Merge branch 'main' into dev-boat

feat: update gz commit
feat: reverted changes to old boat on ROMFS
2026-05-24 05:17:35 +08:00 · 2026-01-14 11:53:54 -08:00 · 2026-01-14 11:52:02 -08:00 · 2026-01-14 11:50:08 -08:00 · 2026-01-14 11:45:39 -08:00 · 2026-01-14 11:45:20 -08:00
3512 changed files with 42014 additions and 105706 deletions
@@ -105,79 +105,6 @@ Checks:          '*,
                  -readability-redundant-declaration,
                  -readability-static-accessed-through-instance,
                  -readability-static-definition-in-anonymous-namespace,
-                  -altera-struct-pack-align,
-                  -bugprone-easily-swappable-parameters,
-                  -concurrency-mt-unsafe,
-                  -cppcoreguidelines-avoid-const-or-ref-data-members,
-                  -cppcoreguidelines-macro-usage,
-                  -cppcoreguidelines-non-private-member-variables-in-classes,
-                  -hicpp-uppercase-literal-suffix,
-                  -llvm-qualified-auto,
-                  -misc-non-private-member-variables-in-classes,
-                  -misc-use-anonymous-namespace,
-                  -modernize-concat-nested-namespaces,
-                  -readability-const-return-type,
-                  -readability-identifier-length,
-                  -readability-isolate-declaration,
-                  -readability-qualified-auto,
-                  -readability-redundant-access-specifiers,
-                  -cppcoreguidelines-avoid-do-while,
-                  -misc-include-cleaner,
-                  -misc-const-correctness,
-                  -llvm-else-after-return,
-                  -readability-function-cognitive-complexity,
-                  -cppcoreguidelines-init-variables,
-                  -bugprone-reserved-identifier,
-                  -cert-dcl37-c,
-                  -cert-dcl51-cpp,
-                  -modernize-use-nodiscard,
-                  -misc-confusable-identifiers,
-                  -cert-err33-c,
-                  -readability-redundant-inline-specifier,
-                  -readability-uppercase-literal-suffix,
-                  -bugprone-narrowing-conversions,
-                  -cppcoreguidelines-narrowing-conversions,
-                  -bugprone-switch-missing-default-case,
-                  -cppcoreguidelines-avoid-goto,
-                  -hicpp-avoid-goto,
-                  -bugprone-branch-clone,
-                  -performance-enum-size,
-                  -readability-avoid-nested-conditional-operator,
-                  -cppcoreguidelines-prefer-member-initializer,
-                  -cppcoreguidelines-explicit-virtual-functions,
-                  -readability-convert-member-functions-to-static,
-                  -readability-make-member-function-const,
-                  -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-multi-level-implicit-pointer-conversion,
-                  -bugprone-signed-char-misuse,
-                  -cppcoreguidelines-avoid-non-const-global-variables,
-                  -cppcoreguidelines-use-default-member-init,
-                  -hicpp-multiway-paths-covered,
-                  -hicpp-named-parameter,
-                  -misc-header-include-cycle,
-                  -misc-no-recursion,
-                  -performance-no-int-to-ptr,
-                  -readability-avoid-return-with-void-value,
-                  -readability-avoid-unconditional-preprocessor-if,
-                  -readability-delete-null-pointer,
-                  -readability-redundant-casting,
-                  -readability-redundant-member-init,
-                  -readability-reference-to-constructed-temporary,
-                  -readability-simplify-boolean-expr,
-                  -cert-msc32-c,
-                  -cert-msc33-c,
-                  -cert-msc51-cpp,
-                  -cert-str34-c,
-                  -cppcoreguidelines-macro-to-enum,
-                  -modernize-macro-to-enum,
-                  -abseil-string-find-str-contains,
-                  -bugprone-suspicious-include,
-                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
-                  -clang-analyzer-optin.core.EnumCastOutOfRange,
-                  -modernize-type-traits,
-                  -misc-definitions-in-headers,
-                  -bugprone-casting-through-void,
-                  -readability-redundant-string-init,
                 '
 WarningsAsErrors: '*'
 CheckOptions:
@@ -21,10 +21,8 @@ applyTo: "docs/en/**"
  - 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`).
-    Backticks are optional for hyperlinked CLI commands and tool names.
-  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
-    Emphasis is optional for hyperlinked applications.
 - **Structure:** End every line at the end of a sentence (Semantic Line Breaks).

 ## Linking & Navigation
@@ -2,37 +2,6 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-#
-# ===================================================================================
-# RELEASE UPLOAD LOGIC
-# ===================================================================================
-# This workflow handles building firmware and uploading to S3 + GitHub Releases.
-#
-# S3 Bucket Structure (s3://px4-travis/Firmware/):
-#   - master/          <- Latest main branch build (for QGC compatibility)
-#   - stable/          <- Latest stable release, controlled by 'stable' branch
-#   - beta/            <- Latest pre-release, controlled by 'beta' branch
-#   - vX.Y.Z/          <- Archived stable release
-#   - vX.Y.Z-beta1/    <- Archived pre-release
-#
-# Trigger Behavior:
-#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
-#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
-#   - Branch main        -> Upload to: master/ (for QGC compatibility)
-#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
-#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
-#   - Branch release/**  -> Build only, no S3 upload (CI validation)
-#   - Pull requests      -> Build only, no S3 upload (CI validation)
-#
-# GitHub Releases:
-#   - All version tags create a draft GitHub Release
-#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
-#
-# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
-# corresponding branch pushes control those directories. This prevents
-# pre-release tags from accidentally overwriting stable firmware (#26340)
-# and avoids race conditions between tag and branch builds.
-# ===================================================================================

 name: Build all targets

@@ -60,7 +29,6 @@ concurrency:
 permissions:
  contents: write
  actions: read
-  packages: read

 jobs:
  group_targets:
@@ -126,9 +94,6 @@ jobs:
      fail-fast: false
    container:
      image: ${{ matrix.container }}
-      credentials:
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
@@ -194,13 +159,6 @@ jobs:
          path: ~/.ccache
          key: ${{ steps.cc_restore.outputs.cache-primary-key }}

-  # ===========================================================================
-  # ARTIFACT UPLOAD JOB
-  # ===========================================================================
-  # Uploads build artifacts to S3 and creates GitHub Releases.
-  # Runs for version tags (v*), main, stable, and beta branch pushes.
-  # See header comments for full upload logic documentation.
-  # ===========================================================================
  artifacts:
    name: Upload Artifacts
    # runs-on: ubuntu-latest
@@ -219,31 +177,31 @@ jobs:
      - name: Choose Upload Location
        id: upload-location
        run: |
+          # Determine upload location based on branch or tag with the following considerations:
+          # Destination: AWS S3 bucket px4-travis in folder Firmware/
+          # - If branch is main -> upload to master/
+          #   - Older versions of QGC are hardocded to look for master/
+          # - If branch is stable or beta -> upload to stable/ or beta/
+          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
+          #   - Also update stable/ to point to the same version
+          #.  - Older versions of QGC are hardocded to look for stable/
+          # - If a pull request -> do not upload
          set -euo pipefail

          ref="${GITHUB_REF}"
          branch=${{ needs.group_targets.outputs.branchname  }}
          location="$branch"
-          is_prerelease="false"

-          # Main branch uploads to "master" for QGC backward compatibility
          if [[ "$branch" == "main" ]]; then
            location="master"
          fi

-          # Version tags: upload to versioned directory (e.g., v1.16.1/)
          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
            tag="${ref#refs/tags/}"
            location="$tag"
-
-            # Pre-release tags contain -alpha, -beta, or -rc suffix
-            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
-              is_prerelease="true"
-            fi
          fi

          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT

      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
        uses: jakejarvis/s3-sync-action@master
@@ -257,13 +215,28 @@ jobs:
          SOURCE_DIR: artifacts/
          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/

-      # Create a draft GitHub Release for all version tags
-      # Pre-releases are automatically marked as such
+      # if we are uploading artifacts to a versioned folder
+      # we should also update the stable folder in the s3 bucket
+      - name: Uploading Artifacts to S3 [stable]
+        uses: jakejarvis/s3-sync-action@master
+        if: startsWith(github.ref, 'refs/tags/v')
+        with:
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/stable/
+
+      # if build is a release triggered by a versioned tag then create a github release
+      # and upload the build artifacts. A draft release is created so that the release
+      # can be reviewed before publishing
      - name: Upload Artifacts to GitHub Release
        uses: softprops/action-gh-release@v2
        if: startsWith(github.ref, 'refs/tags/v')
        with:
          draft: true
-          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
          files: artifacts/*.px4
          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -19,10 +19,6 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    strategy:
      fail-fast: false
      matrix:
@@ -39,17 +35,20 @@ jobs:
          "px4_sitl_allyes",
          "module_documentation",
        ]
-
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0

