Add path api

Fix
Offboard mode working
2026-05-23 21:07:35 +08:00 · 2026-03-16 07:16:59 -07:00 · 2026-03-14 17:54:48 -07:00 · 2026-03-14 17:05:45 -07:00 · 2026-03-14 17:04:10 -07:00 · 2026-01-11 07:41:29 -08:00
396 changed files with 9739 additions and 2661 deletions
@@ -0,0 +1,48 @@
+---
+applyTo: "docs/en/**"
+---
+
+# Review Guidelines docs/en Tree
+
+## File System & Structure
+
+- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
+- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
+  - Valid: `docs/en/category/file.md`
+  - Invalid: `docs/en/category/subcategory/file.md`
+- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
+- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
+- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
+
+## Markdown & Style
+
+- **Headings:** Use Title Case ("First Letter Capitalisation"). 
+  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
+  - Do not apply bold or italic styling inside a heading.
+- **Formatting:** 
+  - **Bold:** Only for UI elements (buttons, menu items).
+  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
+  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
+
+## Linking & Navigation
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
+  Note relative link. 
+- **Table Links:** To keep tables readable, use reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
+- **Table Links:** To keep tables easier to edit, prefer reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
+
+## Quality Control
+
+- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
+- **Language:** Enforce **UK English** spelling and grammar.
@@ -15,7 +15,7 @@ jobs:
          stale-issue-label: 'stale'
          stale-pr-label: 'stale'
          remove-stale-when-updated: true
-          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
-          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
-          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
+          stale-issue-message: ''
+          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: ''
+          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
@@ -267,7 +267,7 @@ endif()

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -0,0 +1,167 @@
+#!/bin/sh
+#
+# @name KTH-ATMOS
+#
+# @type Free-Flyer
+# @class Spacecraft
+#
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
+# @maintainer discower-io
+# @url https://atmos.discower.io
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 45
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_CT 1.4
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_CT 1.4
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_CT 1.4
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_CT 1.4
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_CT 1.4
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_CT 1.4
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_PZ 0.0
+param set-default CA_ROTOR6_CT 1.4
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_PZ 0.0
+param set-default CA_ROTOR7_CT 1.4
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+param set-default SIM_GZ_EC_FUNC9 301
+param set-default SIM_GZ_EC_FUNC10 302
+param set-default SIM_GZ_EC_FUNC11 303
+param set-default SIM_GZ_EC_FUNC12 304
+
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MIN3 0
+param set-default SIM_GZ_EC_MIN4 0
+param set-default SIM_GZ_EC_MIN5 0
+param set-default SIM_GZ_EC_MIN6 0
+param set-default SIM_GZ_EC_MIN7 0
+param set-default SIM_GZ_EC_MIN8 0
+param set-default SIM_GZ_EC_MIN9 1100
+param set-default SIM_GZ_EC_MIN10 1100
+param set-default SIM_GZ_EC_MIN11 1100
+param set-default SIM_GZ_EC_MIN12 1100
+
+param set-default SIM_GZ_EC_MAX1 10000
+param set-default SIM_GZ_EC_MAX2 10000
+param set-default SIM_GZ_EC_MAX3 10000
+param set-default SIM_GZ_EC_MAX4 10000
+param set-default SIM_GZ_EC_MAX5 10000
+param set-default SIM_GZ_EC_MAX6 10000
+param set-default SIM_GZ_EC_MAX7 10000
+param set-default SIM_GZ_EC_MAX8 10000
+param set-default SIM_GZ_EC_MAX9 1900
+param set-default SIM_GZ_EC_MAX10 1900
+param set-default SIM_GZ_EC_MAX11 1900
+param set-default SIM_GZ_EC_MAX12 1900
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0
@@ -118,6 +118,7 @@ px4_add_romfs_files(
 	60002_gz_uuv_bluerov2_heavy

 	70000_gz_atmos
+	70001_gz_atmos_dual

 	# [22000, 22999] Reserve for custom models
 )
@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi

-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -238,6 +229,15 @@ then
 	exit 1
 fi

+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 dataman start

 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -18,6 +18,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #

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

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

 . ${R}etc/init.d/rc.mc_defaults
@@ -75,9 +77,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5

-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
@@ -78,9 +78,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5

-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 202
 param set-default SENS_FLOW_MAXHGT 25
@@ -29,9 +29,6 @@ param set-default MPC_MAN_TILT_MAX 60

 param set-default THR_MDL_FAC 0.3

-# enable high-rate logging profile (helps with tuning)
-param set-default SDLOG_PROFILE 19
-
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90

@@ -11,6 +11,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #

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

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

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

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

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

@@ -16,6 +16,7 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_mode_manager start
+fw_guidance_control start
 fw_lat_lon_control start
 airspeed_selector start

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

-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281
@@ -28,6 +28,7 @@ fi
 fw_rate_control start vtol
 fw_att_control start vtol
 fw_mode_manager start
+fw_guidance_control start
 fw_lat_lon_control start vtol
 fw_autotune_attitude_control start vtol

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

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

    def __init__(self, path):

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

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


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

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

 #  endif /* CONFIG_MMCSD */

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

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

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

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

 #  endif /* CONFIG_MMCSD */

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

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

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

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

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

 #  endif /* CONFIG_MMCSD */

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

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

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

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

 #endif /* CONFIG_MMCSD */

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

-# Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
-#ms5611 -X start
-
 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -1 +1,2 @@
 CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
@@ -54,6 +54,7 @@ CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_GPIO=y
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
@@ -21,6 +21,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_GUIDANCE_CONTROL=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
@@ -128,7 +128,7 @@
    - [LED Meanings](getting_started/led_meanings.md)
    - [Tune/Sound Meanings](getting_started/tunes.md)
    - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)
-
+  - [Asset Tracking](debug/asset_tracking.md)
 - [Hardware Selection & Setup](hardware/drone_parts.md)
  - [Flight Controllers (Autopilots)](flight_controller/index.md)
    - [Flight Controller Selection](getting_started/flight_controller_selection.md)
@@ -271,6 +271,8 @@
      - [Holybro M8N & M9N GPS](gps_compass/gps_holybro_m8n_m9n.md)
      - [Sky-Drones SmartAP GPS](gps_compass/gps_smartap.md)
    - [RTK GNSS](gps_compass/rtk_gps.md)
+      - [ARK G5 RTK GPS](dronecan/ark_g5_rtk_gps.md)
+      - [ARK G5 RTK HEADING GPS](dronecan/ark_g5_rtk_heading_gps.md)
      - [ARK RTK GPS (CAN)](dronecan/ark_rtk_gps.md)
      - [ARK RTK GPS L1 L5 (CAN)](dronecan/ark_rtk_gps_l1_l2.md)
      - [ARK X20 RTK GPS (CAN)](dronecan/ark_x20_rtk_gps.md)
@@ -312,15 +314,17 @@
    - [Actuator Allocation](config/actuators.md)
    - [ESC Calibration](advanced_config/esc_calibration.md)
    - [ESCs & Motors](peripherals/esc_motors.md)
+      - [ESC Protocols](esc/esc_protocols.md)
      - [PWM ESCs and Servos](peripherals/pwm_escs_and_servo.md)
      - [DShot ESCs](peripherals/dshot.md)
      - [OneShot ESCs and Servos](peripherals/oneshot.md)
      - [DroneCAN ESCs](dronecan/escs.md)
-        - [Zubax Telega](dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](dronecan/sapog.md)
-          - [Holybro Kotleta](dronecan/holybro_kotleta.md)
-      - [Vertiq](peripherals/vertiq.md)
-      - [VESC](peripherals/vesc.md)
+      - [ARK 4IN1 ESC](esc/ark_4in1_esc.md)
+      - [Holybro Kotleta](dronecan/holybro_kotleta.md)
+      - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
+      - [VESC Project ESCs](peripherals/vesc.md)
+      - [Zubax Telega ESCs](dronecan/zubax_telega.md)
  - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
    - [Radio Setup](config/radio.md)
    - [Flight Modes](config/flight_mode.md)
@@ -499,6 +503,7 @@
    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [Middleware](middleware/index.md)
    - [uORB Messaging](middleware/uorb.md)
+    - [uORB Docs Standard](uorb/uorb_documentation.md)
    - [uORB Graph](middleware/uorb_graph.md)
    - [uORB Message Reference](msg_docs/index.md)
      - [Versioned](msg_docs/versioned_messages.md)
@@ -561,6 +566,7 @@
        - [DebugKeyValue](msg_docs/DebugKeyValue.md)
        - [DebugValue](msg_docs/DebugValue.md)
        - [DebugVect](msg_docs/DebugVect.md)
+        - [DeviceInformation](msg_docs/DeviceInformation.md)
        - [DifferentialPressure](msg_docs/DifferentialPressure.md)
        - [DistanceSensor](msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
@@ -898,6 +904,7 @@
  - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
  - [main (alpha)](releases/main.md)
+  - [1.17 (alpha)](releases/1.17.md)
  - [1.16 (stable)](releases/1.16.md)
  - [1.15](releases/1.15.md)
  - [1.14](releases/1.14.md)
@@ -74,7 +74,7 @@ For example, you might have the following settings to assign the gimbal roll, pi

