rtl_mission_fast: fix FW landing by setting previous wp in landing

Signed-off-by: Silvan <silvan@auterion.com>
Fix rtl_direct_misssion_land formatting for style guide
2026-05-29 00:20:05 +08:00 · 2025-11-03 12:07:06 +01:00 · 2025-09-29 14:57:39 +00:00 · 2025-09-24 16:15:51 +00:00 · 2025-09-22 17:35:06 -05:00
1516 changed files with 12428 additions and 55278 deletions
@@ -1,9 +1,22 @@
 <!--

+Thank you for your contribution!
+
+Get early feedback through
+- Dronecode Discord: https://discord.gg/dronecode
+- PX4 Discuss: http://discuss.px4.io/
+- opening a draft pr and sharing the link
+
+-->
+
 ### Solved Problem
+When ... I found that ...
+
 Fixes #{Github issue ID}

 ### Solution
+- Add ... for ...
+- Refactor ...

 ### Changelog Entry
 For release notes:
@@ -14,10 +27,11 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```

 ### Alternatives
+We could also ...

 ### Test coverage
+- Unit/integration test: ...
+- Simulation/hardware testing logs: https://review.px4.io/

 ### Context
 Related links, screenshot before/after, video
-
-->
@@ -1,24 +0,0 @@
-runners:
-  x86-small-runner:
-    cpu: [1, 2]
-    ram: [1, 4]
-    disk: default
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  x86-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7i", "m7i", "r7i"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  arm64-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7g", "m7g", "r7g"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-arm64
-    extras: s3-cache
@@ -26,15 +26,11 @@ concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

-permissions:
-  contents: write
-  actions: read
-
 jobs:
  group_targets:
    name: Scan for Board Targets
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -42,14 +38,6 @@ jobs:
    steps:
      - uses: actions/checkout@v4

-      - name: Cache Python pip
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-
      - name: Update python packaging to avoid canonicalize_version() error
        run: |
            pip3 install -U packaging
@@ -60,15 +48,12 @@ jobs:
          path: "./Tools/setup/requirements.txt"

      - id: set-matrix
-        name: Generate Build Matrix
-        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"

      - id: set-timestamp
-        name: Save Current Timestamp
-        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

      - id: set-branch
-        name: Save Current Branch Name
        run: |
          echo "branchname=${{
            github.event_name == 'pull_request' &&
@@ -85,7 +70,7 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
    # runs-on: ubuntu-latest
    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
@@ -95,7 +80,6 @@ jobs:
    container:
      image: ${{ matrix.container }}
    steps:
-      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
@@ -103,24 +87,14 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
+      - name: Setup ccache
+        uses: actions/cache@v4
        with:
          path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
-          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}

-      - name: Cache Config and Stats
+      - name: Configure ccache
        run: |
            mkdir -p ~/.ccache
            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -128,11 +102,10 @@ jobs:
            echo "compression_level = 6" >> ~/.ccache/ccache.conf
            echo "max_size = 120M" >> ~/.ccache/ccache.conf
            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
            ccache -s
            ccache -z

-      - name: Building Artifacts for [${{ matrix.targets }}]
+      - name: Building [${{ matrix.group }}]
        run: |
            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}

@@ -146,27 +119,15 @@ jobs:
          name: px4_${{matrix.group}}_build_artifacts
          path: artifacts/

-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
      - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        run: ccache -s

  artifacts:
-    name: Upload Artifacts
+    name: Upload Artifacts to S3
    # runs-on: ubuntu-latest
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
-    outputs:
-      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
+    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v4
@@ -174,36 +135,11 @@ jobs:
          path: artifacts/
          merge-multiple: true

-      - name: Choose Upload Location
-        id: upload-location
+      - name: Branch Name
        run: |
-          # Determine upload location based on branch or tag with the following considerations:
-          # Destination: AWS S3 bucket px4-travis in folder Firmware/
-          # - If branch is main -> upload to master/
-          #   - Older versions of QGC are hardocded to look for master/
-          # - If branch is stable or beta -> upload to stable/ or beta/
-          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
-          #   - Also update stable/ to point to the same version
-          #.  - Older versions of QGC are hardocded to look for stable/
-          # - If a pull request -> do not upload
-          set -euo pipefail
+          echo "${{ needs.group_targets.outputs.branchname }}"

-          ref="${GITHUB_REF}"
-          branch=${{ needs.group_targets.outputs.branchname  }}
-          location="$branch"
-
-          if [[ "$branch" == "main" ]]; then
-            location="master"
-          fi
-
-          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
-            tag="${ref#refs/tags/}"
-            location="$tag"
-          fi
-
-          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-
-      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
+      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
        uses: jakejarvis/s3-sync-action@master
        with:
          args: --acl public-read
@@ -213,30 +149,25 @@ jobs:
          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
          AWS_REGION: 'us-west-1'
          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
+          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/