      - name: Building [${{ matrix.check }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}

      - name: Uploading Coverage to Codecov.io
        if: contains(matrix.check, 'coverage')
@@ -1,4 +1,4 @@
-name: Static Analysis
+name: Clang Tidy

 on:
  push:
@@ -11,59 +11,20 @@ on:
      - '**'
    paths-ignore:
      - 'docs/**'
-
-permissions:
-  contents: read
-
 jobs:
-  clang_tidy:
-    name: Clang-Tidy
-    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+  build:
+    runs-on: ubuntu-latest
    steps:
-    - uses: runs-on/action@v2
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
-        fetch-tags: true

-    - name: Configure Git Safe Directory
-      run: git config --system --add safe.directory '*'
-
-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - name: Testing (clang-tidy)
+      uses: addnab/docker-run-action@v3
      with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
-
-    - name: Configure Compiler Cache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
-
-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
-
-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy
@@ -1,148 +0,0 @@
-name: Commit Quality
-
-on:
-  pull_request:
-    types: [opened, edited, synchronize, reopened]
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  PR_NUMBER: ${{ github.event.pull_request.number }}
-  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
-
-jobs:
-  pr-title:
-    name: PR Title
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR title
-        id: check
-        run: |
-          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
-          exit 1
-
-  commit-messages:
-    name: Commit Messages
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check commit messages
-        id: check
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          gh api \
-            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
-            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-          # Check for warnings (non-empty markdown on exit 0)
-          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
-            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
-          else
-            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
-          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::Commit message errors found. See the PR comment for details."
-          exit 1
-
-  pr-body:
-    name: PR Description
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        if: env.IS_FORK == 'false'
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR body
-        id: check
-        env:
-          PR_BODY: ${{ github.event.pull_request.body }}
-        run: |
-          message=""
-          if [ -z "$PR_BODY" ]; then
-            message="PR description is empty. Please add a summary of the changes."
-            echo "::warning::PR description is empty."
-          else
-            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
-            if [ -z "$cleaned" ]; then
-              message="PR description contains only template comments. Please fill in the details."
-              echo "::warning::PR description contains only template comments."
-            fi
-          fi
-          echo "message=$message" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ -n "${{ steps.check.outputs.message }}" ]; then
-            printf '%s\n' \
-              "## PR Description (advisory)" \
-              "" \
-              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
-              "" \
-              "${{ steps.check.outputs.message }}" \
-              "" \
-              "A good PR description helps reviewers understand what changed and why." \
-              "" \
-              "---" \
-              "*This comment will be automatically removed once the issue is resolved.*" \
-            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
-          fi
@@ -42,7 +42,7 @@ jobs:
      shell: cmake -P {0}
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
      uses: actions/cache@v4
      with:
@@ -130,8 +130,8 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
@@ -1,416 +0,0 @@
-# Docs - Orchestrator
-#
-# Trigger paths:
-#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
-#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
-#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
-#
-# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
-# require safe.directory + fetch-depth: 0 for git operations.
-
-name: Docs - Orchestrator
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/**"
-      - "src/**"
-      - "msg/**"
-      - "ROMFS/**"
-      - "Tools/module_config/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  pull_request:
-    paths:
-      - "docs/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  workflow_dispatch:
-
-concurrency:
-  group: docs-orchestrator-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  # =============================================================================
-  # Detect Changes (PR only)
-  # =============================================================================
-  detect-changes:
-    name: "T1: Detect Changes"
-    if: github.event_name == 'pull_request'
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    outputs:
-      source_changed: ${{ steps.changes.outputs.source }}
-      docs_changed: ${{ steps.changes.outputs.docs }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            source:
-              - 'src/**'
-              - 'msg/**'
-              - 'ROMFS/**'
-              - 'Tools/module_config/**'
-            docs:
-              - 'docs/**'
-
-  # =============================================================================
-  # PR Metadata Regen (conditional - only when PR touches source files)
-  # =============================================================================
-  pr-metadata-regen:
-    name: "T2: PR Metadata"
-    needs: [detect-changes]
-    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-          retention-days: 1
-
-  # =============================================================================
-  # Push Metadata Regen (main/release branches)
-  # =============================================================================
-  metadata-regen:
-    name: "T2: Metadata Sync"
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    permissions:
-      contents: write
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Install Node.js and Yarn
-        run: |
-          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
-          apt-get install -y nodejs
-          corepack enable
-
-      - name: Format markdown with Prettier
-        run: |
-          cd docs
-          yarn install --frozen-lockfile
-          yarn prettier --write "en/**/*.md"
-
-      - name: Commit and push changes
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add docs/
-          if git diff --staged --quiet; then
-            echo "No changes to commit"
-          else
-            git commit -m "docs: auto-sync metadata [skip ci]
-
-            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
-            git push
-          fi
-
-  # =============================================================================
-  # Link Check
-  # =============================================================================
-  link-check:
-    name: "T2: Link Check"
-    needs: [detect-changes, pr-metadata-regen]
-    if: always() && (github.event_name == 'pull_request')
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-
-      - name: Download metadata artifact
-        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - name: Get changed doc files
-        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          write_output_files: true
-          output_dir: ./logs
-          base_sha: ${{ github.event.pull_request.base.sha }}
-          sha: ${{ github.event.pull_request.head.sha }}
-          files: |
-            docs/en/**/*.md
-
-      - name: Save changed files list
-        run: |
-          mv ./logs/all_changed_files.json ./logs/prFiles.json
-          echo "Changed files:"
-          cat ./logs/prFiles.json
-
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-
-      - name: Run filtered link checker (changed files)
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
-            markdown_link_checker_sc \
-              -r "$GITHUB_WORKSPACE" \
-              -d docs \
-              -e en \
-              -f ./logs/prFiles.json \
-              -i assets \
-              -u docs.px4.io/main/ \
-              > ./logs/filtered-link-check-results.md || true
-          fi
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
-          fi
-          cat ./logs/filtered-link-check-results.md
-
-      - name: Run full link checker
-        run: |
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/link-check-results.md || true
-          cat ./logs/link-check-results.md
-
-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
-
-      - name: Upload link check results
-        uses: actions/upload-artifact@v4
-        with:
-          name: link-check-results
-          path: logs/
-          retention-days: 7
-
-  # =============================================================================
-  # Build Site
-  # =============================================================================
-  build-site:
-    name: "T3: Build Site"
-    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
-    if: >-
-      always() &&
-      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
-      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
-      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
-
-      - name: Download metadata artifact (PR)
-        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          elif [[ "$branch" =~ ^release/ ]]; then
-            version="v${branch#release/}"
-          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
-            version="main"
-          else
-            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
-            exit 1
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  # =============================================================================
-  # Deploy to AWS (push + workflow_dispatch)
-  # =============================================================================
-  deploy-aws:
-    name: "T4: Deploy"
-    needs: [metadata-regen, build-site]
-    if: >-
-      always() &&
-      needs.metadata-regen.result == 'success' &&
-      needs.build-site.result == 'success' &&
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
-    permissions:
-      id-token: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"
@@ -34,13 +34,13 @@ jobs:
          upload_sources: false
          upload_translations: false
          download_translations: true
-          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
+          commit_message: New Crowdin translations - ${{ matrix.lc }}
          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
          crowdin_branch_name: main
          create_pull_request: true
          pull_request_base_branch_name: 'main'
-          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
-          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
          pull_request_labels: 'Documentation 📑'
          pull_request_reviewers: hamishwillee
          download_language: ${{ matrix.lc }}
@@ -0,0 +1,116 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"
@@ -0,0 +1,85 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english doc files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v46.0.5
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "$ALL_CHANGED_FILES"
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
+        env:
+          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          markdown_link_checker_sc \
+            -r "$GITHUB_WORKSPACE" \
+            -d docs \
+            -e en \
+            -f ./logs/prFiles.json \
+            -i assets \
+            -u docs.px4.io/main/ \
+            > ./logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "$ERRORS"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+
+      - name: Save PR number
+        run: echo "$PR_NUMBER" > ./pr/pr_number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/
@@ -0,0 +1,111 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "$ERRORS"
+          echo "$PRNUM"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace
@@ -15,21 +15,21 @@ concurrency:
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
          make tests TESTFILTER=EKF

-      - name: Check if there is a functional change
-        run: git diff --exit-code
-        working-directory: src/modules/ekf2/test/change_indication
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication
@@ -8,47 +8,40 @@ on:
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
-
    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
          make tests TESTFILTER=EKF

-      - name: Check if there exists diff and save result in variable
-        id: diff-check
-        working-directory: src/modules/ekf2/test/change_indication
-        run: |
-          if git diff --quiet; then
-            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
-          else
-            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
-          fi
+    - name: Check if there exists diff and save result in variable
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
+      working-directory: src/modules/ekf2/test/change_indication