 ![Gimbal Actuator config](../../assets/config/actuators/qgc_actuators_gimbal.png)

-The PWM values to use for the disarmed, maximum and minimum values can be determined in the same way as other servo, using the [Actuator Test sliders](../config/actuators.md#actuator-testing) to confirm that each slider moves the appropriate axis, and changing the values so that the gimbal is in the appropriate position at the disarmed, low and high position in the slider.
+The PWM values to use for the disarmed, maximum, center and minimum values can be determined in the same way as other servo, using the [Actuator Test sliders](../config/actuators.md#actuator-testing) to confirm that each slider moves the appropriate axis, and changing the values so that the gimbal is in the appropriate position at the disarmed, low, center and high position in the slider.
 The values may also be provided in gimbal documentation.

 ## Gimbal Control in Missions
@@ -1,6 +1,6 @@
 # Neural Networks

-<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />

 ::: warning
 This is an experimental module.
@@ -25,6 +25,7 @@ It may also be supported on other boards.

 Supported flight controllers include:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 Battery 1 monitoring source.

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

 **Values:**

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

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

 Battery 2 monitoring source.

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

 **Values:**

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

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

 Battery 3 monitoring source.

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

 **Values:**

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

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

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

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

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

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

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

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

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

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

 ### Flight Controller Power
@@ -425,7 +425,6 @@ They recommend sensors, power systems, and other components from the same manufa
 - [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
 - [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
 - [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes).
-
  - [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
  - [Vibration Isolation](../assembly/vibration_isolation.md)
  - [Mounting a Compass](../assembly/mount_gps_compass.md)
@@ -1,9 +1,19 @@
-# CAN
+# CAN (DroneCAN & Cyphal)

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

+PX4 has the ability to track and log detailed information from CAN devices, including firmware versions, hardware versions, and serial numbers.
+This enables unique identification and lifecycle tracking of hardware connected to the flight controller.
+See [Asset Tracking](../debug/asset_tracking.md) for more information.
+
 PX4 supports two software protocols for communicating with CAN devices:

 - [DroneCAN](../dronecan/index.md): PX4 recommends this for most common setups.
@@ -18,29 +28,35 @@ In 2022 the project split into two: the original version of UAVCAN (UAVCAN v0) w
 The differences between the two protocols are outlined in [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
 :::

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

 ## Wiring

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

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

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

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

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

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

 ### Connectors

@@ -54,7 +70,30 @@ However, as long as the device firmware supports DroneCAN or Cyphal, it can be u