-      # if we are uploading artifacts to a versioned folder
-      # we should also update the stable folder in the s3 bucket
-      - name: Uploading Artifacts to S3 [stable]
-        uses: jakejarvis/s3-sync-action@master
-        if: startsWith(github.ref, 'refs/tags/v')
+  release:
+    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/')
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/stable/
+          path: artifacts/
+          merge-multiple: true

-      # if build is a release triggered by a versioned tag then create a github release
-      # and upload the build artifacts. A draft release is created so that the release
-      # can be reviewed before publishing
-      - name: Upload Artifacts to GitHub Release
+      - name: Upload Binaries to Release
        uses: softprops/action-gh-release@v2
-        if: startsWith(github.ref, 'refs/tags/v')
        with:
          draft: true
          files: artifacts/*.px4
-          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -29,7 +29,7 @@ jobs:
      fail-fast: false
      matrix:
        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
    container:
      image: ${{ matrix.version }}
      volumes:
@@ -39,7 +39,7 @@ jobs:
    name: Set Tags and Variables
    permissions:
      contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    outputs:
      px4_version: ${{ steps.px4_version.outputs.px4_version }}
      meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +87,7 @@ jobs:
          - platform: linux/amd64
            arch: amd64
            runner: x64
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    steps:
      - uses: runs-on/action@v1
      - uses: actions/checkout@v4
@@ -130,15 +130,15 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max

  deploy:
    name: Deploy To Registry
    permissions:
      contents: read
      packages: write
-    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    needs: [build, setup]
    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
    steps:
@@ -1,6 +1,19 @@
-name: Docs - Deploy PX4 User Guide to Github pages (Manual)
+name: Docs - Deploy PX4 User Guide

 on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - 'docs/en/**'
+
+  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -20,7 +33,7 @@ env:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    steps:
      - uses: runs-on/action@v1
      - name: Checkout
@@ -55,7 +68,7 @@ jobs:
  deploy:
    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
    needs: build
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]

    steps:
      - name: Download Artifact
@@ -7,52 +7,42 @@ on:
      - "release/**"
    paths:
      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
  pull_request:
+    branches:
+      - "**"
    paths:
      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"

  workflow_dispatch:

 permissions:
  contents: read
-  actions: read
  id-token: write # for AWS OIDC

 concurrency:
  group: docs-deploy
  cancel-in-progress: false

+env:
+  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+
 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    runs-on:
+      [
+        runs-on,
+        runner=8cpu-linux-x64,
+        image=ubuntu24-full-x64,
+        "run-id=${{ github.run_id }}",
+        spot=false,
+        extras=s3-cache,
+      ]
    steps:
      - uses: runs-on/action@v1

      - name: Checkout
        uses: actions/checkout@v4

-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          else
-            version="v${branch#release/}"
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
      - name: Setup Node
        uses: actions/setup-node@v4
        with:
@@ -65,8 +55,6 @@ jobs:

      - name: Build with VitePress
        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
        run: |
          npm run docs:build_ubuntu
          touch .vitepress/dist/.nojekyll
@@ -103,14 +91,14 @@ jobs:

      - name: Upload HTML with short cache
        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
            --delete \
            --exclude "*" --include "*.html" \
            --cache-control "public, max-age=60"

      - name: Upload assets with long cache
        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
            --delete \
            --exclude "*.html" \
            --cache-control "public, max-age=86400, immutable"
@@ -48,7 +48,6 @@ jobs:
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
-          git checkout 4.0.15
          ./emsdk install latest
          ./emsdk activate latest

@@ -24,7 +24,7 @@ env:
 jobs:
  analyze_flash:
    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
@@ -54,7 +54,6 @@ jobs:
        run: |
          make clean
          make distclean
-          make submodulesclean

      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
@@ -98,7 +97,7 @@ jobs:
  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [analyze_flash]
    env:
      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
@@ -22,7 +22,7 @@ concurrency:
 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
@@ -41,10 +41,6 @@ jobs:
            scripts: >
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_mr-tropic
-            scripts: >
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
    steps:
      - uses: actions/checkout@v4
        with:
@@ -23,7 +23,7 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-ros2-galactic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -21,7 +21,7 @@ concurrency:
 jobs:
  build_and_test:
    name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    strategy:
      fail-fast: false
      matrix:
@@ -24,7 +24,7 @@ concurrency:
 jobs:
  build:
    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -118,7 +118,7 @@ jobs:
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
        timeout-minutes: 45