-      - name: auto-commit any changes to change indication
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
-        with:
-          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
-          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
-          commit_message: |
-            [AUTO COMMIT] update change indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+        commit_message: |
+          '[AUTO COMMIT] update change indication'

-            See .github/workflows/ekf_update_change_indicator.yml for more details
+          See .github/workflopws/ekf_update_change_indicator.yml for more details

-      - name: if there is a functional change, fail check
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        run: exit 1
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
+      run: exit 1
@@ -19,27 +19,25 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
    strategy:
      fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box"}

    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build SITL and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_test_mission.test \
-                mission:=MC_mission_box \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
@@ -19,26 +19,27 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}

    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build PX4 and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_tests_offboard_posctl.test \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
@@ -19,28 +19,27 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    strategy:
      matrix:
-        config:
-          - px4_fmu-v5_default
+        config: [
+          px4_fmu-v5_default,
+          ]

    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: Build PX4 and Run Test [${{ matrix.config }}]
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
          make ${{ matrix.config }} nuttx_context
-
          echo "Check that the config option is set"
          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -90,9 +90,6 @@ jobs:
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
@@ -33,10 +33,8 @@ jobs:
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
-          # transitions). Re-enable once the test infrastructure is stabilized.
-          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

    steps:
      - uses: actions/checkout@v4
@@ -109,6 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata
-_emscripten_sdk/
@@ -109,9 +109,3 @@
 [submodule "src/lib/rl_tools/rl_tools"]
 	path = src/lib/rl_tools/rl_tools
 	url = https://github.com/rl-tools/rl-tools.git
-[submodule "libmodal-json"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
-[submodule "libmodal-pipe"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git
@@ -336,11 +336,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x25-evo_default
-    cuav_x25-super_default:
-      short: cuav_x25-super
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-super_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
@@ -1,27 +0,0 @@
-cff-version: 1.2.0
-title: "PX4 Autopilot"
-message: "If you use PX4 in your research, please cite it using this metadata."
-type: software
-authors:
-  - family-names: Meier
-    given-names: Lorenz
-  - name: "The PX4 Contributors"
-repository-code: "https://github.com/PX4/PX4-Autopilot"
-url: "https://px4.io"
-abstract: >-
-  PX4 is an open-source autopilot stack for drones and
-  unmanned vehicles. It supports multirotors, fixed-wing,
-  VTOL, rovers, and many more platforms. PX4 runs on both
-  RTOS and POSIX-compatible operating systems.
-keywords:
-  - autopilot
-  - drone
-  - uav
-  - flight-controller
-  - robotics
-  - ros2
-license: BSD-3-Clause
-identifiers:
-  - type: doi
-    value: "10.5281/zenodo.595432"
-    description: "Zenodo concept DOI (resolves to latest version)"
@@ -1,170 +1,44 @@
-# Contributing to PX4-Autopilot
+# Contributing to PX4 Firmware

-We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.

-## Fork the project, then clone your repo
+### Fork the project, then clone your repo

-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.

-## Create a feature branch
+### Create a feature branch

-Always branch off `main` for new features.
+*Always* branch off main for new features.

 ```
 git checkout -b mydescriptivebranchname
 ```

-## Edit and build the code
+### Edit and build the code

-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.

-### Coding standards
+### Commit your changes

-All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
+Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)

-Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
-
-## Commit message convention
-
-PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
-
-### Format
+**Example:**

 ```
-type(scope): short description of the change
+Change how the attitude controller works
+
+- Fixes rate feed forward
+- Allows a local body rate override
+
+Fixes issue #123
 ```

-| Part | Rule |
-|------|------|
-| **type** | Category of change (see types table below) |
-| **scope** | The module, driver, board, or area of PX4 affected |
-| **`!`** (optional) | Append before `:` to mark a breaking change |
-| **description** | What the change does, at least 5 characters, written in imperative form |
+### Test your changes

-### Types
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.

-| Type | Description |
-|------|-------------|
-| `feat` | A new feature |
-| `fix` | A bug fix |
-| `docs` | Documentation only changes |
-| `style` | Formatting, whitespace, no code change |
-| `refactor` | Code change that neither fixes a bug nor adds a feature |
-| `perf` | Performance improvement |
-| `test` | Adding or correcting tests |
-| `build` | Build system or external dependencies |
-| `ci` | CI configuration files and scripts |
-| `chore` | Other changes that don't modify src or test files |
-| `revert` | Reverts a previous commit |
+### Push your changes

-### Scopes
-
-The scope identifies which part of PX4 is affected. Common scopes:
-
-| Scope | Area |
-|-------|------|
-| `ekf2` | Extended Kalman Filter (state estimation) |
-| `mavlink` | MAVLink messaging protocol |
-| `commander` | Commander and mode management |
-| `navigator` | Mission, RTL, Land, and other navigation modes |
-| `sensors` | Sensor drivers and processing |
-| `drivers` | Hardware drivers |
-| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
-| `mc_att_control` | Multicopter attitude control |
-| `mc_pos_control` | Multicopter position control |
-| `fw_att_control` | Fixed-wing attitude control |
-| `vtol` | VTOL-specific logic |
-| `actuators` | Mixer and actuator output |
-| `battery` | Battery monitoring and estimation |
-| `logger` | On-board logging |
-| `param` | Parameter system |
-| `simulation` | SITL, Gazebo, SIH |
-| `ci` | Continuous integration and workflows |
-| `docs` | Documentation |
-| `build` | CMake, toolchain, build system |
-| `uorb` | Inter-module messaging |
-
-For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
-
-### Breaking changes
-
-Append `!` before the colon to indicate a breaking change:
-
-```
-feat(ekf2)!: remove deprecated height fusion API
-```
-
-### Good commit messages
-
-```
-feat(ekf2): add height fusion timeout
-fix(mavlink): correct BATTERY_STATUS_V2 parsing
-refactor(navigator): simplify RTL altitude logic
-ci(workflows): migrate to reusable workflows
-docs(ekf2): update tuning guide
-feat(boards/px4_fmu-v6x)!: remove deprecated driver API
-perf(mc_rate_control): reduce loop latency
-```
-
-### Commits to avoid
-
-These will be flagged by CI and should be squashed or reworded before merging:
-
-```
-fix                                    # too vague, no type or scope
-update                                 # too vague, no type or scope
-ekf2: fix something                   # missing type prefix
-apply suggestions from code review     # squash into parent commit
-do make format                         # squash into parent commit
-WIP: trying something                  # not ready for main
-oops                                   # not descriptive
-```
-
-### PR titles
-
-The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
-
-### Merge policy
-
-Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
-
-### Cleaning up commits
-
-If CI flags your commit messages, you can fix them with an interactive rebase:
-
-```bash
-# Squash all commits into one:
-git rebase -i HEAD~N   # replace N with the number of commits
-# mark all commits except the first as 'squash' or 'fixup'
-# reword the remaining commit to follow the format
-git push --force-with-lease
-
-# Or reword specific commits:
-git rebase -i HEAD~N
-# mark the bad commits as 'reword'
-git push --force-with-lease
-```
-
-## Test your changes
-
-PX4 is safety-critical software. All contributions must include adequate testing where practical:
-
- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
-
-### Types of tests
-
-| Test type | When to use | How to run |
-|-----------|-------------|------------|
-| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
-| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
-| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
-
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
-
-## Push your changes
-
-Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
+Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).

 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)
@@ -101,7 +101,6 @@ pipeline {
            echo $0;
            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
            cd _emscripten_sdk;
-            git checkout 4.0.15;
            ./emsdk install latest;
            ./emsdk activate latest;
            cd ..;
@@ -332,7 +332,6 @@ bootloaders_update: \
 	cuav_7-nano_bootloader \
 	cuav_fmu-v6x_bootloader \
 	cuav_x25-evo_bootloader \
-	cuav_x25-super_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -413,7 +412,7 @@ tests:
 	$(call cmake-build,px4_sitl_test)

 # work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch,negative
+LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@@ -493,29 +492,13 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang

-# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
-# - All submodules (external code we consume, not edit)
-# - Test code (allowed looser style)
-# - Example code (educational, not production)
-# - Vendored third-party code (e.g., CMSIS_5)
-# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
-# - GPIO excluded here (NuttX platform headers)
-# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
-#   because CMake Unity Builds merge sources into a generated .cxx under build/
-#
-# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
-# Submodules are automatically excluded - no action needed when adding new ones.
-CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
-CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
-CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
-
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .

 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .

 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -615,10 +598,3 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
-
-# Generate reference documentation for uORB messages
-.PHONY: msg_docs
-msg_docs:
-	$(call colorecho,'Generating uORB message reference docs')
-	@mkdir -p build/msg_docs
-	@./Tools/msg/generate_msg_docs.py -d build/msg_docs
@@ -1,110 +1,62 @@
-<p align="center">
-  <a href="https://px4.io">
-    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
-  </a>
-</p>
+# PX4 Drone Autopilot

-<p align="center">
-  <em>The autopilot stack the industry builds on.</em>
-</p>
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)

-<p align="center">
-  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
-  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
-  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
-  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
-  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
-</p>
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

---
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

-## About
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

-## Why PX4
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)

-**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
+## Releases

-**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).