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

 ## Firmware

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

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

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

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

 However this is a trade-off as increasing `IMU_GYRO_CUTOFF` will also increase the noise of the signal that is fed to the motors.
 Noise on the motors has the following consequences:
@@ -0,0 +1,68 @@
+# Asset Tracking
+
+<Badge type="tip" text="main (planned for: PX4 v1.18)" />
+
+PX4 can track and log detailed information about external hardware devices connected to the flight controller.
+This enables unique identification of vehicle parts throughout their operational lifetime using device IDs, serial numbers, and version information.
+
+::: info
+Asset tracking is currently implemented for [DroneCAN](../dronecan/index.md) devices only.
+:::
+
+## Overview
+
+Asset tracking allows you to determine exactly which hardware is installed on a vehicle, providing serial number, version, and other information.
+This makes it easier to track and maintain specific vehicle parts across multiple vehicles, to quickly see what versions you're running when debugging, and log component information for regulatory audits.
+
+Asset tracking automatically collects and logs the following metadata from external devices:
+
+- **Device identification**: Vendor name, model name, device type
+- **Version information**: Firmware version, hardware version
+- **Unique identifiers**: Serial number, device ID
+- **Device capabilities**: ESC, GPS, magnetometer, barometer, etc.
+
+This information is published via the [`device_information`](../msg_docs/DeviceInformation.md) uORB topic and logged to flight logs.
+This enables fleet management, maintenance tracking, and troubleshooting.
+
+## Viewing Device Information
+
+### Real-Time Monitoring
+
+You can view device information in real-time using the [MAVLink Shell](../debug/mavlink_shell.md) or console:
+
+```sh
+listener device_information
+```
+
+Example output for a CAN GPS module:
+
+```plain
+TOPIC: device_information
+ device_information
+    timestamp: 16258961403 (0.216525 seconds ago)
+    device_id: 8944643 (Type: 0x88, UAVCAN:0 (0x7C))
+    device_type: 5
+    vendor_name: "cubepilot"
+    model_name: "here4"
+    firmware_version: "1.14.3006590"
+    hardware_version: "4.19"
+    serial_number: "1c00410018513331"
+```
+
+Device information is published in a round-robin fashion for each detected device, at a rate of approximately 1 Hz.
+
+### Multi-Capability Devices
+
+Devices with multiple sensors (e.g., a CAN GPS/magnetometer combo module like the HERE4) register separate device information entries for each capability.
+Each entry shares the same serial number and base metadata but has a different `device_id` corresponding to the specific sensor capability.
+
+## Flight Log Analysis
+
+Device information is automatically logged to flight logs.
+You can extract it using [pyulog](../log/flight_log_analysis.md#pyulog), though note that fields like vendor name, model name, and serial number are stored as `char` arrays and require additional parsing.
+
+## See Also
+
+- [CAN (DroneCAN & Cyphal)](../can/index.md) — CAN bus configuration and setup
+- [DroneCAN](../dronecan/index.md) — DroneCAN-specific documentation
+- [Flight Log Analysis](../log/flight_log_analysis.md) — Flight log analysis
@@ -95,6 +95,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -92,6 +92,7 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -0,0 +1,112 @@
+# ARK G5 RTK GPS
+
+::: info
+This GPS module is made in the USA and NDAA compliant.
+:::
+
+[ARK G5 RTK GPS](https://arkelectron.com/product/ark-g5-rtk-gps/) is a [DroneCAN](index.md) quad-band [RTK GPS](../gps_compass/rtk_gps.md).
+
+The module incorporates the [Septentrio mosaic-G5 P3 Ultra-compact high-precision GPS/GNSS receiver module](https://www.u-blox.com/en/product/zed-x20p-module), magnetometer, barometer, IMU, and buzzer module.
+
+![ARK G5 RTK GPS](../../assets/hardware/gps/ark/ark_g5_rtk_gps.png)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-g5-rtk-gps/) (US)
+
+## Hardware Specifications
+
+- [DroneCAN](index.md) RTK GNSS, Magnetometer, Barometer, IMU, and Buzzer Module
+- [Dronecan Firmware Updating](../dronecan/index.md#firmware-update)
+- Sensors
+  - [Septentrio mosaic-G5 P3 Ultra-compact high-precision GPS/GNSS receiver module](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3)
+    - All-band all constellation GNSS receiver
+    - All-in-view satellite tracking: multi-constellation, quad-band GNSS module receiver
+    - Full raw data with positioning measurements and Galileo HAS positioning service compatibility
+    - Best-in-class RTK cm-level positioning accuracy
+    - Advanced GNSS+ algorithms
+    - 20Hz update rate
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+  - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
+  - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
+- STM32F412VGH6 MCU
+- Safety Button
+- Buzzer
+- Two CAN Connectors (Pixhawk Connector Standard 4-pin JST GH)
+- G5 "UART 2" Connector
+  - 4-pin JST GH
+  - TX, RX, PPS, GND
+- G5 USB C
+- Debug Connector (Pixhawk Connector Standard 6-pin JST SH)
+- LED Indicators
+  - GPS Fix
+  - RTK Status
+  - RGB system status
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5V
+    - 270mA
+- Dimensions
+  - Without Antenna
+    - 48.0mm x 40.0mm x 15.4mm
+    - 13.0g
+  - With Antenna
+    - 48.0mm x 40.0mm x 51.0mm
+    - 43.5g
+- Includes
+  - CAN Cable (Pixhawk Connector Standard 4-pin)
+  - Full-Frequency Helical GPS Antenna
+
+## Hardware Setup
+
+### Wiring
+
+The ARK G5 RTK GPS is connected to the CAN bus using a [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) 4-pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### Mounting
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 Configuration](#px4-configuration).
+
+## Firmware Setup
+
+The Septentrio G5 module firmware can be updated using the Septentrio [RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) application.
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK G5 RTK GPS, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
+
+The steps are:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK G5 RTK GPS CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+
+There is also CAN built-in bus termination via [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)
+
+### PX4 Configuration
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK GPS from the vehicle's centre of gravity.
+
+## LED Meanings
+
+The GPS status lights are located to the right of the connectors:
+
+- Blinking green is GPS fix
+- Blinking blue is received corrections and RTK Float
+- Solid blue is RTK Fixed
+
+## See Also
+
+- [ARK G5 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-g5-rtk-gps) (ARK Docs)
@@ -0,0 +1,150 @@
+# ARK G5 RTK HEADING GPS
+
+::: info
+This GPS module is made in the USA and NDAA compliant.
+:::
+
+[ARK G5 RTK HEADING GPS](https://arkelectron.com/product/ark-g5-rtk-gps/) is a [DroneCAN](index.md) quad-band dual antenna [RTK GPS](../gps_compass/rtk_gps.md) that additionally provides vehicle yaw information from GPS.
+
+The module incorporates the [Septentrio mosaic-G5 P3H Ultra-compact high-precision GPS/GNSS receiver module with heading capability](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H), magnetometer, barometer, IMU, and buzzer module.
+
+![ARK G5 RTK HEADING GPS](../../assets/hardware/gps/ark/ark_g5_rtk_gps.png)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-g5-rtk-heading-gps/) (US)
+
+## Hardware Specifications
+
+- [DroneCAN](index.md) RTK GNSS, Magnetometer, Barometer, IMU, and Buzzer Module
+- [Dronecan Firmware Updating](../dronecan/index.md#firmware-update)
+- Sensors
+  - [Septentrio mosaic-G5 P3H Ultra-compact high-precision GPS/GNSS receiver module with heading capability](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H)
+    - All-band all constellation GNSS receiver
+    - All-in-view satellite tracking: multi-constellation, quad-band GNSS module receiver
+    - Full raw data with positioning measurements and Galileo HAS positioning service compatibility
+    - Best-in-class RTK cm-level positioning accuracy
+    - Advanced GNSS+ algorithms
+    - 20Hz update rate
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+  - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
+  - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
+- STM32F412VGH6 MCU
+- Safety Button
+- Buzzer
+- Two CAN Connectors (Pixhawk Connector Standard 4-pin JST GH)
+- G5 "UART 2" Connector
+  - 4-pin JST GH
+  - TX, RX, PPS, GND
+- G5 USB C
+- Debug Connector (Pixhawk Connector Standard 6-pin JST SH)
+- LED Indicators
+  - GPS Fix
+  - RTK Status
+  - RGB system status
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5V
+    - 270mA
+- Dimensions
+  - Without Antenna
+    - 48.0mm x 40.0mm x 15.4mm
+    - 13.0g
+  - With Antenna
+    - 48.0mm x 40.0mm x 51.0mm
+    - 43.5g
+- Includes
+  - CAN Cable (Pixhawk Connector Standard 4-pin)
+  - Full-Frequency Helical GPS Antenna
+
+## Hardware Setup
+
+### Wiring
+
+The ARK G5 RTK HEADING GPS is connected to the CAN bus using a [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) 4-pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### Mounting
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).
+
+## Firmware Setup
+
+The Septentrio G5 module firmware can be updated using the Septentrio [RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) application.
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK G5 RTK HEADING GPS, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
+
+The steps are:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK G5 RTK HEADING GPS CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+
+There is also CAN built-in bus termination via [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)
+
+### PX4 Configuration
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
+- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK HEADING GPS from the vehicle's centre of gravity.
+
+### Parameter references
+
+This GPS is using ARK's private driver, the prameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool.
+
+#### SEP_OFFS_YAW (float)
+
+Heading offset angle for dual antenna GPS setups that support heading estimation.
+Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the Rover/ANT2 antenna is in front.
+The offset angle increases clockwise.
+Set this to 90 if the ANT2 antenna is placed on the right side of the vehicle and the Moving Base/MAIN antenna is on the left side.
+
+- Default: 0
+- Min: -360
+- Max: 360
+- Unit: degree
+
+#### SEP_OFFS_PITCH (float)
+
+Vertical offsets can be compensated for by adjusting the Pitch offset.
+Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.
+
+- Default: 0
+- Min: -90
+- Max: 90
+- Unit: degree
+
+#### SEP_OUT_RATE (enum)
+
+Configures the output rate for GNSS data messages.
+
+- -1: OnChange (Default)
+- 50: 50 ms
+- 100: 100 ms
+- 200: 200 ms
+- 500: 500 ms
+
+## LED Meanings
+
+The GPS status lights are located to the right of the connectors:
+
+- Blinking green is GPS fix
+- Blinking blue is received corrections and RTK Float
+- Solid blue is RTK Fixed
+
+## See Also
+
+- [ARK G5 RTK HEADING GPS Documentation](https://docs.arkelectron.com/gps/ark-g5-rtk-gps) (ARK Docs)
@@ -1,7 +1,14 @@
 # DroneCAN ESCs

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

 - [PX4 Sapog ESC Firmware](sapog.md)
  - [Holybro Kotleta 20](holybro_kotleta.md)
@@ -27,6 +27,8 @@ Connecting peripherals over DroneCAN has many benefits:
 - Wiring is less complicated as you can have a single bus for connecting all your ESCs and other DroneCAN peripherals.
 - Setup is easier as you configure ESC numbering by manually spinning each motor.
 - It allows users to configure and update the firmware of all CAN-connected devices centrally through PX4.
+- PX4 automatically tracks device information (vendor, model, versions, serial numbers) for maintenance and fleet management.
+  See [Asset Tracking](../debug/asset_tracking.md).

