00
bresch	6195629373	ekf2: add test for external wind reset	2025-12-18 11:37:10 +01:00
bresch	2c044b327e	ekf2: refactor airspeed starting logic - avoids using invalid velocity estimate to reset wind - do not set fusion flags if starting was impossible - reset wind to 0 before resetting velocity using airspeed if wind data is outdated	2025-12-18 11:37:10 +01:00
Hamish Willee	b7ffd6ea2c	uORB doc standard - add page (#25878 )	2025-12-18 17:08:41 +11:00
Jacob Dahl	b26db22c1a	docs: ark_flow: add EKF2_RNG_CTRL (#26130 )	2025-12-18 14:21:24 +11:00
Hamish Willee	6f18ff8ff9	Add copilot reviewer instructions for docs (#26141 )	2025-12-18 14:07:05 +11:00
jobs	f224b81eec	boards: modify vendor ID NarinFC-H7(#26117 ) - CONFIG_CDCACM_PRODUCTID : 0x0047 - CONFIG_CDCACM_VENDORID : 0x3fc5	2025-12-17 21:46:56 -05:00
isentek-webbyeh	b537601b7a	driver: ist8310: add IST8310J device ID support (#26134 ) * driver: ist8310: add IST8310J device ID support and cross-axis compensation IST8310J shares the same register map and initialization sequence as IST8310. This change extends the existing IST8310 driver to: - Accept the IST8310J device ID during probe and reset - Load factory cross-axis calibration data from OTP - Apply cross-axis compensation to raw magnetometer samples The cross-axis compensation corrects factory axis misalignment only and does not replace PX4 runtime magnetometer calibration. Tested on Raspberry Pi using I2C with both IST8310 and IST8310J devices. Signed-off-by: webbyeh <webbyeh@isentek.com> * driver: ist8310: add IST8310J device ID support IST8310J shares the same register map and initialization sequence as IST8310. Factory cross-axis compensation support was evaluated but has been removed in this revision due to flash size constraints on embedded targets. The driver now focuses on device identification and stability, while relying on the existing PX4 magnetometer calibration framework. This commit also addresses review feedback by caching the WAI register value to avoid redundant I2C reads during the reset wait state. Tested on Raspberry Pi using I2C with both IST8310 and IST8310J devices. Signed-off-by: webbyeh <webbyeh@isentek.com> * Fix formatting issues in IST8310.cpp --------- Signed-off-by: webbyeh <webbyeh@isentek.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-12-17 17:14:17 -09:00
Patrik Dominik Pordi	e01c4b0692	Ark esc docs + restructure top level ESC docs (#26132 )	2025-12-18 10:28:34 +11:00
Jacob Dahl	ca43fc8f5a	workflows: remove stale comment to reduce notification spam (#26140 )	2025-12-17 12:39:54 -09:00
Jacob Dahl	11cac778ba	ark: fpv: use same magnetometer subset as v6x	2025-12-17 11:13:42 -09:00
Jacob Dahl	441892b33f	ark: v6x: remove MMC5983MA driver to save flash	2025-12-17 10:53:47 -09:00
Jacob Dahl	1d5a8531e4	update gps submodule	2025-12-17 10:33:21 -09:00
Jacob Dahl	e71348967d	gps: fix RTCM injection and enable MSM7 for PPK (#26095 ) * serial: add txSpaceAvailable function * serial: txSpaceAvailable and bytesAvailable fixups * msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id * lib: gnss: add RTCM parsing library. Generated by Claude Code. * gps: fix RTCM injection to use inject-before-read pattern as before. Add RTCM parser to frame-align injection. Drain GpsInjectData uORB queue into RTCM parser buffer and then inject. Add GPS_UBX_PPK parameter to enable MSM7 output from the GPS module (rather than the default of MSM4) which is required for PPK workflows. * gps: replace PX4_WARN with perf counters	2025-12-17 10:20:00 -09:00
Jacob Dahl	fbe49db571	uavcannode: publisher: MovingBaseLine enhancements (#26092 ) * uavcannode: publishers: MovingBaselineData: publish all GpsInjectData updates during BroadcastAnyUpdates. Check and report data loss via uorb generationcounter. Only registerCallback outside of the loop. * remove unnecessary include	2025-12-17 10:18:17 -09:00
Jacob Dahl	4b36cfccfc	uavcan: gnss: MovingBaselineData subscriber (#26094 ) * msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id * uavcan: gnss: MovingBaselineData subscriber for RTCM logging for PPK. Add uORB generation tracking to detect data loss on RTCM injection. * add instance TODO	2025-12-17 10:17:56 -09:00
Jacob Dahl	699ec30c9c	logger: gps_dump non-optional (#26096 )	2025-12-17 09:59:38 -09:00
Jacob Dahl	e6c49edd20	docs: battery: clarify BAT${i}_SOURCE parameter documentation (#26071 ) * docs: battery: clarify Power Module option to state that it works additionally for onboard Analog * Update src/lib/battery/module.yaml Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update src/lib/battery/module.yaml Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update src/lib/battery/module.yaml * Apply suggestions from code review * Update msg/versioned/BatteryStatus.msg --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-12-17 09:58:41 -09:00
Alexander Lerach	cb6bdee4c2	boards: v6x, remove MS5611 driver to save flash (#26138 )	2025-12-17 09:57:34 -09:00
Phil-Engljaehringer	3438d593a1	drivers: MCP23009 & MCP23017 shared code base (#25924 ) * Implemented driver for MCP23017 * fixed compatability with mcp23009. (naming of instantiated GPIO-Devices) * removed some comments * removed even more comments * commented out instatntiation of driver since it will not be used with v6x * removed last useless comments * re-activated gpio_mcp23009 driver, removed useless comments and empty lines * removed empty lines at the end of mcp23017.cpp * removed empty line * Implemented driver for MCP23017 * fixed compatability with mcp23009. (naming of instantiated GPIO-Devices) * removed some comments * removed even more comments * commented out instatntiation of driver since it will not be used with v6x * removed last useless comments * re-activated gpio_mcp23009 driver, removed useless comments and empty lines * removed empty lines at the end of mcp23017.cpp * removed empty line * basic working implementation * first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks) * removed unused imports * changed module name from MCP to MCP230XX * removed debug print statements * adjusted auto start command of driver * removed comments * -added seperate main functions for both derivative modules (mcp23009 and mcp23017) * compile common functions as shared library in src/lib/drivers * fixed cleanup of modules * ->unclean working version with shared common library * used make format * working & cleaned version * -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously -> Removed old mcap23009 calls and pin registrations -> Adjusted GpioIn.msg to contain MAX_INSTANCES * ->removed unused imports ->used make format * Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x * Fix: enabled platform_mcp_gpio in px4/fmu-v5x * added depency to fmu-v5x * Fix: removed new lines * Fix: fixed linker errors * removed unused linkage against mcp-library * Made mcp start calls consistent for fmu-v5x and fmu-v6x * moved logging of comm errors to read/write function directly * added perf_count for sanity_check * removed error message * ensured member variables follow naming convention * added retries to probe function * simplyfied state-logic * add break to terminate loop early * ensured clean state when register_gpios() fails * add registered-flag to pins * used path from top dir instead of relative path in CMakeLists * used constexpr to set parameters instead of calculating them at runtime * style: used make format * fix: corrected i2c_bus assignment * style: init input of callbackhandler to 0 * fix: mark pin as registered if successful * style: made arguments const type --------- Co-authored-by: Alexander Lerach <alexander@auterion.com>	2025-12-17 17:48:30 +01:00
dirksavage88	38f89a8b69	remove extraneous newlines Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-12-17 17:12:12 +01:00
dirksavage88	3e290695ef	fix to check q Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-12-17 17:12:12 +01:00
Andrew Brahim	11bf3cffde	Update src/lib/drivers/rangefinder/PX4Rangefinder.hpp Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-12-17 17:12:12 +01:00
dirksavage88	ba4437ae60	revert to passing raw pointer and length Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-12-17 17:12:12 +01:00
dirksavage88	b64860f9f8	consolidated into update method; use default value in declaration Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-12-17 17:12:12 +01:00
dirksavage88	e51d09612f	vl53l1x quaternion example Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-12-17 17:12:12 +01:00
dirksavage88	eb1c0322e3	rangefinder update quaternion Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-12-17 17:12:12 +01:00
Alexander Lerach	e822da74b2	io timer: fix input capture on various boards	2025-12-17 17:02:13 +01:00
bresch	ccaad82f61	mc_att: remove dependency to heading_god_for_control Absolute heading is not required in stabilized mode and a change in heading convergence is already handled by the StickYaw class using unaided_heading	2025-12-17 16:59:47 +01:00
Hamish Willee	4e5c1140b7	[docs] CAN - update wiring/multi-CAN port details (#26080 )	2025-12-17 16:57:00 +11:00
PX4 Build Bot	4acb8ec799	New Crowdin translations - zh-CN (#26111 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-17 16:13:51 +11:00
PX4 Build Bot	89d43185c7	New Crowdin translations - ko (#26109 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-17 16:13:35 +11:00
PX4 Build Bot	df0a197050	New Crowdin translations - uk (#26110 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-17 16:13:23 +11:00
Jacob Dahl	c726c7e4f4	px4: v6x: mavlink-dev: remove UXRCE DDS client to free up flash (#26131 )	2025-12-17 14:17:57 +13:00
Claudio Chies	24d06047bd	UAVCAN: Add device tracking and information publishing (#25617 ) * uavcan: collect node info and publish every second * UORB: Add DeviceInformation Message Format DeviceInformation.msg with standard comment spaces * SENS: add getter for device_id * UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information * LOG: add deviceInformation * MSG:BAT: fix comment to be inline with the max_instaces * UAVCAN: DeviceInformation, incorporated feedback * UAVCAN: DeviceInformation, incorporated feedback * UAVCAN: DeviceInformation, Fixed bug with Powermonitor --------- Co-authored-by: Beat Küng <beat-kueng@gmx.net>	2025-12-16 14:53:44 -09:00
Pedro Roque	cb682006fe	fix: esc status sizing fix for gz simulation * init: working towards dual-action ATMOS * fix: update gz sim to latest * fix: add motor number max fitting Actuator * fix: revert non-necessary changes * fix: ensure esc count does not exceed maximum number of ESCs * fix: remove extra modules * fix: sync submodules with remote * fix: sync with main	2025-12-16 15:46:51 -08:00
Jacob Dahl	5632728467	lib: gnss: add RTCM parsing library (#26093 ) * lib: gnss: add RTCM parsing library. Generated by Claude Code. * lib: gnss: rtcm: use rtcm3_payload_length() * lib: gnss: rtcm: set header year * lib: gnss: rtcm: add units tests * Update src/lib/gnss/rtcm.h Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/lib/gnss/CMakeLists.txt Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/lib/gnss/rtcm.h Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * remove mention of reset() * lib: gnss: rtcm: more effecient preamble search --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2025-12-16 09:28:10 -09:00
Jacob Dahl	778ad160f2	msg: GpsDump: queue 8->16 and add device_id (#26091 ) * msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id * gps: add back instance	2025-12-16 08:36:02 -09:00
Marco Hauswirth	8393f46100	Ekf2 add jamming to gnss checks (#26085 ) * add jamming check to gnss checks * keep original order of gnss_check params for default backwards compability	2025-12-16 10:10:37 +01:00