      - name: Upload failed logs
@@ -7,15 +7,10 @@ jobs:
  stale:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v10
+      - uses: actions/stale@v8
        with:
-          operations-per-run: 250
-          days-before-stale: 90
-          days-before-close: 30
+          days-before-stale: 30
+          days-before-close: -1
          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.'
@@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs
@@ -141,11 +141,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_default:
-      short: ark_can-flow-mr_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_default
    ark_can-flow-mr_canbootloader:
      short: ark_can-flow-mr_canbootloader
      buildType: MinSizeRel
@@ -241,16 +236,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fpv_default
-    ark_mag_canbootloader:
-      short: ark_mag_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_canbootloader
-    ark_mag_default:
-      short: ark_mag_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -421,16 +406,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: micoair_h743-v2_default
-    micoair_h743-lite_bootloader:
-      short: micoair_h743-lite_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_bootloader
-    micoair_h743-lite_default:
-      short: micoair_h743-lite
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -481,16 +456,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_mr-canhubk3_fmu
-    nxp_mr-tropic_default:
-      short: nxp_mr-tropic_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_default
-    nxp_mr-tropic_bootloader:
-      short: nxp_mr-tropic_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_bootloader
    nxp_tropic-community_default:
      short: nxp_tropic-community_default
      buildType: MinSizeRel
@@ -521,23 +486,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: x-mav_ap-h743v2_default
-    svehicle_e2_bootloader:
-      short: svehicle_e2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_bootloader
-    svehicle_e2_default:
-      short: svehicle_e2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default
@@ -220,6 +220,36 @@ pipeline {
          }
        }

+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'main' branch
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
+              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin main || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+            }
+          }
+        }
+
        stage('S3') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2025, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -325,8 +325,6 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
-	auterion_fmu-v6s_bootloader \
-	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
@@ -346,7 +344,6 @@ bootloaders_update: \
        micoair_h743_bootloader \
        micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
-	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -85,32 +85,10 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
-# Check if board has an rc.board_airframes file to filter airframes
-set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
-set(airframes_whitelist "")
-if(EXISTS "${board_airframes_file}")
-	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
-	file(STRINGS "${board_airframes_file}" airframes_whitelist)
-	# Remove comments and empty lines
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
-endif()
-
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-
-	# If we have an airframes whitelist, filter airframe files
-	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
-		# Extract just the filename
-		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
-		# Check if it's in the whitelist
-		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
-			continue()
-		endif()
-	endif()
-
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build
@@ -27,6 +27,7 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,6 +46,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -30,6 +30,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -38,6 +38,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,6 +35,8 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,6 +35,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -43,6 +43,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -48,6 +48,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -53,6 +53,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default COM_PREARM_MODE 2

 param set-default CA_ROTOR_COUNT 1
@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_ARSPDSIM 1
+
 param set-default FW_LND_ANG 8

 param set-default FW_PR_FF 0.08
@@ -46,6 +48,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1

 param set-default CA_SV_CS_COUNT 6
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Ackermann Rover
+# @name Rover Ackermann
 # @type Rover
 # @class Rover

@@ -14,32 +14,30 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5

 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.5
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 1.5
+param set-default RA_ACC_RAD_MAX 3
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360

-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 130
-param set-default RO_YAW_ACCEL_LIM 800
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1

-# Attitude Control Parameters
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_RATE_CORR 1
+
+# Rover Attitude Control Parameters
 param set-default RO_YAW_P 3

-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1

@@ -50,8 +48,8 @@ param set-default PP_LOOKAHD_MIN 1

 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 70
-param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100

 # Steering
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Mecanum Rover
+# @name Aion Robotics R1 Rover
 # @type Rover
 # @class Rover

@@ -7,15 +7,14 @@

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

 param set-default NAV_ACC_RAD 0.5

 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.6
-param set-default RM_YAW_STK_GAIN 0.6
+param set-default RM_WHEEL_TRACK 0.3

 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -30,21 +29,15 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 0.5
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -55,24 +48,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1

 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
+param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100

-param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
+param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100

-param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
+param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100

-param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
+param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100

-param set-default SIM_GZ_WH_REV 0
+param set-default SIM_GZ_WH_REV 10
@@ -17,7 +17,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_YAW_STK_GAIN 0.6

 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -26,8 +25,6 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3

 # Attitude Control Parameters
 param set-default RO_YAW_P 5
@@ -26,6 +26,7 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
+param set-default MAV_PROTO_VER 2

 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6
@@ -80,8 +80,10 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
+	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -112,8 +114,6 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2

 	50000_gz_rover_differential
-	51000_gz_rover_ackermann
-	52000_gz_rover_mecanum

 	60002_gz_uuv_bluerov2_heavy

@@ -159,19 +159,24 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi

 	# Set up camera to follow the model if requested
-	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then

 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"

+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}

 		# Set camera offset
-		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
-				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
-				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1

 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi
@@ -173,6 +173,7 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5

 param set-default IMU_GYRO_FFT_EN 1
+param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

 param set-default -s MC_AT_EN 1

@@ -14,6 +14,7 @@

 param set UAVCAN_ENABLE 0

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -40,6 +40,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -37,6 +37,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -10,6 +10,7 @@