 ## Supported Hardware

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

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 Automatic gain compression reduces the gains of the angular-rate PID whenever oscillations are detected.
 It monitors the angular-rate controller output through a band-pass filter to identify these oscillations.
@@ -1,6 +1,6 @@
 # MicoAir743-Lite

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -1,6 +1,6 @@
 # RadiolinkPIX6 Flight Controller

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -1,6 +1,6 @@
-# AP-H743-R1
+# AP-H743-R1 Flight Controller

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -50,6 +50,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 Order from [X-MAV](https://www.x-mav.cn/).

 ## Radio Control
+
 A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).

 You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).
@@ -59,14 +60,14 @@ CRSF receiver must be wired to a spare port (UART) on the Flight Controller. The

 ## Serial Port Mapping

-| UART   | Device     | Port          |
-| ------ | ---------- | ------------- |
-| USART1 | /dev/ttyS0 | GPS           |
-| USART2 | /dev/ttyS1 | GPS2          |
-| USART3 | /dev/ttyS2 | TELEM1        |
-| UART4  | /dev/ttyS3 | TELEM2        |
-| UART7  | /dev/ttyS4 | TELEM3        |
-| UART8  | /dev/ttyS5 | SERIAL4       |
+| UART   | Device     | Port    |
+| ------ | ---------- | ------- |
+| USART1 | /dev/ttyS0 | GPS     |
+| USART2 | /dev/ttyS1 | GPS2    |
+| USART3 | /dev/ttyS2 | TELEM1  |
+| UART4  | /dev/ttyS3 | TELEM2  |
+| UART7  | /dev/ttyS4 | TELEM3  |
+| UART8  | /dev/ttyS5 | SERIAL4 |

 ## PWM Output

@@ -133,13 +134,14 @@ The complete set of supported configurations can be found in the [Airframe Refer
 ## Debug Port

 ### SWD
+
 The [SWD interface](../debug/swd_debug.md) operate on the **FMU-DEBUG** port (`FMU-DEBUG`).

 The debug port (`FMU-DEBUG`) uses a [JST SM04B-GHS-TB](https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM04B-GHS-TB/807788) connector and has the following pinout:

-| Pin     | Signal         | Volt  |
-| ------- | -------------- | ----- |
-| 1 (red) | 5V+            | +5V   |
-| 2 (blk) | FMU_SWDIO      | +3.3V |
-| 3 (blk) | FMU_SWCLK      | +3.3V |
-| 4 (blk) | GND            | GND   |
+| Pin     | Signal    | Volt  |
+| ------- | --------- | ----- |
+| 1 (red) | 5V+       | +5V   |
+| 2 (blk) | FMU_SWDIO | +3.3V |
+| 3 (blk) | FMU_SWCLK | +3.3V |
+| 4 (blk) | GND       | GND   |
@@ -2,11 +2,14 @@

 <img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />

-The _Hold_ flight mode causes the vehicle to loiter (circle) around its current GPS position and maintain its current altitude.
+The _Hold_ flight mode causes the vehicle to loiter around its current GPS position and maintain its current altitude.
+
+The mode supports a [number of distinct loiter modes](#loiter-modes), which are triggered using different QGC controls or MAVLink commands.
+These allow loitering with circular and figure 8 flight paths.

 :::tip
 _Hold mode_ can be used to pause a mission or to help you regain control of a vehicle in an emergency.
-It is usually activated with a pre-programmed switch.
+It is usually activated with a pre-programmed RC switch.
 :::

 ::: info
@@ -24,24 +27,80 @@ It is usually activated with a pre-programmed switch.

 :::

-## Technical Summary
+## Loiter modes

-The aircraft circles around the GPS hold position at the current altitude.
-The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude.
+### Default Loiter

-RC stick movement is ignored.
+The aircraft circles around the position at which the mode was triggered and maintain its current altitude.
+The loiter radius is set by the parameter [NAV_LOITER_RAD](#NAV_LOITER_RAD).
+Note that if the vehicle altitude is below [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT), it will ascend to that minimum altitude before circling.

-### Parameters
+The default loiter mode is entered when you switch to Hold mode without explicitly specifying any loiter behaviour.
+For example, if you switch to Hold mode using an RC switch, select **Hold** on the QGC flight mode selector, or activate the mode using the MAVLink [MAV_CMD_DO_SET_MODE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_MODE) command.
+
+### Orbit Loiter Mode
+
+<Badge type="tip" text="PX4 v1.12" />
+
+The aircraft travels towards a _specified_ orbit center position, then circles it with a given direction and radius.
+
+This behaviour can be accessed in QGroundControl by clicking on the map in Fly view, selecting **Orbit at Location**, and configuring the radius.
+
+The behavior can be triggered using the MAVLink [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) command.
+Note that PX4 respects the specified centre point (`param5`, `param6`, `param7`), and the radius and direction (`param1`).
+PX4 ignores `param3` (Yaw behaviour) and `param4` (Orbits).
+The value of `param2` (velocity) is also ignored, but the speed can be controlled using the [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) command (constrained between `FW_AIRSPD_MAX` and `FW_AIRSPD_MIN`).
+PX4 outputs orbit status using the [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) message.
+
+### Figure 8 Loiter Mode
+
+<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
+
+The aircraft flys towards the closest point on a specified figure 8 path and then follows it.
+The path is defined by the figure 8 centre position, orientation, and radius of two circles.
+
+The feature is experimental, and is not present in PX4 firmware by default (on most flight controller boards).
+It can be included by setting the `CONFIG_FIGURE_OF_EIGHT` key in the [PX4 board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) for your board and rebuilding.
+For example, this is enabled on the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/default.px4board#L46) file for the `auterion/fmu-v6s` board.
+
+The behavior can be triggered using the MAVLink [MAV_CMD_DO_FIGURE_EIGHT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FIGURE_EIGHT) command (PX4 respects all the parameters).
+PX4 outputs the figure 8 status using the [FIGURE_EIGHT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#FIGURE_EIGHT_EXECUTION_STATUS) message.
+
+::: info
+Figure 8 loitering is not currently supported by QGC: [QGC#12778: Need Support Figure of eight (8 figure) loitering by QGC](https://github.com/mavlink/qgroundcontrol/issues/12778).
+:::
+
+Figure 8 loitering is also available in the simulator.
+You can test it in [Gazebo](../sim_gazebo_gz/index.md) using a fixed wing frame:
+
+```sh
+make px4_sitl gz_rc_cessna
+```
+
+## Parameters

 Hold mode behaviour can be configured using the parameters below.

 | Parameter                                                                                                | Description                                                                                                   |
 | -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
-| [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)                               | The radius of the loiter circle.                                                                              |
+| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)    | The radius of the loiter circle.                                                                              |
 | <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude). |