-**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
+## Building a PX4 based drone, rover, boat or robot

-**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!

-## Supported Vehicles

-<table>
-  <tr>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_multicopter/">
-        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
-        <sub>Multicopter</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_plane/">
-        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
-        <sub>Fixed Wing</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_vtol/">
-        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
-        <sub>VTOL</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_rover/">
-        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
-        <sub>Rover</sub>
-      </a>
-    </td>
-  </tr>
-</table>
+## Changing Code and Contributing

-<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-## Quick Start
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!

-```bash
-git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-cd PX4-Autopilot
-make px4_sitl
-```

-> [!NOTE]
-> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
+## Weekly Dev Call

-## Documentation & Resources
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).

-| Resource | Description |
-| --- | --- |
-| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
-| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
-| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
-| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
-| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
-| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).

-## Community

- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
+## Maintenance Team

-## Contributing
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.

-We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).

-## Governance
+## Supported Hardware

-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

-<p align="center">
-  <a href="https://www.dronecode.org/">
-    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
-  </a>
-</p>
+## Project Governance
+
+The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
+
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<div style="padding:10px">&nbsp;</div>
@@ -34,7 +34,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 param set SIH_VEHICLE_TYPE 0
@@ -44,8 +44,7 @@ param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 # Rate controllers
 param set-default FW_RR_P 0.0500
@@ -11,8 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters

 param set-default SENS_EN_GPSSIM 1
@@ -27,8 +27,7 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60
@@ -44,5 +44,4 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=ocean}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=boat}
+
+param set-default SIM_GZ_EN 1
+
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS0_TRQ_Y 1
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_SV_FUNC1 201
@@ -44,6 +44,8 @@ param set-default FW_T_SINK_MIN 3

 param set-default FW_W_EN 1

+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_PITCH_MIN -5
-param set-default VT_F_TRANS_THR 1
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0
@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -19,6 +19,5 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3

 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_MAX_PITCH 45
-param set-default MNT_MIN_PITCH -135
+param set-default MNT_RANGE_PITCH 180
 param set-default MNT_RANGE_YAW 720
@@ -26,6 +26,7 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 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 # We don't have ESCs - but maybe we need this later?

 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -41,21 +42,23 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255

-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AX -1
+param set-default CA_ROTOR0_AY 1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
+#param set-default CA_ROTOR0_PZ 0.0

-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AX -1
+param set-default CA_ROTOR1_AY -1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
+#param set-default CA_ROTOR1_PZ 0.0

 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -64,6 +67,7 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
+#param set-default CA_ROTOR2_PZ 0.0

 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -75,7 +79,7 @@ param set-default CA_ROTOR3_PZ 0.06

 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_AZ 1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -99,7 +103,7 @@ param set-default CA_ROTOR6_PZ 0

 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ -1
+param set-default CA_ROTOR7_AZ 1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22
@@ -28,6 +28,7 @@ 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
@@ -28,6 +28,7 @@ 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
@@ -111,6 +111,8 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

+	40000_gz_boat
+
 	50000_gz_rover_differential
 	51000_gz_rover_ackermann
 	52000_gz_rover_mecanum
@@ -2,8 +2,7 @@
 # shellcheck disable=SC2154

 # EKF2 specifics
-param set-default SENS_GPS0_DELAY 10
-param set-default SENS_GPS1_DELAY 10
+param set-default EKF2_GPS_DELAY 10
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0

@@ -119,11 +119,10 @@ else
 	param set SYS_AUTOCONFIG 1
 fi

-# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
-if param greater SYS_AUTOCONFIG 0
+if param compare SYS_AUTOCONFIG 1
 then
-	# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
-	param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi

@@ -123,9 +123,3 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
-
-if(CONFIG_DRIVERS_VTXTABLE)
-	px4_add_romfs_files(
-		rc.vtxtable
-	)
-endif()
@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -2,7 +2,7 @@
 #
 # @name HolyBro QAV250
 #
-# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini
+# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
 #
 # @type Quadrotor x
 # @class Copter
@@ -47,9 +47,8 @@ param set-default EKF2_BCOEF_Y 25.5

 param set-default EKF2_DRAG_CTRL 1

-param set-default SENS_GPS0_DELAY 100
-param set-default SENS_GPS1_DELAY 100
-param set-default SENS_GPS0_OFFX 0.06
+param set-default EKF2_GPS_DELAY 100
+param set-default EKF2_GPS_POS_X 0.06
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1
+# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
 #
 # @type Rover
 # @class Rover
@@ -22,9 +22,6 @@

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

-# Overwrite DDS AG IP to `192.168.0.1`
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -10,6 +10,9 @@ set VEHICLE_TYPE uuv
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12

+# 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
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# VTX table loading script.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-vtxtable load
@@ -191,8 +191,8 @@ else
 	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -479,19 +479,6 @@ else
 		pwm_out start
 	fi

-	#
-	# Optional UAVCAN/DroneCAN or Cyphal
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		uavcan start
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -520,11 +507,6 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

-	if param greater -s ZENOH_ENABLE 0
-	then
-		zenoh start
-	fi
-
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

@@ -630,16 +612,6 @@ else
 	fi
 	unset RC_LOGGING

-	#
-	# Start the VTX services.
-	#
-	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-	if [ -f ${RC_VTXTABLE} ]
-	then
-		. ${RC_VTXTABLE}
-	fi
-	unset RC_VTXTABLE
-
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
 	#
@@ -656,6 +628,27 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+
 #
 # End of autostart.
 #
@@ -2,40 +2,24 @@

 ## Supported Versions

-The following versions receive security updates:
+The following is a list of versions the development team is currently supporting.

 | Version | Supported          |
 | ------- | ------------------ |
-| 1.16.x  | :white_check_mark: |
-| < 1.16  | :x:                |
+| 1.4.x   | :white_check_mark: |
+| 1.3.3   | :white_check_mark: |
+| < 1.3   | :x:                |

 ## Reporting a Vulnerability

-We receive security vulnerability reports through GitHub Security Advisories.
+We currently only receive security vulnerability reports through GitHub.

-To begin a report, go to the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository
-and click on the **Security** tab. If you are on mobile, click the **...** dropdown menu, then click **Security**.
+To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
+and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.

-Click **Report a Vulnerability** to open the advisory form. Fill in the advisory details form.
-Make sure your title is descriptive and the description contains all relevant details needed
-to verify the issue. We welcome logs, screenshots, photos, and videos.
+Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive, and the development team can find all of the relevant details needed
+to verify on the description box. We recommend you add as much data as possible. We welcome logs,
+screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.