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

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
@@ -32,6 +32,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -10,6 +10,8 @@

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

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2
@@ -7,10 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #

@@ -13,11 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
-# @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -10,7 +10,6 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #

@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
@@ -14,7 +14,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude
@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
@@ -1,31 +0,0 @@
-#!/bin/sh
-#
-# @name NXP B3RB Rover Ackermann
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-param set-default BAT1_N_CELLS 3
-
-# Set geometry & output configration
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 101
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 0
-param set-default PWM_MAIN_DIS3 1500
-param set-default PWM_MAIN_MIN1 1000
-param set-default PWM_MAIN_MIN2 2500
-param set-default PWM_MAIN_MIN3 0
-param set-default PWM_MAIN_MAX1 2000
-param set-default PWM_MAIN_MAX2 2500
-param set-default PWM_MAIN_MAX3 50
-param set-default PWM_MAIN_TIM0 400
-param set-default PWM_MAIN_TIM1 400
-param set-default PWM_MAIN_TIM2 20000
@@ -153,7 +153,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
-		51002_nxp_b3rb
 	)
 endif()

@@ -10,8 +10,6 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1

-param set-default CA_AIRFRAME 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -28,7 +26,6 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
-param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3
@@ -154,12 +154,6 @@ then
 	fi
 fi

-# Microchip MCP9808 temperature sensor external I2C
-if param compare -s SENS_EN_MCP9808 1
-then
-	mcp9808 start -X
-fi
-
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
@@ -225,18 +219,6 @@ then
 	pcf8583 start -X -a 0x51
 fi

-# ADC sensor ADS7953 external SPI
-if param compare -s ADC_ADS7953_EN 1
-then
-	ads7953 start -S
-fi
-
-# ADC sensor tla2528 external I2C
-if param compare -s ADC_TLA2528_EN 1
-then
-	tla2528 start -X
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -228,26 +228,30 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT

-	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
-	# Run autogenerated ROMFS airframe script
-	. ${R}etc/init.d/rc.autostart
-
-	if [ ${VEHICLE_TYPE} = none ]
+	# Load airframe configuration based on SYS_AUTOSTART parameter
+	if ! param compare SYS_AUTOSTART 0
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
+		# Look for airframe in ROMFS
+		. ${R}etc/init.d/rc.autostart
+
+		if [ ${VEHICLE_TYPE} = none ]
 		then
-			. ${R}etc/init.d/rc.autostart_ext
-		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			# Use external startup file
+			if [ $STORAGE_AVAILABLE = yes ]
+			then
+				. ${R}etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - can't load external airframe"
+			fi
 		fi
-	fi

-	if [ ${VEHICLE_TYPE} = none ]
-	then
-		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-		param set SYS_AUTOSTART 0
-		tune_control play error
+		if [ ${VEHICLE_TYPE} = none ]
+		then
+			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+			param set SYS_AUTOSTART 0
+			tune_control play error
+		fi
 	fi

 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=140
+max-code-length=120
@@ -7,7 +7,6 @@ fi

 ssh_port=22
 ssh_user=root
-ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"

 while getopts ":f:c:d:p:u:r" opt; do
 	case ${opt} in
@@ -68,7 +67,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -106,11 +105,11 @@ else
 	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path

 	# send it to the target to start flashing
-	scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
 	popd &>/dev/null
 	rm -rf "$tmp_dir"
 fi

 # grab status output for flashing progress
 cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"
@@ -25,15 +25,15 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                    help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')

 args = parser.parse_args()
 verbose = args.verbose

-target_filter = []
+board_filter = []
 if args.filter:
-    for target in args.filter.split(','):
-        target_filter.append(target)
+    for board in args.filter.split(','):
+        board_filter.append(board)

 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@@ -144,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                label = files.name[:-9]
                target_name = manufacturer.name + '_' + board.name + '_' + label

-                if target_filter and not any(target_name.startswith(f) for f in target_filter):
+                if board_filter and not board_name in board_filter:
                    if verbose: print(f'excluding board {board_name} ({target_name})')
                    continue

@@ -191,7 +191,7 @@ def main():
                        cur_history_index = len(command_history)
                    mav_serialport.write(cur_line+'\n')
                    cur_line = ''
-                elif ord(ch) == 8: # backspace
+                elif ord(ch) == 127: # backslash
                    if len(cur_line) > 0:
                        erase_last_n_chars(1)
                        cur_line = cur_line[:-1]
@@ -238,7 +238,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
            ( 'disarmed', 'Disarmed', 'DIS', False ),
            ( 'min', 'Minimum', 'MIN', False ),
            ( 'max', 'Maximum', 'MAX', False ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
            ( 'failsafe', 'Failsafe', 'FAIL', True ),
            ]
        for key, label, param_suffix, advanced in standard_params_array:
@@ -284,9 +284,6 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
-'''
-        center_description = \
-'''Servo Center output value (when not disarmed).
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
@@ -299,7 +296,6 @@ When set to -1 (default), the value depends on the function (see {:}).
        standard_params_array = [
            ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
            ( 'min', 'Minimum', 'MIN', minimum_description ),
-            ( 'center', 'Center', 'CENT', center_description ),
            ( 'max', 'Maximum', 'MAX', maximum_description ),
            ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
            ]
@@ -316,10 +312,6 @@ When set to -1 (default), the value depends on the function (see {:}).
                    standard_params[key]['default'] = -1
                    standard_params[key]['min'] = -1