+## MAVLink Commands
+
+The following commands are relevant to this mode:
+
+- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Switch to Hold mode and start the specified [Orbit loiter](#orbit-loiter-mode).
+  Params 2 (velocity), 3 (yaw), 4 (orbits) are ignored.
+  [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) is emitted.
+- [MAV_CMD_DO_FIGURE_EIGHT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FIGURE_EIGHT) - Switch to Hold mode and start the specified [Figure 8 loiter](#figure-8-loiter-mode).
+  All params are respected.
+  [FIGURE_EIGHT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#FIGURE_EIGHT_EXECUTION_STATUS) is emitted.
+
+Note, other commands may be supported.
+
 ## See Also

-[Hold Mode (MC)](../flight_modes_mc/hold.md)
+- [Hold Mode (MC)](../flight_modes_mc/hold.md)

 <!-- this maps to AUTO_LOITER in flight mode state machine -->
@@ -49,8 +49,8 @@ If the local position is invalid or becomes invalid while executing the takeoff,

 ::: info

- Takeoff towards a target position was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
+- Takeoff towards a target position was added in <Badge type="tip" text="PX4 v1.17" />.
+- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="PX4 v1.17" />.
 - QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing).

 :::
@@ -20,52 +20,59 @@ The RTK compatible devices below that are expected to work with PX4 (it omits di
 The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used.
 It also highlights devices that connect via the CAN bus, and those which support PPK (Post-Processing Kinematic).

-| Device                                                                                                    |                             GPS                             | Compass  | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK |
-| :-------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :------: | :------------------------------: | :-----------------------------------------------: | :-: |
-| [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                 |                             F9P                             |  BMM150  |                ✓                 |                [Dual F9P][DualF9P]                |
-| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md)                                                     |                             F9P                             |  BMM150  |                ✓                 |                              |
-| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                               |                          Mosaic-X5                          | IIS2MDC  |                ✓                 |      [Septentrio Dual Antenna][SeptDualAnt]       |
-| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                         |                             X20P                            |  BMP390  |                ✓                 |                                |
-| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                    |                           M8P/M8N                           |    ✓     |                                  |                                                   |
-| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                      |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                            |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
-| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                          |                             F9P                             |  RM3100  |                                  |                                                   |  ✓  |
-| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md)                                         |                             M8P                             | HMC5983  |                                  |                                                   |
-| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3)                              |                             M8P                             | ICM20948 |                ✓                 |                                                   |
-| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)         |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
-| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md)                               | [D10P](https://docs.datagnss.com/gnss/gnss_module/D10P_RTK) | IST8310  |                                  |                         ✘                         |
-| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md)                                        |                           TAU951M                           | IST8310  |                                  |                         ✘                         |
-| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md)                                            |                        FB672, FB6A0                         |    ✓     |                                  |                                                   |
-| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md)                                                      |                             F9P                             | IST8310  |                                  |                                                   |
-| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md)            |                             F9P                             |  RM3100  |                ✓                 |                [Dual F9P][DualF9P]                |
-| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
-| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight)                         |                             F9P                             | IST8310  |                                  |                [Dual F9P][DualF9P]                |
-| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                          |                             F9P                             | IST8310  |                                  |                [Dual F9P][DualF9P]                |
-| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)             |                             F9P                             |  BMM150  |                ✓                 |                [Dual F9P][DualF9P]                |
-| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                               |                             F9P                             | IST8310  |                                  |                                                   |     |
-| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)                 |                             F9P                             |  BMM150  |                                  |                [Dual F9P][DualF9P]                |
-| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)                                     |                             M8P                             | IST8310  |                                  |
-| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md)                        |                            UM982                            | IST8310  |                                  |      [Unicore Dual Antenna][UnicoreDualAnt]       |
-| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md)                                                   |                         MC-1612-V2b                         |          |                                  |                                                   |
-| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md)                                                   |                         MC-1612-V2b                         | IST8310  |                                  |                                                   |
-| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm)                       |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK)    |                             F9P                             |          |                                  |                                                   |
-| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P]                                                      |                             F9P                             |  RM3100  |                ✓                 |                                                   |     |
-| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant]                             |                             F9P                             |  RM3100  |                ✓                 |                                                   |
-| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md)                                       |                           AsteRx                            |    ✓     |                                  |      [Septentrio Dual Antenna][SeptDualAnt]       |  ✓  |
-| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md)                                            |                    mosaic X5 / mosaic H                     |    ✓     |                                  |      [Septentrio Dual Antenna][SeptDualAnt]       |  ✓  |
-| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)                |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136)                              |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md)                                                |                             F9P                             |    ✓     |                                  |                         ✓                         |     |
+| Device                                                                                                    |         GPS          | Compass  | [DroneCAN] |         [GPS Yaw]         | PPK |
+| :-------------------------------------------------------------------------------------------------------- | :------------------: | :------: | :--------: | :-----------------------: | :-: |
+| [ARK G5 RTK GPS](../dronecan/ark_g5_rtk_gps.md)                                                           |    [mosaic-G5 P3]    | IIS2MDC  |     ✓      |                           |     |
+| [ARK G5 RTK HEADING GPS](../dronecan/ark_g5_rtk_heading_gps.md)                                           |   [mosaic-G5 P3H]    | IIS2MDC  |     ✓      | [Heading Capability][mosaic-G5 P3H]  |     |
+| [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                 |         F9P          |  BMM150  |     ✓      |        [Dual F9P]         |     |
+| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md)                                                     |         F9P          |  BMM150  |     ✓      |                           |     |
+| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                               |      Mosaic-X5       | IIS2MDC  |     ✓      | [Septentrio Dual Antenna] |     |
+| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                         |         X20P         | IIS2MDC  |     ✓      |                           |     |
+| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                    |       M8P/M8N        |    ✓     |            |                           |     |
+| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                      |         F9P          |    ✓     |            |        [Dual F9P]         |     |
+| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                            |         F9P          |  RM3100  |            |        [Dual F9P]         |     |
+| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                          |         F9P          |  RM3100  |            |                           |  ✓  |
+| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md)                                         |         M8P          | HMC5983  |            |                           |     |
+| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3)                              |         M8P          | ICM20948 |     ✓      |                           |     |
+| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)         |         F9P          |  RM3100  |            |        [Dual F9P]         |     |
+| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md)                               |        [D10P]        | IST8310  |            |             ✘             |     |
+| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md)                                        |       TAU951M        | IST8310  |            |             ✘             |     |
+| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md)                                            |     FB672, FB6A0     |    ✓     |            |                           |     |
+| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md)                                                      |         F9P          | IST8310  |            |                           |     |
+| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md)            |         F9P          |  RM3100  |     ✓      |        [Dual F9P]         |     |
+| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) |         F9P          |  RM3100  |            |        [Dual F9P]         |     |
+| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight)                         |         F9P          | IST8310  |            |        [Dual F9P]         |     |
+| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                          |         F9P          | IST8310  |            |        [Dual F9P]         |     |
+| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)             |         F9P          |  BMM150  |     ✓      |        [Dual F9P]         |     |
+| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                               |         F9P          | IST8310  |            |                           |     |
+| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)                 |         F9P          |  BMM150  |            |        [Dual F9P]         |     |
+| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)                                     |         M8P          | IST8310  |            |                           |     |
+| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md)                        |        UM982         | IST8310  |            |  [Unicore Dual Antenna]   |     |
+| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md)                                                   |     MC-1612-V2b      |          |            |                           |     |
+| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md)                                                   |     MC-1612-V2b      | IST8310  |            |                           |     |
+| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm)                       |         F9P          |    ✓     |            |        [Dual F9P]         |     |
+| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK)    |         F9P          |          |            |                           |     |
+| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P]                                                      |         F9P          |  RM3100  |     ✓      |                           |     |
+| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant]                             |         F9P          |  RM3100  |     ✓      |                           |     |
+| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md)                                       |        AsteRx        |    ✓     |            | [Septentrio Dual Antenna] |  ✓  |
+| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md)                                            | mosaic X5 / mosaic H |    ✓     |            | [Septentrio Dual Antenna] |  ✓  |
+| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)                |         F9P          |    ✓     |            |        [Dual F9P]         |     |
+| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136)                              |         F9P          |    ✓     |            |        [Dual F9P]         |     |
+| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md)                                                |         F9P          |    ✓     |            |             ✓             |     |