-At the bottom of the form, click **Submit report**.
-
-## Response Process
-
-1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
-2. **Triage**: We will assess severity and impact and communicate next steps.
-3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
-
-If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
-
-## Secure Development Practices
-
-The PX4 development team applies the following practices to reduce security risk:
-
- **Code review**: All changes require peer review before merging.
- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.
+At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.
@@ -21,13 +21,11 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
-    -path src/lib/rl_tools/rl_tools -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/mc_raptor/blob -prune -o \
    -path test/fuzztest -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -39,8 +37,6 @@ exec find boards msg src platforms test \
    -path src/lib/cdrstream/rosidl -prune -o \
    -path src/modules/zenoh/zenoh-pico -prune -o \
    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
-    -path boards/modalai/voxl2/src/lib/mpa/libmodal-json -prune -o \
-    -path boards/modalai/voxl2/src/lib/mpa/libmodal-pipe -prune -o \
    -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
    -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
    -path src/drivers/ins/sbgecom/sbgECom -prune -o \
@@ -1,331 +0,0 @@
-#!/usr/bin/env python3
-"""Validate commit messages in a PR against conventional commits format.
-
-Reads a JSON array of GitHub commit objects from stdin (as returned by the
-GitHub API's /pulls/{n}/commits endpoint) and checks each message for
-blocking errors and advisory warnings.
-
-With --markdown, outputs a formatted PR comment body instead of plain text.
-"""
-
-import json
-import sys
-
-from conventional_commits import (
-    EXEMPT_PREFIXES,
-    parse_header,
-)
-
-# Blocking: prefixes that indicate unsquashed fixup commits
-FIXUP_PREFIXES = ('fixup!', 'squash!', 'amend!')
-
-# Blocking: single-word throwaway messages (case-insensitive exact match)
-THROWAWAY_WORDS = frozenset({
-    'fix', 'fixed', 'fixes',
-    'update', 'updated', 'updates',
-    'test', 'tests', 'testing',
-    'tmp', 'temp',
-    'oops', 'wip',
-    'debug', 'cleanup',
-})
-
-# Blocking: debug session leftovers
-DEBUG_KEYWORDS = ('tmate',)
-
-# Warning: review-response messages (case-insensitive substring match)
-REVIEW_RESPONSE_PATTERNS = (
-    'address review',
-    'apply suggestions from code review',
-    'code review',
-)
-
-# Warning: formatter-only commits
-FORMATTER_PATTERNS = (
-    'do make format',
-    'make format',
-    'run formatter',
-    'apply format',
-)
-
-MIN_MESSAGE_LENGTH = 5
-
-
-def check_commit(message: str) -> tuple[list[str], list[str]]:
-    """Return (errors, warnings) for a single commit message."""
-    errors: list[str] = []
-    warnings: list[str] = []
-
-    first_line = message.split('\n', 1)[0].strip()
-    lower = first_line.lower()
-
-    # --- Blocking checks ---
-
-    for prefix in FIXUP_PREFIXES:
-        if lower.startswith(prefix):
-            errors.append(f'Unsquashed commit: starts with "{prefix}"')
-
-    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
-        errors.append('WIP commit should not be merged')
-
-    if len(first_line) < MIN_MESSAGE_LENGTH:
-        errors.append(f'Message too short ({len(first_line)} chars, minimum {MIN_MESSAGE_LENGTH})')
-
-    if first_line.strip() and first_line.strip().lower() in THROWAWAY_WORDS:
-        errors.append(f'Single-word throwaway message: "{first_line.strip()}"')
-
-    for kw in DEBUG_KEYWORDS:
-        if kw in lower:
-            errors.append(f'Debug session leftover: contains "{kw}"')
-
-    # --- Warning checks ---
-
-    for pattern in REVIEW_RESPONSE_PATTERNS:
-        if pattern in lower:
-            warnings.append('Review-response commit')
-            break
-
-    for pattern in FORMATTER_PATTERNS:
-        if pattern in lower:
-            warnings.append('Formatter-only commit')
-            break
-
-    if not parse_header(first_line):
-        # Exempt merge commits
-        for prefix in EXEMPT_PREFIXES:
-            if first_line.startswith(prefix):
-                break
-        else:
-            warnings.append(
-                'Missing conventional commit format '
-                '(e.g. "feat(ekf2): add something")'
-            )
-
-    return errors, warnings
-
-
-def suggest_commit(message: str) -> str | None:
-    """Suggest how to fix a bad commit message."""
-    first_line = message.split('\n', 1)[0].strip()
-    lower = first_line.lower()
-
-    for prefix in FIXUP_PREFIXES:
-        if lower.startswith(prefix):
-            return 'Squash this into the commit it fixes'
-
-    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
-        return 'Reword with a descriptive message (e.g. "feat(scope): what changed")'
-
-    if len(first_line) < MIN_MESSAGE_LENGTH:
-        return 'Reword with a descriptive message (e.g. "feat(ekf2): what changed")'
-
-    if first_line.strip().lower() in THROWAWAY_WORDS:
-        return 'Reword with a descriptive message (e.g. "fix(scope): what changed")'
-
-    return None
-
-
-def format_plain(data: list) -> tuple[bool, bool]:
-    """Print plain text output. Returns (has_blocking, has_warnings)."""
-    has_blocking = False
-    has_warnings = False
-
-    for commit in data:
-        sha = commit.get('sha', '?')[:10]
-        message = commit.get('commit', {}).get('message', '')
-        first_line = message.split('\n', 1)[0].strip()
-
-        errors, warnings = check_commit(message)
-
-        if errors or warnings:
-            print(f"\n  {sha}  {first_line}")
-
-        for err in errors:
-            print(f"    ERROR: {err}")
-            has_blocking = True
-
-        for warn in warnings:
-            print(f"    WARNING: {warn}")
-            has_warnings = True
-
-    if has_blocking:
-        print(
-            "\n"
-            "ERROR = must fix before merging (CI will block the PR)\n"
-            "WARNING = advisory, not blocking, but recommended to fix\n"
-            "\n"
-            "See the contributing guide for details:\n"
-            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
-        )
-
-    elif has_warnings:
-        print(
-            "\n"
-            "WARNING = advisory, not blocking, but recommended to fix\n"
-            "\n"
-            "See the contributing guide for details:\n"
-            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
-        )
-
-    return has_blocking, has_warnings
-
-
-def format_markdown_blocking(data: list) -> str:
-    """Format a blocking error markdown comment."""
-    error_groups: dict[str, list[str]] = {}
-    unique_commits: list[tuple[str, str, list[str], str]] = []
-
-    for commit in data:
-        sha = commit.get('sha', '?')[:10]
-        message = commit.get('commit', {}).get('message', '')
-        first_line = message.split('\n', 1)[0].strip()
-
-        errors, _ = check_commit(message)
-        if not errors:
-            continue
-
-        suggestion = suggest_commit(message) or ''
-        unique_commits.append((sha, first_line, errors, suggestion))
-
-        for err in errors:
-            error_groups.setdefault(err, []).append(sha)
-
-    lines = [
-        "## \u274c Commit messages need attention before merging",
-        "",
-    ]
-
-    has_large_group = any(len(shas) > 3 for shas in error_groups.values())
-
-    if has_large_group:
-        lines.extend([
-            "**Issues found:**",
-            "",
-        ])
-        for err_msg, shas in error_groups.items():
-            if len(shas) > 3:
-                lines.append(f"- **{len(shas)} commits**: {err_msg} "
-                             f"(`{shas[0]}`, `{shas[1]}`, ... `{shas[-1]}`)")
-            else:
-                sha_list = ', '.join(f'`{s}`' for s in shas)
-                lines.append(f"- {err_msg}: {sha_list}")
-
-        distinct_messages = {msg for _, msg, _, _ in unique_commits}
-        if len(distinct_messages) <= 5:
-            lines.extend(["", "**Affected commits:**", ""])
-            for sha, msg, errors, suggestion in unique_commits:
-                safe_msg = msg.replace('|', '\\|')
-                lines.append(f"- `{sha}` {safe_msg}")
-    else:
-        lines.extend([
-            "| Commit | Message | Issue | Suggested fix |",
-            "|--------|---------|-------|---------------|",
-        ])
-        for sha, msg, errors, suggestion in unique_commits:
-            issues = '; '.join(errors)
-            safe_msg = msg.replace('|', '\\|')
-            lines.append(f"| `{sha}` | {safe_msg} | {issues} | {suggestion} |")
-
-    lines.extend([
-        "",
-        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
-        "for how to clean up commits.",
-        "",
-        "---",
-        "*This comment will be automatically removed once the issues are resolved.*",
-    ])
-
-    return '\n'.join(lines)
-
-
-def format_markdown_advisory(data: list) -> str:
-    """Format an advisory warning markdown comment."""
-    lines = [
-        "## \U0001f4a1 Commit messages could be improved",
-        "",
-        "Not blocking, but these commit messages could use some cleanup.",
-        "",
-        "| Commit | Message | Suggestion |",
-        "|--------|---------|------------|",
-    ]
-
-    for commit in data:
-        sha = commit.get('sha', '?')[:10]
-        message = commit.get('commit', {}).get('message', '')
-        first_line = message.split('\n', 1)[0].strip()
-
-        _, warnings = check_commit(message)
-        if not warnings:
-            continue
-
-        suggestion = '; '.join(warnings)
-        safe_msg = first_line.replace('|', '\\|')
-        lines.append(f"| `{sha}` | {safe_msg} | {suggestion} |")
-
-    lines.extend([
-        "",
-        "See the [commit message convention](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
-        "for details.",
-        "",
-        "---",
-        "*This comment will be automatically removed once the issues are resolved.*",
-    ])
-
-    return '\n'.join(lines)
-
-
-def main() -> None:
-    markdown_stdout = '--markdown' in sys.argv
-    markdown_file = None
-    for i, a in enumerate(sys.argv):
-        if a == '--markdown-file' and i + 1 < len(sys.argv):
-            markdown_file = sys.argv[i + 1]
-        elif a.startswith('--markdown-file='):
-            markdown_file = a.split('=', 1)[1]
-
-    try:
-        data = json.load(sys.stdin)
-    except json.JSONDecodeError as exc:
-        print(f"Failed to parse JSON input: {exc}", file=sys.stderr)
-        sys.exit(2)
-
-    if not isinstance(data, list):
-        print("Expected a JSON array of commit objects.", file=sys.stderr)
-        sys.exit(2)
-
-    # Always compute blocking/warning state
-    has_blocking = False
-    has_warnings = False
-    for commit in data:
-        message = commit.get('commit', {}).get('message', '')
-        errors, warnings = check_commit(message)
-        if errors:
-            has_blocking = True
-        if warnings:
-            has_warnings = True
-
-    # Generate markdown if needed