-                if key == 'center':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
                param = {
                    'description': {
                        'short': channel_label+' ${i} '+label+' Value',
@@ -1656,9 +1656,9 @@ sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
 # fit data
 median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
-    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
+    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
+    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
    coef_baro_0_x = np.polyfit(temperature,baro,5)

 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1675,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))

 # draw plots
-plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@@ -1717,9 +1717,9 @@ if num_baros >= 2:
    # fit data
    median_pressure = np.median(sensor_baro_1['pressure'])
    if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
+        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
-        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
+        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
        coef_baro_1_x = np.polyfit(temperature,baro,5)

    baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1736,7 +1736,7 @@ if num_baros >= 2:
    plt.figure(14,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_1_x_resample,'r')
    plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -1778,9 +1778,9 @@ if num_baros >= 3:
    # fit data
    median_pressure = np.median(sensor_baro_2['pressure'])
    if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
+        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
-        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
+        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
        coef_baro_2_x = np.polyfit(temperature,baro,5)

    baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1797,7 +1797,7 @@ if num_baros >= 3:
    plt.figure(15,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_2_x_resample,'r')
    plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -1838,7 +1838,7 @@ if num_baros >= 4:

    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
+    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
    baro_3_params['TC_B3_X5'] = coef_baro_3_x[0]
    baro_3_params['TC_B3_X4'] = coef_baro_3_x[1]
    baro_3_params['TC_B3_X3'] = coef_baro_3_x[2]
@@ -1853,7 +1853,7 @@ if num_baros >= 4:
    plt.figure(16,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_3_x_resample,'r')
    plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
@@ -6,7 +6,6 @@ future
 jinja2>=2.8
 jsonschema
 kconfiglib
-lark
 lxml
 matplotlib>=3.0
 numpy>=1.13
@@ -15,8 +14,8 @@ packaging
 pandas>=0.21
 pkgconfig
 psutil
-pycryptodome
 pygments
+wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial
@@ -25,6 +24,7 @@ pyyaml
 requests
 setuptools>=39.2.0
 six>=1.12.0
-sympy>=1.10.1
 toml>=0.9
-wheel>=0.31.1
+sympy>=1.10.1
+pycryptodome
+lark
@@ -25,6 +25,10 @@ except ImportError as e:
    sys.exit(1)


+SERVER = 'https://logs.px4.io'
+#SERVER = 'http://localhost:5006' # for testing locally
+UPLOAD_URL = SERVER+'/upload'
+
 quiet = False

 def ask_value(text, default=None):
@@ -56,8 +60,6 @@ def main():
    parser = ArgumentParser(description=__doc__)
    parser.add_argument('--quiet', '-q', dest='quiet', action='store_true', default=False,
            help='Quiet mode: do not ask for values which were not provided as parameters')
-    parser.add_argument('--server', dest='server', type=str, default='https://logs.px4.io',
-                      help='Server URL (default: https://logs.px4.io), use http://localhost:5006 for testing locally')
    parser.add_argument("--description", dest="description", type=str,
                      help="Log description", default=None)
    parser.add_argument("--feedback", dest="feedback", type=str,
@@ -97,9 +99,6 @@ def main():
    else:
        email = args.email

-    server = args.server
-    upload_url = server + '/upload'
-
    payload = {'type': args.type, 'description': description,
               'feedback': feedback, 'email': email, 'source': args.source}

@@ -114,13 +113,13 @@ def main():
            print('Uploading '+file_name+'...')

        with open(file_name, 'rb') as f:
-            r = requests.post(upload_url, data=payload, files={'filearg': f},
+            r = requests.post(UPLOAD_URL, data=payload, files={'filearg': f},
                    allow_redirects=False)
            if r.status_code == 302: # redirect
                if 'Location'  in r.headers:
                    plot_url = r.headers['Location']
                    if len(plot_url) > 0 and plot_url[0] == '/':
-                        plot_url = server + plot_url
+                        plot_url = SERVER + plot_url
                    print('URL: '+plot_url)


@@ -132,6 +132,7 @@ ENTRY(_stext)
 */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -48,6 +48,7 @@ else()
 		i2c.cpp
 		init.c
 		led.c
+		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -30,12 +30,11 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-//TODO:Prepare for NxtDual