 <!-- links used in above table -->

 [RaccnLabL1L2ZED-F9P ext_ant]: https://docs.raccoonlab.co/guide/gps_mag_baro/gnss_external_antenna_f9p_v320.html
 [RaccoonLab L1/L2 ZED-F9P]: https://docs.raccoonlab.co/guide/gps_mag_baro/gps_l1_l2_zed_f9p.html
-[DualF9P]: ../gps_compass/u-blox_f9p_heading.md
-[SeptDualAnt]: ../gps_compass/septentrio.md#gnss-based-heading
-[UnicoreDualAnt]: ../gps_compass/rtk_gps_holybro_unicore_um982.md#enable-gps-heading-yaw
+[Dual F9P]: ../gps_compass/u-blox_f9p_heading.md
+[Septentrio Dual Antenna]: ../gps_compass/septentrio.md#gnss-based-heading
+[Unicore Dual Antenna]: ../gps_compass/rtk_gps_holybro_unicore_um982.md#enable-gps-heading-yaw
 [DATAGNSS GEM1305 RTK]: ../gps_compass/rtk_gps_gem1305.md
+[DroneCAN]: ../dronecan/index.md
+[GPS Yaw]: #configuring-gps-as-yaw-heading-source
+[mosaic-G5 P3]: https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3
+[mosaic-G5 P3H]: https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H
+[D10P]: https://docs.datagnss.com/gnss/gnss_module/D10P_RTK

 Notes:

@@ -143,6 +150,7 @@ The RTK GPS connection is essentially plug and play:
   ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)

 1. Once Survey-in completes:
+
   - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:

     ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
@@ -280,6 +280,8 @@ For more information see: [Plotting uORB Topic Data in Real Time using PlotJuggl

 ## See Also

+- [uORB Documentation Standard](../uorb/uorb_documentation.md)
+
 - _PX4 uORB Explained_ Blog series
  - [Part 1](https://px4.io/px4-uorb-explained-part-1/)
  - [Part 2](https://px4.io/px4-uorb-explained-part-2/)
@@ -321,7 +321,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
  - [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
    The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
    This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
-  - <Badge type="tip" text="PX4 v1.17" /> [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
+  - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" />: Index-based namespace definition
    Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
    See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.

@@ -426,7 +426,7 @@ will generate topics under the namespaces:

 :::

- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999.
+- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" /> to a value between 0 and 9999.
  This will generate a namespace such as `/uav_0`, `/uav_1`, and so on.
  This technique is ideal if vehicles must be persistently associated with namespaces because their clients are automatically started through PX4.

@@ -15,38 +15,6 @@ Subcategories:
 - [Rpm Sensor](modules_driver_rpm_sensor.md)
 - [Transponder](modules_driver_transponder.md)

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

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

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

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

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

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

   check         Run preflight checks

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

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

 Battery status

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

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

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


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

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


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

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

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

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

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

 uint64 timestamp # time since system start (microseconds)

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

-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16

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

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

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

 This topic shows how to connect and configure DShot ESCs.

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

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

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

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

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

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

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

 For more information see:

+- [ESC Protocols](../esc/esc_protocols.md) — overview of main ESC/Servo protocols supported by PX4
 - [PWM ESCs and Servos](../peripherals/pwm_escs_and_servo.md)
 - [OneShot ESCs and Servos](../peripherals/oneshot.md)
 - [DShot](../peripherals/dshot.md)
 - [DroneCAN ESCs](../dronecan/escs.md)
 - [ESC Calibration](../advanced_config/esc_calibration.md)
 - [ESC Firmware and Protocols Overview](https://oscarliang.com/esc-firmware-protocols/) (oscarliang.com)
-
-A high level overview of the main ESC/Servo protocols supported by PX4 is given below.
-
-## ESC Protocols
-
-### PWM
-
-[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
-
-PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired power level.
-The pulse wdith typically ranges between 1000uS for zero power and 2000uS for full power.
-The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50Hz and 490 Hz (the theoretical maximum being 500Hz for a very small "off" cycle).
-A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
-For PWM servos 50Hz is usually sufficient, and many don't support higher rates.
-
-![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png)
-
-In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the range values representing low and high values can vary significantly.
-Unlike [dshot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
-
-### Oneshot 125
-
-[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
-They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
-There are a number of variants of the OneShot protocol, which support different rates.
-PX4 only supports OneShot 125.
-
-OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125us to 250us for zero to full power).
-This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
-For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
-The actual supported rate depends on the ESC used.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
-
-### DShot
-
-[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduce latency, in particular racing multicopters, VTOL vehicles, and so on.
-
-It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
-In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can revers motor spin directions
-
-PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
-Selecting a higher rate DShot ESC in the UI result in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
-
-### DroneCAN
-
-[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
-The PX4 implementation is currently limited to update rates of 200Hz.
-
-DroneCAN shares many similar benefits to [Dshot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
-
-[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
@@ -129,6 +129,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### uXRCE-DDS / ROS2

 - [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
+- <Badge type="warning" text="Experimental"/>[PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
 - dds_topics: add vtol_vehicle_status ([PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
 - dds_topics: add home_position ([PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583))

@@ -138,6 +139,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 - Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234))
 - Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
 - mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
+
 ### Multi-Rotor