-    md = None
-    if has_blocking:
-        md = format_markdown_blocking(data)
-    elif has_warnings:
-        md = format_markdown_advisory(data)
-
-    if md:
-        if markdown_stdout:
-            print(md)
-        if markdown_file:
-            with open(markdown_file, 'w') as f:
-                f.write(md + '\n')
-    elif markdown_file:
-        with open(markdown_file, 'w') as f:
-            pass
-
-    # Plain text output to stderr for CI logs (always, unless --markdown only)
-    if not markdown_stdout:
-        has_blocking, _ = format_plain(data)
-
-    sys.exit(1 if has_blocking else 0)
-
-
-if __name__ == '__main__':
-    main()
@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-"""Validate that a PR title follows conventional commits format.
-
-Format: type(scope): description
-
-Can output plain text for CI logs or markdown for PR comments.
-"""
-
-import re
-import sys
-
-from conventional_commits import (
-    CONVENTIONAL_TYPES,
-    EXEMPT_PREFIXES,
-    parse_header,
-    suggest_scope,
-    suggest_type,
-)
-
-
-def suggest_title(title: str) -> str | None:
-    """Try to suggest a corrected title in conventional commits format."""
-    stripped = title.strip()
-
-    # Remove common bracket prefixes like [docs], [CI], etc.
-    bracket_match = re.match(r'^\[([^\]]+)\]\s*(.+)', stripped)
-    if bracket_match:
-        prefix = bracket_match.group(1).strip().lower()
-        rest = bracket_match.group(2).strip()
-        rest = re.sub(r'^[\-:]\s*', '', rest).strip()
-        if len(rest) >= 5:
-            # Try to map bracket content to a type
-            commit_type = prefix if prefix in CONVENTIONAL_TYPES else suggest_type(rest)
-            scope = suggest_scope(rest)
-            if scope:
-                return f"{commit_type}({scope}): {rest}"
-
-    # Already has old-style "subsystem: description" format - convert it
-    colon_match = re.match(r'^([a-zA-Z][a-zA-Z0-9_/\-\. ]*): (.+)$', stripped)
-    if colon_match:
-        old_subsystem = colon_match.group(1).strip()
-        desc = colon_match.group(2).strip()
-        if len(desc) >= 5:
-            commit_type = suggest_type(desc)
-            # Use the old subsystem as scope (clean it up)
-            scope = old_subsystem.lower().replace(' ', '_')
-            return f"{commit_type}({scope}): {desc}"
-
-    # No format at all - try to guess both type and scope
-    commit_type = suggest_type(stripped)
-    scope = suggest_scope(stripped)
-    if scope:
-        desc = stripped[0].lower() + stripped[1:] if stripped else stripped
-        return f"{commit_type}({scope}): {desc}"
-
-    return None
-
-
-def check_title(title: str) -> bool:
-    title = title.strip()
-
-    if not title:
-        print("PR title is empty.", file=sys.stderr)
-        return False
-
-    for prefix in EXEMPT_PREFIXES:
-        if title.startswith(prefix):
-            return True
-
-    if parse_header(title):
-        return True
-
-    types_str = ', '.join(f'`{t}`' for t in CONVENTIONAL_TYPES.keys())
-    print(
-        f"PR title does not match conventional commits format.\n"
-        f"\n"
-        f"  Title: {title}\n"
-        f"\n"
-        f"Expected format:  type(scope): description\n"
-        f"\n"
-        f"Valid types: {types_str}\n"
-        f"\n"
-        f"Good examples:\n"
-        f"  feat(ekf2): add height fusion timeout\n"
-        f"  fix(mavlink): correct BATTERY_STATUS_V2 parsing\n"
-        f"  ci(workflows): migrate to reusable workflows\n"
-        f"  feat(boards/px4_fmu-v6x)!: remove deprecated driver API\n"
-        f"\n"
-        f"Bad examples:\n"
-        f"  fix stuff\n"
-        f"  Update file\n"
-        f"  ekf2: fix something   (missing type prefix)\n"
-        f"\n"
-        f"See the contributing guide for details:\n"
-        f"  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
-        file=sys.stderr,
-    )
-    return False
-
-
-def format_markdown(title: str) -> str:
-    """Format a markdown PR comment body for a bad title."""
-    lines = [
-        "## \u274c PR title needs conventional commit format",
-        "",
-        "Expected format: `type(scope): description` "
-        "([conventional commits](https://www.conventionalcommits.org/)).",
-        "",
-        "**Your title:**",
-        f"> {title}",
-        "",
-    ]
-
-    suggestion = suggest_title(title)
-    if suggestion:
-        lines.extend([
-            "**Suggested fix:**",
-            f"> {suggestion}",
-            "",
-        ])
-
-    lines.extend([
-        "**To fix this:** click the ✏️ next to the PR title at the top "
-        "of this page and update it.",
-        "",
-        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
-        "for details.",
-        "",
-        "---",
-        "*This comment will be automatically removed once the issue is resolved.*",
-    ])
-
-    return '\n'.join(lines)
-
-
-def main() -> None:
-    import argparse
-    parser = argparse.ArgumentParser(description='Check PR title format')
-    parser.add_argument('title', help='The PR title to validate')
-    parser.add_argument('--markdown', action='store_true',
-                        help='Output markdown to stdout on failure')
-    parser.add_argument('--markdown-file', metavar='FILE',
-                        help='Write markdown to FILE on failure')
-    args = parser.parse_args()
-
-    passed = check_title(args.title)
-
-    if not passed:
-        md = format_markdown(args.title)
-        if args.markdown:
-            print(md)
-        if args.markdown_file:
-            with open(args.markdown_file, 'w') as f:
-                f.write(md + '\n')
-    elif args.markdown_file:
-        with open(args.markdown_file, 'w') as f:
-            pass
-
-    sys.exit(0 if passed else 1)
-
-
-if __name__ == '__main__':
-    main()
@@ -1,146 +0,0 @@
-"""Shared constants and helpers for conventional commit validation.
-
-Format: type(scope): description
-Optional breaking change marker: type(scope)!: description
-"""
-
-import re
-
-CONVENTIONAL_TYPES = {
-    'feat':     'A new feature',
-    'fix':      'A bug fix',
-    'docs':     'Documentation only changes',
-    'style':    'Formatting, whitespace, no code change',
-    'refactor': 'Code change that neither fixes a bug nor adds a feature',
-    'perf':     'Performance improvement',
-    'test':     'Adding or correcting tests',
-    'build':    'Build system or external dependencies',
-    'ci':       'CI configuration files and scripts',
-    'chore':    'Other changes that don\'t modify src or test files',
-    'revert':   'Reverts a previous commit',
-}
-
-# type(scope)[!]: description
-# - type: one of CONVENTIONAL_TYPES keys
-# - scope: required, alphanumeric with _/-/.
-# - !: optional breaking change marker
-# - description: at least 5 chars
-HEADER_PATTERN = re.compile(
-    r'^(' + '|'.join(CONVENTIONAL_TYPES.keys()) + r')'
-    r'\(([a-zA-Z0-9_/\-\.]+)\)'
-    r'(!)?'
-    r': (.{5,})$'
-)
-
-EXEMPT_PREFIXES = ('Merge ',)
-
-# Common PX4 subsystem scopes for suggestions
-KNOWN_SCOPES = [
-    'ekf2', 'mavlink', 'commander', 'navigator', 'sensors',
-    'mc_att_control', 'mc_pos_control', 'mc_rate_control',
-    'fw_att_control', 'fw_pos_control', 'fw_rate_control',
-    'vtol', 'actuators', 'battery', 'param', 'logger',
-    'uorb', 'drivers', 'boards', 'simulation', 'sitl',
-    'gps', 'rc', 'safety', 'can', 'serial',
-    'ci', 'docs', 'build', 'cmake', 'tools',
-    'mixer', 'land_detector', 'airspeed', 'gyroscope',
-    'accelerometer', 'magnetometer', 'barometer',
-]
-
-# Keyword patterns to suggest scopes from description text
-KEYWORD_SCOPES = [
-    (r'\b(ekf|estimator|height|fusion|imu|baro)\b', 'ekf2'),
-    (r'\b(mavlink|MAVLink|MAVLINK|command_int|heartbeat)\b', 'mavlink'),
-    (r'\b(uorb|orb|pub|sub|topic)\b', 'uorb'),
-    (r'\b(board|fmu|nuttx|stm32)\b', 'boards'),
-    (r'\b(mixer|actuator|motor|servo|pwm|dshot)\b', 'actuators'),
-    (r'\b(battery|power)\b', 'battery'),
-    (r'\b(param|parameter)\b', 'param'),
-    (r'\b(log|logger|sdlog)\b', 'logger'),
-    (r'\b(sensor|accel|gyro)\b', 'sensors'),
-    (r'\b(land|takeoff|rtl|mission|navigator|geofence)\b', 'navigator'),
-    (r'\b(position|velocity|attitude|rate)\s*(control|ctrl)\b', 'mc_att_control'),
-    (r'\b(mc|multicopter|quad)\b', 'mc_att_control'),
-    (r'\b(fw|fixedwing|fixed.wing|plane)\b', 'fw_att_control'),
-    (r'\b(vtol|transition)\b', 'vtol'),
-    (r'\b(ci|workflow|github.action|pipeline)\b', 'ci'),
-    (r'\b(doc|docs|documentation|readme)\b', 'docs'),
-    (r'\b(cmake|make|toolchain|compiler)\b', 'build'),
-    (r'\b(sitl|simulation|gazebo|jmavsim|sih)\b', 'simulation'),
-    (r'\b(can|uavcan|cyphal|dronecan)\b', 'can'),
-    (r'\b(serial|uart|spi|i2c)\b', 'serial'),
-    (r'\b(safety|failsafe|arm|disarm|kill)\b', 'safety'),
-    (r'\b(rc|radio|sbus|crsf|elrs|dsm)\b', 'rc'),
-    (r'\b(gps|gnss|rtk|ubx)\b', 'gps'),
-    (r'\b(optical.flow|flow|rangefinder|lidar|distance)\b', 'sensors'),
-    (r'\b(orbit|follow|offboard)\b', 'commander'),
-    (r'\b(driver)\b', 'drivers'),
-]
-
-# Verb patterns to suggest conventional commit type
-VERB_TYPE_MAP = [
-    (r'^fix(e[ds])?[\s:]', 'fix'),
-    (r'^bug[\s:]', 'fix'),
-    (r'^add(s|ed|ing)?[\s:]', 'feat'),
-    (r'^implement', 'feat'),
-    (r'^introduce', 'feat'),
-    (r'^support', 'feat'),
-    (r'^enable', 'feat'),
-    (r'^update[ds]?[\s:]', 'feat'),
-    (r'^improv(e[ds]?|ing)', 'perf'),
-    (r'^optimi[zs](e[ds]?|ing)', 'perf'),
-    (r'^refactor', 'refactor'),
-    (r'^clean\s*up', 'refactor'),
-    (r'^restructure', 'refactor'),
-    (r'^simplif(y|ied)', 'refactor'),
-    (r'^remov(e[ds]?|ing)', 'refactor'),
-    (r'^delet(e[ds]?|ing)', 'refactor'),
-    (r'^deprecat', 'refactor'),
-    (r'^replac(e[ds]?|ing)', 'refactor'),
-    (r'^renam(e[ds]?|ing)', 'refactor'),
-    (r'^migrat', 'refactor'),
-    (r'^revert', 'revert'),
-    (r'^doc(s|ument)', 'docs'),
-    (r'^test', 'test'),
-    (r'^format', 'style'),
-    (r'^lint', 'style'),
-    (r'^whitespace', 'style'),
-    (r'^build', 'build'),
-    (r'^ci[\s:]', 'ci'),
-]
-
-
-def parse_header(text: str) -> dict | None:
-    """Parse a conventional commit header into components.
-
-    Returns dict with keys {type, scope, breaking, subject} or None if
-    the text doesn't match conventional commits format.
-    """
-    text = text.strip()
-    m = HEADER_PATTERN.match(text)
-    if not m:
-        return None
-    return {
-        'type': m.group(1),
-        'scope': m.group(2),
-        'breaking': m.group(3) == '!',
-        'subject': m.group(4),
-    }
-
-
-def suggest_type(text: str) -> str:
-    """Infer a conventional commit type from description text."""
-    lower = text.strip().lower()
-    for pattern, commit_type in VERB_TYPE_MAP:
-        if re.search(pattern, lower):
-            return commit_type
-    return 'feat'
-
-
-def suggest_scope(text: str) -> str | None:
-    """Infer a scope from keywords in the text."""
-    lower = text.strip().lower()
-    for pattern, scope in KEYWORD_SCOPES:
-        if re.search(pattern, lower, re.IGNORECASE):
-            return scope
-    return None
@@ -36,20 +36,11 @@ if args.filter:
        target_filter.append(target)

