do not merge

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
2026-05-24 04:17:34 +08:00 · 2025-09-30 09:26:39 -07:00
1328 changed files with 10019 additions and 47300 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 +1,23 @@
-name: Docs - Deploy PX4 User Guide to Github pages (Manual)
+name: Docs - Deploy PX4 User Guide

 on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+      - 'docs/uk/**'
+      - 'docs/zh/**'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - 'docs/en/**'
+      - 'docs/uk/**'
+      - 'docs/zh/**'
+
+  # 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 +37,7 @@ 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 +72,7 @@ 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"
@@ -0,0 +1,34 @@
+name: Dump OIDC sub claim
+
+on:
+  push:
+    branches:
+      - main
+      - 'release/**'   # run this on release branches too
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:   # allow manual trigger
+
+jobs:
+  show-oidc-claim:
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write   # needed to fetch the OIDC token
+      contents: read
+    steps:
+      - name: Dump OIDC sub claim
+        run: |
+          url="${ACTIONS_ID_TOKEN_REQUEST_URL}?audience=sts.amazonaws.com"
+          jwt="$(curl -s -H "Authorization: Bearer $ACTIONS_ID_TOKEN_REQUEST_TOKEN" "$url" | jq -r .value)"
+          body="$(echo "$jwt" | cut -d. -f2 | tr '_-' '/+' | base64 -d 2>/dev/null || true)"
+          echo "OIDC sub: $(echo "$body" | jq -r .sub)"
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
@@ -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
@@ -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

@@ -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
@@ -30,31 +30,30 @@
 * 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 spi5 = {             // 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)
 };

 static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi5,
+	.device = &spi2,
 	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		}
+			.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
@@ -1,132 +0,0 @@
-/************************************************************************************
- * configs/px4fmu/include/board.h
- * include/arch/board/board.h
- *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
-
-#include <nuttx/config.h>
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include <stm32.h>
-
-/* HSI - 8 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - 8  MHz Crystal
- * LSE - not installed
- */
-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        8000000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-
-/* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
-
-#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
-
-#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
-#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
-
-#define STM32_SYSCLK_FREQUENCY  96000000ul
-
-/* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
-
-/* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
-
-/* Alternate function pin selections ************************************************/
-
-/* UARTs */
-#define GPIO_USART2_RX	GPIO_USART2_RX_1
-#define GPIO_USART2_TX	GPIO_USART2_TX_1
-
-/* CAN */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
-
-/* SPI */
-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */
-
-#endif /* __ARCH_BOARD_BOARD_H */
--- a/Show More
+++ b/Show More