 - [Multirotor] add yaw torque low pass filter ([PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173))
@@ -0,0 +1,134 @@
+# PX4-Autopilot v1.17.0 Release Notes
+
+<Badge type="danger" text="Alpha/Beta" />
+
+<script setup>
+import { useData } from 'vitepress'
+const { site } = useData();
+</script>
+
+<div v-if="site.title !== 'PX4 Guide (main)'">
+  <div class="custom-block danger">
+    <p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+  </div>
+</div>
+
+This contains changes to PX4 planned for PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)).
+
+::: warning
+PX4 v1.17 is in alpha/beta testing.
+Update these notes with features that are going to be in PX4 v1.17 release.
+New features that are not expected to go into the v1.17 release are in [PX4-Autopilot `main` Release Notes](../releases/main.md).
+:::
+
+## Read Before Upgrading
+
+TBD …
+
+Please continue reading for [upgrade instructions](#upgrade-guide).
+
+## Major Changes
+
+- TBD
+
+## Upgrade Guide
+
+## Other changes
+
+### Hardware Support
+
+- **[New Hardware]** boards: [MicoAir743-Lite FC](../flight_controller/micoair743-lite.md) <!-- CHECK is this version and add PR link (or fix up doc version tag and move this) -->
+- **[New Hardware]** boards: [RadiolinkPIX6 FC](../flight_controller/radiolink_pix6.md) <!-- CHECK is this version and add PR! -->
+- **[New Hardware]** boards: [AP-H743-R1 FC](../flight_controller/x-mav_ap-h743r1.md) <!-- CHECK is this version and add PR! -->
+
+<!--
+
+### Common
+
+- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
+-->
+
+### Control
+
+<!--
+
+- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
+  For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+
+-->
+
+- <Badge type="warning" text="Experimental" /> [MC Neural Network Module](../advanced/neural_networkss.md)
+
+### Estimation
+
+- TBD
+
+<!--
+
+### Sensors
+
+- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
+- Quick magnetometer calibration now supports specifying an arbitrary initial heading ([PX4-Autopilot#24637](https://github.com/PX4/PX4-Autopilot/pull/24637))
+
+-->
+
+### Simulation
+
+- Overhaul rover simulation:
+  - Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
+  - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
+  - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
+
+- [Simulation-in-Hardware (SIH)](../sim_sih/index.md#compatibility) <!-- Listed in https://docs.px4.io/main/en/sim_sih/#compatibility : Check the PRs -->
+  - New simulation: MC Hexacopter X
+  - New simulation: Ackermann Rover
+
+### Debug & Logging
+
+- TBD
+
+### Ethernet
+
+- TBD
+
+### uXRCE-DDS / Zenoh / ROS2
+
+- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
+- [UXRCE_DDS: Simple index based namespace (UXRCE_DDS_NS_IDX)](../middleware/uxrce_dds.md#customizing-the-namespace)
+- [Zenoh (PX4 ROS 2 rmw_zenoh)](../middleware/zenoh.md)
+
+### MAVLink
+
+- TBD
+
+<!--
+
+### RC
+
+- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
+
+### Multi-Rotor
+
+- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+-->
+
+### VTOL
+
+- TBD
+
+### Fixed-wing
+
+- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
+  A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
+- Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840))
+
+### Rover
+
+- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
+- Add support for [Apps & API](../flight_modes_rover/api.md) including [Rover Setpoints](../ros2/px4_ros2_control_interface.md#rover-setpoints) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
+- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
+
+### ROS 2
+
+- TBD
@@ -2,7 +2,8 @@

 A list of PX4 release notes, they contain a list of the changes that went into each release, explaining the included features, bug fixes, deprecations and updates in detail.

- [main](../releases/main.md) (changes since v1.16)
+- [main](../releases/main.md) (changes planned for v1.18 or later)
+- [v1.17](../releases/1.17.md) (changes planned for v1.17, since v1.16)
 - [v1.16](../releases/1.16.md)
 - [v1.15](../releases/1.15.md)
 - [v1.14](../releases/1.14.md)
@@ -16,13 +16,13 @@ const { site } = useData();
 This contains changes to PX4 `main` branch since the last major release ([PX v1.16](../releases/1.16.md)).

 ::: warning
-PX4 v1.16 is in candidate-release testing, pending release.
-Update these notes with features that are going to be in `main` but not the PX4 v1.16 release.
+PX4 v1.17 is in alpha/beta testing.
+Update these notes with features that are going to be in `main` (PX4 v1.18 or later) but not the PX4 v1.17 release.
 :::

 ## Read Before Upgrading

-TBD …
+- TBD …

 Please continue reading for [upgrade instructions](#upgrade-guide).

@@ -45,8 +45,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### Control

 - Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
-  For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise
-  ](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+  For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).

 ### Estimation

@@ -59,19 +58,34 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 ### Simulation

+- TBD
+
+<!-- MOVED THIS TO v1.17
+
 - Overhaul rover simulation:
  - Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
  - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
  - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)

+-->
+
+### Debug & Logging
+
+- [Asset Tracking](../debug/asset_tracking.md): Automatic tracking and logging of external device information including vendor name, firmware and hardware version, serial numbers. Currently supports DroneCAN devices. ([PX4-Autopilot#25617](https://github.com/PX4/PX4-Autopilot/pull/25617))
+
 ### Ethernet

 - TBD

-### uXRCE-DDS / ROS2
+### uXRCE-DDS / Zenoh / ROS2
+
+- TBD
+
+<!-- MOVED THIS TO v1.17

 - [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
 - [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
+-->

 ### MAVLink

@@ -92,16 +106,26 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 ### Fixed-wing

+- TBD
+
+<!-- MOVED THIS TO v1.17
 - [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
  A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
 - Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840))
+-->

 ### Rover

+- TBD
+
+<!-- MOVED THIS TO v1.17
+
 - Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
 - Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
 - Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).

+-->
+
 ### ROS 2

 - TBD
@@ -341,9 +341,9 @@ The used types also define the compatibility with different vehicle types.
 The following sections provide a list of supported setpoint types:

 - [MulticopterGotoSetpointType](#go-to-setpoint-multicoptergotosetpointtype): <Badge type="warning" text="MC only" /> Smooth position and (optionally) heading control
- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="warning" text="FW only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
+- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="warning" text="FW only" /> <Badge type="tip" text="PX4 v1.17" /> Direct control of lateral and longitudinal fixed wing dynamics
 - [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
- [Rover Setpoints](#rover-setpoints): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct access to rover control setpoints (Position, Speed, Attitude, Rate, Throttle and Steering).
+- [Rover Setpoints](#rover-setpoints): <Badge type="tip" text="PX4 v1.17" /> Direct access to rover control setpoints (Position, Speed, Attitude, Rate, Throttle and Steering).

 :::tip
 The other setpoint types are currently experimental, and can be found in: [px4_ros2/control/setpoint_types/experimental](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental).
@@ -410,7 +410,7 @@ _goto_setpoint->update(

 #### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType)

-<Badge type="warning" text="Fixed wing only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="warning" text="Fixed wing only" /> <Badge type="tip" text="PX4 v1.17" />

 ::: info
 This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode.
@@ -552,7 +552,7 @@ If you want to control an actuator that does not control the vehicle's motion, b

 #### Rover Setpoints

-<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />

 The rover modules use a hierarchical structure to propagate setpoints:

@@ -586,7 +586,7 @@ An example for a rover specific drive mode using the `RoverSpeedAttitudeSetpoint

 ### Controlling a VTOL

-<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />

 To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:

@@ -27,8 +27,8 @@ The Desktop computer is only used to display the virtual vehicle.
 - SIH for FW (airplane) and VTOL tailsitter are supported from PX4 v1.13.
 - SIH as SITL (without hardware) from PX4 v1.14.
 - SIH for Standard VTOL from PX4 v1.16.
- SIH for MC Hexacopter X from `main` (expected to be PX4 v1.17).
- SIH for Ackermann Rover from `main`.
+- SIH for MC Hexacopter X from PX4 v1.17.
+- SIH for Ackermann Rover from PX4 v1.17.

 ### Benefits

@@ -339,6 +339,7 @@ You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../adva
 Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.