 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
-voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = []
-
-# Container overrides for platforms/boards that need a non-default container
-platform_container_overrides = {
-    'qurt': voxl2_container,
-}
-board_container_overrides = {
-    'modalai_voxl2': voxl2_container,
-}
+excluded_platforms = ['qurt']
 excluded_labels = [
    'stackcheck',
    'nolockstep', 'replay', 'test',
@@ -97,20 +88,7 @@ def process_target(px4board_file, target_name):

    if platform not in excluded_platforms:
        container = default_container
-
-        # Extract board name (manufacturer_board) from target name
-        board_name = '_'.join(target_name.split('_')[:2])
-
-        # Apply container overrides for specific platforms or boards
-        if platform in platform_container_overrides:
-            container = platform_container_overrides[platform]
-        if board_name in board_container_overrides:
-            container = board_container_overrides[board_name]
-
-        # Boards with container overrides get their own group
-        if board_name in board_container_overrides or platform in platform_container_overrides:
-            group = 'voxl2'
-        elif platform == 'posix':
+        if platform == 'posix':
            group = 'base'
            if toolchain:
                if toolchain.startswith('aarch64'):
@@ -148,18 +126,18 @@ grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets

-for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
    if not manufacturer.is_dir():
        continue
    if manufacturer.name in excluded_manufacturers:
        if verbose: print(f'excluding manufacturer {manufacturer.name}')
        continue

-    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+    for board in os.scandir(manufacturer.path):
        if not board.is_dir():
            continue

-        for files in sorted(os.scandir(board.path), key=lambda e: e.name):
+        for files in os.scandir(board.path):
            if files.is_file() and files.name.endswith('.px4board'):