 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -47,15 +46,14 @@ static const px4_mtd_entry_t fmum_fram = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 1024
-		}
+			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
+		},
 	},
 };

-
 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 1,
-	.entries = {
+	.nconfigs = 1,
+	.entries  = {
 		&fmum_fram
 	}
 };
@@ -67,6 +67,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -3,13 +3,19 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
+param set - default SENS_EN_INA238 0
+param set - default SENS_EN_INA228 0
+param set - default SENS_EN_INA226 0
+
 # Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
+param set - default MAV_2_CONFIG 1000
+param set - default MAV_2_BROADCAST 1
+param set - default MAV_2_MODE 0
+param set - default MAV_2_RADIO_CTL 0
+param set - default MAV_2_RATE 100000
+param set - default MAV_2_REMOTE_PRT 14550
+param set - default MAV_2_UDP_PRT 14550

 safety_button start
@@ -1,30 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
-CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_IMU=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -8,8 +8,9 @@ param set-default SENS_FLOW_RATE 150
 param set-default SENS_IMU_CLPNOTI 0

 param set-default SENS_AFBR_S_RATE 25
-param set-default SENS_AFBR_L_RATE 5
-param set-default SENS_AFBR_MODE 1
+param set-default SENS_AFBR_L_RATE 10
+param set-default SENS_AFBR_THRESH 8
+param set-default SENS_AFBR_HYSTER 2

 # Internal SPI
 paa3905 -s start -Y 180
@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -11,6 +11,7 @@ param set-default SENS_AFBR_HYSTER 1

 param set-default MAV_SYS_ID 158
 param set-default MAV_COMP_ID 158
+param set-default MAV_PROTO_VER 2

 param set-default MAV_0_MODE 14
 param set-default MAV_0_FORWARD 0
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -40,7 +39,6 @@ CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -73,6 +71,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -14,7 +14,10 @@ param set-default MAV_2_RATE 100000
 param set-default MAV_2_REMOTE_PRT 14550
 param set-default MAV_2_UDP_PRT 14550

+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
+
 param set-default SENS_EN_THERMAL 1
 param set-default SENS_IMU_MODE 1
 param set-default SENS_IMU_TEMP 10.0
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# ARK FMU V6X specific board sensors init
+# ARK FMUARKV6X specific board sensors init
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
 set HAVE_PM3 yes
@@ -69,25 +69,28 @@ fi

 if ver hwtypecmp ARKV6X000
 then
-	# Internal SPI bus IIM42652
-	iim42652 -R 3 -s -b 1 start
+	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+	iim42652 -R 3 -s -b 1 -C 32051 start

-	# Internal SPI bus ICM42688p
-	icm42688p -R 9 -s -b 2 start
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 9 -s -b 2 -C 32051 start

-	# Internal SPI bus ICM42688p
-	icm42688p -R 6 -s -b 3 start
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 6 -s -b 3 -C 32051 start
 fi

 if ver hwtypecmp ARKV6X001
 then
-	# Internal SPI bus IIM42653
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	#iim42653 -R 3 -s -b 1 -C 32051 start
 	iim42653 -R 3 -s -b 1 start

-	# Internal SPI bus IIM42653
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	#iim42653 -R 9 -s -b 2 -C 32051 start
 	iim42653 -R 9 -s -b 2 start

-	# Internal SPI bus IIM42653
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	#iim42653 -R 6 -s -b 3 -C 32051 start
 	iim42653 -R 6 -s -b 3 start
 fi

@@ -97,11 +100,5 @@ bmm150 -I start
 # Internal Baro on I2C
 bmp388 -I start

-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
-
 unset HAVE_PM2
 unset HAVE_PM3
@@ -57,6 +57,8 @@ else()
 		mtd.cpp
 		sdio.c
 		spi.cpp
+		spix_sync.c
+		spix_sync.h
 		timer_config.cpp
 		usb.c
 	)
@@ -241,7 +241,7 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
+#define DIRECT_PWM_OUTPUT_CHANNELS   8

 #define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
@@ -482,7 +482,7 @@
 #define PX4_I2C_BUS_MTD      4,5


-#define BOARD_NUM_IO_TIMERS  4
+#define BOARD_NUM_IO_TIMERS  3
 #define BOARD_SPIX_SYNC_FREQ 32000

 __BEGIN_DECLS
@@ -46,6 +46,7 @@
 ****************************************************************************/

 #include "board_config.h"
+#include "spix_sync.h"