 You may also configure the output as desired:
+
 - Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
 - Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
 - Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
@@ -0,0 +1,170 @@
+# uORB Documentation Standard
+
+This topic demonstrates and explains how to document uORB messages.
+
+::: info
+At time of writing many topics have not been updated.
+:::
+
+## Overview
+
+The [AirspeedValidated](../msg_docs/AirspeedValidated.md) message shown below is a good example of a uORB topic that has been documented to the current standard.
+
+```py
+# Validated airspeed
+#
+# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+# Used by controllers, estimators and for airspeed reporting to operator.
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
+
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1 # Sensor 1
+int8 SOURCE_SENSOR_2 = 2 # Sensor 2
+int8 SOURCE_SENSOR_3 = 3 # Sensor 3
+int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
+
+float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
+float32 throttle_filtered # [-] Filtered fixed-wing throttle
+float32 pitch_filtered # [rad] Filtered pitch
+```
+
+The main things to note are:
+
+- Documentation is added using formatted uORB comments.
+  Any text on a line after the `#` character is a comment, except for lines that start with the text `# TOPIC` (which indicates a multi-topic message).
+- The message starts with a comment block consisting of short description (mandatory), followed by a longer description and then a space.
+- Field and constants almost all have comments.
+  The comments are added on the same line as the field/constant, separated by one space.
+- Fields:
+  - Comments are all on the same line as the field (extra lines become internal comments).
+  - Comments start with metadata, such as the units (`[m/s]`, `[rad/s]`) or allowed values (`[@enum SOURCE]`), and can also list invalid values (`[@invalid NaN]`) and allowed ranges (`[@range min, max]`).
+  - Units are required except for boolean fields or for fields with an enum value.
+    `[-]` is used to indicate unitless fields.
+  - Comments follow the metadata after a space.
+    The line should not be terminated in a full stop.
+- Constants:
+  - Don't have metadata: the description follows the comment marker after one space.
+  - Some constants, such as `MESSAGE_VERSION`, don't need documentation because they are standardized.
+  - Constants with the same name prefix are grouped together as enums after the associated field.
+
+The following sections expand on the allowed formats.
+
+## Message Description
+
+Every message should start with a comment block that describes the message:
+
+```py
+# Short description (mandatory)
+#
+# Longer description for the message if needed.
+# Can be multiline, and should have punctuation.
+# Should be followed by an empty line.
+```
+
+This consists of a mandatory short description, optionally followed by an empty comment line, and then a longer description.
+
+Short description (mandatory):
+
+- A succinct explanation for the purpose of the message.
+- Usually just one line without a terminating full stop.
+- Minimally it may just mirror the message name.
+- For example, [`AirspeedValidated`](../msg_docs/AirspeedValidated.md) above has the short description `Validated airspeed`.
+
+Long description (Optional):
+
+- Additional context required to understand how the message is used.
+- In particular this should be anything that can't be inferred from the name, fields or constants, such as the publishers and expected consumers.
+  It might also cover whether the message is only used for a particular frame type or mode.
+- The message is often multiline and contains punctuation.
+- May include comment lines that are empty, in order to indicate paragraphs.
+
+Both short and long descriptions may be multi-line.
+Single line descriptions should not include a terminating full stop, but multiline comments should do so.
+
+The message description block ends at the first non-comment line, which should be an empty line, but might be a field or constant.
+Any subsequent comment lines are considered "internal comments".
+
+### Fields
+
+A typical field comment looks like this:
+
+```py
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+```
+
+Field comments must all be on the same line as the field, and consist of optional metadata followed by a description:
+
+- `metadata` (Optional)
+  - Information about the field units and allowed values:
+    - `[<unit>]`
+      - The unit of measurement inside square brackets (note, no `@` delineator indicates a unit), such as `[m]` for metres.
+        - Allowed units include: `m`, `m/s`, `m/s^2`, `rad`, `rad/s`, `rpm`, `V`, `A`, `mA`, `mAh`, `W`, `dBm`, `s`, `ms`, `us`, `Ohm`, `MB`, `Kb/s`, `degC`, `Pa`.
+        - Units are required unless clearly invalid, such as when the field is a boolean, or is an enum value.
+        - Unitless values should be specified as `[-]`.
+          Note though that units are not required for boolean fields or enum fields.
+    - `[@enum <enum_name>]`
+      - The `enum_name` gives the prefix of constant values in the message that can be assigned to the field.
+        Note that enums in uORB are just a naming convention: they are not explicitly declared.
+        Multiple enum names allowed for a field indicates a possible error in the field design.
+    - `[@range <lower_value>, <upper_value>]`
+      - The allowed range of the field, specified as a `lower_value` and/or an `upper_value`.
+        Either value can be omitted to indicate an unbounded upper or lower value.
+        For example `[@range 0, 3]`, `[@range 5.3, ]`, `[@range , 3]`.
+    - `[@invalid <value> <description>]`
+      - The `value` to set the field to indicate that the field doesn't contain valid data, such as `[@invalid NaN]`.
+        The `description` is optional, and might be used to indicate the conditions under which data is invalid.
+    - `[@frame <value>]`
+      - The `frame` in which the field is set, such as `[@frame NED]` or `[@frame Body]`.
+- `description`
+  - A concise description of the purpose of the field, and including any important information that can't be inferred from the name!
+    Use a capital first letter, and omit the full stop if the description is a single sentence.
+    Multiple sentences may also omit the final full stop.
+
+### Constants
+
+Constants follow the documentation conventions as fields except they only have a description (no metadata).
+Documentation for a constant might look like this:
+
+```py
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+```
+
+Constants are often grouped together following a field as enum values.
+Note below how the prefix `SOURCE` for the values is specified as an enum against the _field_.
+
+```py
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+...
+```
+
+A small number of constants have a standardised meaning and do not require documentation.
+These are:
+
+- `ORB_QUEUE_LENGTH`
+- `MESSAGE_VERSION`
+
+### `# TOPICS`
+
+The prefix `# TOPICS` is used to indicate topic names for multi-topic messages.
+For example, the [VehicleGlobalPosition.msg](../msg_docs/VehicleGlobalPosition.md) message definition is used to define the topic ids as shown:
+
+```text
+# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
+# TOPICS estimator_global_position
+# TOPICS aux_global_position
+```
+
+At time of writing there is no format for documenting these.
@@ -315,15 +315,17 @@
    - [ADSB/FLARM (트래픽 회피)](config/actuators.md)
    - [ESC 보정](advanced_config/esc_calibration.md)
    - [ESC와 모터](peripherals/esc_motors.md)
+      - [ESC Protocols](esc/esc_protocols.md)
      - [PWM ESC와 서보](peripherals/pwm_escs_and_servo.md)
      - [DShot ESCs](peripherals/dshot.md)
      - [OneShot ESCs and Servos](peripherals/oneshot.md)
      - [DroneCAN ESCs](dronecan/escs.md)
-        - [Zubax Telega](dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](dronecan/sapog.md)
-          - [Holybro Kotleta](dronecan/holybro_kotleta.md)
-      - [Vertiq](peripherals/vertiq.md)
-      - [VESC](peripherals/vesc.md)
+      - [ARK 4IN1 ESC](esc/ark_4in1_esc.md)
+      - [Holybro Kotleta](dronecan/holybro_kotleta.md)
+      - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
+      - [VESC Project ESCs](peripherals/vesc.md)
+      - [Zubax Telega ESCs](dronecan/zubax_telega.md)

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

 ## Neural Network PX4 Firmware

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

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

 Supported flight controllers include:

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

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

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

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

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

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

 ## 배선

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

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

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

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

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

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

 ### 커넥터

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

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

 ## 펌웨어

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

 ## 개요

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

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

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

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

 ## 보정 절차

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

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

 :::

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

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

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

 6. 드론의 모든 방향에 대해 보정 과정을 반복합니다.

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

 ### Partial "Quick" Calibration

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

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

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

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

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

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

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

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

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

 - [PX4 Sapog ESC Firmware](sapog.md)
  - [Holybro Kotleta 20](holybro_kotleta.md)
--- a/Show More
+++ b/Show More