 #include <stdbool.h>
 #include <stdio.h>
@@ -289,5 +290,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the SPIX_SYNC output */
+	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
+	spix_sync_servo_set(0, 150);
+
 	return OK;
 }
@@ -0,0 +1,309 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Airmind nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+* @file spix_sync.c
+*
+*
+*/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <board_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <ctype.h>
+
+
+#include <perf/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/px4_macros.h>
+
+#include <px4_arch/io_timer.h>
+
+#include "spix_sync.h"
+
+#define REG(_tmr, _reg) (*(volatile uint32_t *)(spix_sync_timers[_tmr].base + _reg))
+
+#define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
+#define rCR2(_tmr)      REG(_tmr, STM32_GTIM_CR2_OFFSET)
+#define rSMCR(_tmr)     REG(_tmr, STM32_GTIM_SMCR_OFFSET)
+#define rDIER(_tmr)     REG(_tmr, STM32_GTIM_DIER_OFFSET)
+#define rSR(_tmr)       REG(_tmr, STM32_GTIM_SR_OFFSET)
+#define rEGR(_tmr)      REG(_tmr, STM32_GTIM_EGR_OFFSET)
+#define rCCMR1(_tmr)    REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
+#define rCCMR2(_tmr)    REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
+#define rCCER(_tmr)     REG(_tmr, STM32_GTIM_CCER_OFFSET)
+#define rCNT(_tmr)      REG(_tmr, STM32_GTIM_CNT_OFFSET)
+#define rPSC(_tmr)      REG(_tmr, STM32_GTIM_PSC_OFFSET)
+#define rARR(_tmr)      REG(_tmr, STM32_GTIM_ARR_OFFSET)
+#define rCCR1(_tmr)     REG(_tmr, STM32_GTIM_CCR1_OFFSET)
+#define rCCR2(_tmr)     REG(_tmr, STM32_GTIM_CCR2_OFFSET)
+#define rCCR3(_tmr)     REG(_tmr, STM32_GTIM_CCR3_OFFSET)
+#define rCCR4(_tmr)     REG(_tmr, STM32_GTIM_CCR4_OFFSET)
+#define rDCR(_tmr)      REG(_tmr, STM32_GTIM_DCR_OFFSET)
+#define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
+#define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
+
+#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
+
+unsigned
+spix_sync_timer_get_period(unsigned timer)
+{
+	return (rARR(timer));
+}
+
+static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
+{
+	if (spix_sync_timers[timer].base) {
+
+		irqstate_t flags = px4_enter_critical_section();
+
+		/* enable the timer clock before we try to talk to it */
+
+		modifyreg32(spix_sync_timers[timer].clock_register, 0, spix_sync_timers[timer].clock_bit);
+
+		/* disable and configure the timer */
+		rCR1(timer) = 0;
+		rCR2(timer) = 0;
+		rSMCR(timer) = 0;
+		rDIER(timer) = 0;
+		rCCER(timer) = 0;
+		rCCMR1(timer) = 0;
+		rCCMR2(timer) = 0;
+		rCCR1(timer) = 0;
+		rCCR2(timer) = 0;
+		rCCR3(timer) = 0;
+		rCCR4(timer) = 0;
+		rCCER(timer) = 0;
+		rDCR(timer) = 0;
+
+		if ((spix_sync_timers[timer].base == STM32_TIM1_BASE) || (spix_sync_timers[timer].base == STM32_TIM8_BASE)) {
+
+			/* master output enable = on */
+
+			rBDTR(timer) = ATIM_BDTR_MOE;
+		}
+
+		/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
+		 * then configure the timer to free-run at 1MHz.
+		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
+		 */
+
+		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
+
+		/* configure the timer to update at the desired rate */
+
+		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
+
+		/* generate an update event; reloads the counter and all registers */
+		rEGR(timer) = GTIM_EGR_UG;
+
+		px4_leave_critical_section(flags);
+	}
+
+}
+
+void spix_sync_channel_init(unsigned channel)
+{
+	/* Only initialize used channels */
+
+	if (spix_sync_channels[channel].timer_channel) {
+
+		unsigned timer = spix_sync_channels[channel].timer_index;
+
+		/* configure the GPIO first */
+		px4_arch_configgpio(spix_sync_channels[channel].gpio_out);
+
+		uint16_t polarity = spix_sync_channels[channel].masks;
+
+		/* configure the channel */
+		switch (spix_sync_channels[channel].timer_channel) {
+		case 1:
+			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC1E;
+			break;
+
+		case 2:
+			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC2E;
+			break;
+
+		case 3:
+			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC3E;
+			break;
+
+		case 4:
+			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC4E;
+			break;
+		}
+	}
+}
+
+int
+spix_sync_servo_set(unsigned channel, uint8_t  cvalue)
+{
+	if (channel >= arraySize(spix_sync_channels)) {
+		return -1;
+	}
+
+	unsigned timer = spix_sync_channels[channel].timer_index;
+
+	/* test timer for validity */
+	if ((spix_sync_timers[timer].base == 0) ||
+	    (spix_sync_channels[channel].gpio_out == 0)) {
+		return -1;
+	}
+
+	unsigned period = spix_sync_timer_get_period(timer);
+
+	unsigned value = (unsigned)cvalue * period / 255;
+
+	/* configure the channel */
+	if (value > 0) {
+		value--;
+	}
+
+
+	switch (spix_sync_channels[channel].timer_channel) {
+	case 1:
+		rCCR1(timer) = value;
+		break;
+
+	case 2:
+		rCCR2(timer) = value;
+		break;
+
+	case 3:
+		rCCR3(timer) = value;
+		break;
+
+	case 4:
+		rCCR4(timer) = value;
+		break;
+
+	default:
+		return -1;
+	}
+
+	return 0;
+}
+
+unsigned spix_sync_servo_get(unsigned channel)
+{
+	if (channel >= 3) {
+		return 0;
+	}
+
+	unsigned timer = spix_sync_channels[channel].timer_index;
+	uint16_t value = 0;
+
+	/* test timer for validity */
+	if ((spix_sync_timers[timer].base == 0) ||
+	    (spix_sync_channels[channel].timer_channel == 0)) {
+		return 0;
+	}
+
+	/* configure the channel */
+	switch (spix_sync_channels[channel].timer_channel) {
+	case 1:
+		value = rCCR1(timer);
+		break;
+
+	case 2:
+		value = rCCR2(timer);
+		break;
+
+	case 3:
+		value = rCCR3(timer);
+		break;
+
+	case 4:
+		value = rCCR4(timer);
+		break;
+	}
+
+	unsigned period = spix_sync_timer_get_period(timer);
+	return ((value + 1) * 255 / period);
+}
+
+int spix_sync_servo_init(unsigned rate)
+{
+	/* do basic timer initialisation first */
+	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
+		spix_sync_timer_init_timer(i, rate);
+	}
+
+	/* now init channels */
+	for (unsigned i = 0; i < arraySize(spix_sync_channels); i++) {
+		spix_sync_channel_init(i);
+	}
+
+	spix_sync_servo_arm(true);
+	return OK;
+}
+
+void
+spix_sync_servo_deinit(void)
+{
+	/* disable the timers */
+	spix_sync_servo_arm(false);
+}
+void
+spix_sync_servo_arm(bool armed)
+{
+	/* iterate timers and arm/disarm appropriately */
+	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
+		if (spix_sync_timers[i].base != 0) {
+			if (armed) {
+				/* force an update to preload all registers */
+				rEGR(i) = GTIM_EGR_UG;
+
+				/* arm requires the timer be enabled */
+				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
+
+			} else {
+				rCR1(i) = 0;
+			}
+		}
+	}
+}
@@ -1,7 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
- *   Author: David Sidrane<david_s5@nscdg.com>
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -33,5 +32,11 @@
 ****************************************************************************/

 __BEGIN_DECLS
-void rgb_led(int r, int g, int b, int freqs);
+void spix_sync_channel_init(unsigned channel);
+int spix_sync_servo_set(unsigned channel, uint8_t  value);
+unsigned spix_sync_servo_get(unsigned channel);
+int spix_sync_servo_init(unsigned rate);
+void spix_sync_servo_deinit(void);
+void spix_sync_servo_arm(bool armed);
+unsigned spix_sync_timer_get_period(unsigned timer);
 __END_DECLS
@@ -60,7 +60,8 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer12),
-	initIOTimer(Timer::Timer1),
+	//initIOTimer(Timer::Timer1),
+	//initIOTimer(Timer::Timer2),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -72,8 +73,18 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
-	initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
 	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
+
+constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+};
+
+constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = {
+	initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+};
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -51,6 +50,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -16,9 +16,3 @@ iis2mdc -R 0 -I -b 4 start

 # Internal Baro on I2C
 bmp388 -I -b 2 start
-
-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
@@ -1,5 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
@@ -1,22 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 93,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the ARK MAG board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ARKMAG",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2080768,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board sensors init
-#------------------------------------------------------------------------------
-
-rm3100 -s -b 2 start
@@ -1,57 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/mag/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=4096
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BINFMT_DISABLE=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_INIT_STACKSIZE=4096
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=0
-CONFIG_NUNGET_CHARS=0
-CONFIG_PREALLOC_TIMERS=0
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_FLASH_CONFIG_G=y
-CONFIG_STM32_NOEXT_VECTORS=y
-CONFIG_STM32_TIM8=y
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_USEC_PER_TICK=1000
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Silvan	487d8ae215	rtl_mission_fast: fix FW landing by setting previous wp in landing Signed-off-by: Silvan <silvan@auterion.com>	2025-11-03 12:07:06 +01:00
Matthew Berk	a5e76f97a9	Fix rtl_direct_misssion_land formatting for style guide	2025-09-29 14:57:39 +00:00
Matthew Berk	d2313f9231	Change to work more like `mission.cpp`	2025-09-24 16:15:51 +00:00
Matthew Berk	4000180cc9	Fix position setpoint update logic in Mission RTL Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436)	2025-09-22 17:35:06 -05:00