                board_name = manufacturer.name + '_' + board.name
@@ -225,7 +203,7 @@ if (args.group):
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
-        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
+        runner = 'x64' if arch == 'nuttx' else 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
        temp_group = []
@@ -1,431 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_sync.sh - Unified metadata generation and synchronization for PX4 docs
-#
-# Usage:
-#   Tools/ci/metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Types:
-#   parameters    - Parameter reference (docs/en/advanced_config/parameter_reference.md)
-#   airframes     - Airframe reference (docs/en/airframes/airframe_reference.md)
-#   modules       - Module documentation (docs/en/modules/*.md)
-#   msg_docs      - uORB message docs (docs/en/msg_docs/*.md + docs/en/middleware/dds_topics.md)
-#   uorb_graphs   - uORB graph JSONs (docs/public/middleware/*.json)
-#   failsafe_web  - Failsafe simulator (docs/public/config/failsafe/*.{js,wasm,json})
-#   all           - All of the above (default)
-#
-# Options:
-#   --generate    Build the make targets to generate fresh metadata
-#   --sync        Copy generated files to docs/
-#   --verbose     Show detailed output
-#   --help        Show this help
-#
-# Exit codes:
-#   0 - Success (files synced or already up-to-date)
-#   1 - Error (build failed, missing files, etc.)
-#
-# Examples:
-#   # Full regeneration and sync (orchestrator use case)
-#   Tools/ci/metadata_sync.sh --generate --sync all
-#
-#   # Just sync specific type (assumes already built)
-#   Tools/ci/metadata_sync.sh --sync parameters
-#
-#   # Generate only, don't copy
-#   Tools/ci/metadata_sync.sh --generate uorb_graphs
-#
-set -euo pipefail
-shopt -s nullglob
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Configuration
-# ═══════════════════════════════════════════════════════════════════════════════
-
-EMSCRIPTEN_VERSION="3.1.64"
-EMSDK_DIR="${EMSDK_DIR:-_emscripten_sdk}"
-
-# All available metadata types
-ALL_TYPES=(parameters airframes modules msg_docs uorb_graphs failsafe_web)
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Logging
-# ═══════════════════════════════════════════════════════════════════════════════
-
-VERBOSE=false
-
-log() {
-    echo "[metadata_sync] $*"
-}
-
-log_verbose() {
-    if [[ "$VERBOSE" == "true" ]]; then
-        echo "[metadata_sync] $*"
-    fi
-}
-
-die() {
-    echo "[metadata_sync] ERROR: $*" >&2
-    exit 1
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Help
-# ═══════════════════════════════════════════════════════════════════════════════
-
-show_help() {
-    head -n 35 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Emscripten Setup
-# ═══════════════════════════════════════════════════════════════════════════════
-
-ensure_emscripten() {
-    if command -v emcc >/dev/null 2>&1; then
-        log_verbose "Emscripten already available: $(emcc --version | head -1)"
-        return 0
-    fi
-
-    log "Setting up Emscripten ${EMSCRIPTEN_VERSION}..."
-
-    if [[ ! -d "$EMSDK_DIR" ]]; then
-        log_verbose "Cloning emsdk to $EMSDK_DIR"
-        if [[ "$VERBOSE" == "true" ]]; then
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR"
-        else
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR" >/dev/null 2>&1
-        fi
-    fi
-
-    pushd "$EMSDK_DIR" >/dev/null
-    if [[ "$VERBOSE" == "true" ]]; then
-        ./emsdk install "$EMSCRIPTEN_VERSION"
-        ./emsdk activate "$EMSCRIPTEN_VERSION"
-    else
-        ./emsdk install "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-        ./emsdk activate "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-    fi
-    popd >/dev/null
-
-    # shellcheck source=/dev/null
-    source "${EMSDK_DIR}/emsdk_env.sh" >/dev/null 2>&1
-
-    log_verbose "Emscripten ready: $(emcc --version | head -1)"
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Generation Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-generate_parameters() {
-    log "Generating parameters metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make parameters_metadata
-    else
-        make parameters_metadata >/dev/null
-    fi
-}
-
-generate_airframes() {
-    log "Generating airframes metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make airframe_metadata
-    else
-        make airframe_metadata >/dev/null
-    fi
-}
-
-generate_modules() {
-    log "Generating modules documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make module_documentation
-    else
-        make module_documentation >/dev/null
-    fi
-}
-
-generate_msg_docs() {
-    log "Generating message documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make msg_docs
-    else
-        make msg_docs >/dev/null
-    fi
-}
-
-generate_uorb_graphs() {
-    log "Generating uORB graphs..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make uorb_graphs
-    else
-        make uorb_graphs >/dev/null
-    fi
-}
-
-generate_failsafe_web() {
-    ensure_emscripten
-    log "Generating failsafe web..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make failsafe_web
-    else
-        make failsafe_web >/dev/null
-    fi
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Sync Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-sync_parameters() {
-    local src="build/px4_sitl_default/docs/parameters.md"
-    local dest="docs/en/advanced_config/parameter_reference.md"
-
-    log "Syncing parameters..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_airframes() {
-    local src="build/px4_sitl_default/docs/airframes.md"
-    local dest="docs/en/airframes/airframe_reference.md"
-
-    log "Syncing airframes..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_modules() {
-    local src_dir="build/px4_sitl_default/docs/modules"
-    local dest_dir="docs/en/modules"
-
-    log "Syncing modules..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_msg_docs() {
-    local src_dir="build/msg_docs"
-    local dest_dir="docs/en/msg_docs"
-    local middleware_dir="docs/en/middleware"
-
-    log "Syncing message docs..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-    mkdir -p "$middleware_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-
-        # dds_topics.md goes to middleware dir
-        if [[ "$name" == "dds_topics.md" ]]; then
-            cp "$src" "$middleware_dir/$name"
-            log_verbose "  $src -> $middleware_dir/$name"
-        else
-            cp "$src" "$dest_dir/$name"
-            log_verbose "  $src -> $dest_dir/$name"
-        fi
-    done
-}
-
-sync_uorb_graphs() {
-    local src_dir="Tools/uorb_graph"
-    local dest_dir="docs/public/middleware"
-
-    log "Syncing uORB graphs..."
-
-    local src_files=("$src_dir"/*.json)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .json files found in $src_dir (did you run --generate?)"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_failsafe_web() {
-    local src_dir="build/px4_sitl_default_failsafe_web"
-    local dest_dir="docs/public/config/failsafe"
-
-    log "Syncing failsafe web..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    # Gather js, wasm, json files
-    local src_files=()
-    for ext in js wasm json; do
-        src_files+=("$src_dir"/*."$ext")
-    done
-
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .js/.wasm/.json files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Main Logic
-# ═══════════════════════════════════════════════════════════════════════════════
-
-DO_GENERATE=false
-DO_SYNC=false
-SELECTED_TYPES=()
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --generate)
-                DO_GENERATE=true
-                shift
-                ;;
-            --sync)
-                DO_SYNC=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                die "Unknown option: $1"
-                ;;
-            *)
-                # It's a type
-                SELECTED_TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types if none specified
-    if [[ ${#SELECTED_TYPES[@]} -eq 0 ]]; then
-        SELECTED_TYPES=("all")
-    fi
-
-    # Expand "all" to all types
-    local expanded_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ "$t" == "all" ]]; then
-            expanded_types+=("${ALL_TYPES[@]}")
-        else
-            expanded_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${expanded_types[@]}")
-
-    # Validate types
-    for t in "${SELECTED_TYPES[@]}"; do
-        local valid=false
-        for valid_type in "${ALL_TYPES[@]}"; do
-            if [[ "$t" == "$valid_type" ]]; then
-                valid=true
-                break
-            fi
-        done
-        if [[ "$valid" == "false" ]]; then
-            die "Unknown type: $t (valid: ${ALL_TYPES[*]})"
-        fi
-    done
-
-    # Must specify at least one action
-    if [[ "$DO_GENERATE" == "false" && "$DO_SYNC" == "false" ]]; then
-        die "Must specify at least one of: --generate, --sync"
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    log "Selected types: ${SELECTED_TYPES[*]}"
-    [[ "$DO_GENERATE" == "true" ]] && log "Actions: generate"
-    [[ "$DO_SYNC" == "true" ]] && log "Actions: sync"
-
-    # Remove duplicates from SELECTED_TYPES
-    local -A seen
-    local unique_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ -z "${seen[$t]:-}" ]]; then
-            seen[$t]=1
-            unique_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${unique_types[@]}")
-
-    # Generate phase
-    if [[ "$DO_GENERATE" == "true" ]]; then
-        log "=== Generation Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "generate_$t"
-        done
-    fi
-
-    # Sync phase
-    if [[ "$DO_SYNC" == "true" ]]; then
-        log "=== Sync Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "sync_$t"
-        done
-    fi
-
-    log "Done."
-    exit 0
-}
-
-main "$@"
@@ -1,47 +1,37 @@
 #!/bin/bash

 mkdir artifacts
-cp **/**/*.px4 artifacts/ 2>/dev/null || true
-cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.px4 artifacts/
+cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
-  mkdir -p artifacts/$build_dir
+  mkdir artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
-  airframes_src=""
-  if [ -f "$build_dir_path/airframes.xml" ]; then
-    airframes_src="$build_dir_path/airframes.xml"
-  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
-    airframes_src="$build_dir_path/docs/airframes.xml"
-  fi
-  if [ -n "$airframes_src" ]; then
-    cp "$airframes_src" "artifacts/$build_dir/"
-  fi
+  # Airframe
+  cp $build_dir_path/airframes.xml artifacts/$build_dir/
  # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/
+  cp $build_dir_path/parameters.json artifacts/$build_dir/
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
  # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json artifacts/$build_dir/
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
  # Events
-  mkdir -p artifacts/$build_dir/events/
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # ROS 2 msgs
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # Module Docs
  ls -la artifacts/$build_dir
  echo "----------"
 done

 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata (used by Flight Review and other downstream consumers)
-  mkdir -p artifacts/_general/
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
  # Airframe
-  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
-    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
  # Parameters
  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -50,11 +40,9 @@ if [ -d artifacts/px4_sitl_default ]; then
  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
  # Events
-  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
-    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
  ls -la artifacts/_general/
 fi
@@ -1,95 +0,0 @@
-#!/usr/bin/env python3
-"""Post, update, or delete a PR comment with deduplication.
-
-Uses hidden HTML markers to find existing comments and avoid duplicates.
-Reads comment body from stdin when posting or updating.
-
-Usage:
-    echo "comment body" | python3 pr_comment.py --marker pr-title --pr 123 --result fail
-    python3 pr_comment.py --marker pr-title --pr 123 --result pass
-
-Results:
-    fail  - post/update comment with body from stdin
-    warn  - post/update comment with body from stdin
-    pass  - delete existing comment if any
-
-Requires GH_TOKEN and GITHUB_REPOSITORY environment variables.
-"""
-
-import argparse
-import json
-import os
-import subprocess
-import sys
-
-
-def gh_api(endpoint: str, method: str = 'GET', body: dict | None = None) -> str:
-    """Call the GitHub API via gh cli."""
-    cmd = ['gh', 'api', endpoint, '-X', method]
-    if body:
-        for key, value in body.items():
-            cmd.extend(['-f', f'{key}={value}'])
-    result = subprocess.run(cmd, capture_output=True, text=True)
-    if result.returncode != 0 and method != 'DELETE':
-        print(f"gh api error: {result.stderr}", file=sys.stderr)
-    return result.stdout
-
-
-def find_comment(repo: str, pr: int, marker: str) -> str | None:
-    """Find an existing comment by its hidden marker. Returns comment ID or None."""
-    response = gh_api(f"repos/{repo}/issues/{pr}/comments?per_page=100")
-    try:
-        comments = json.loads(response)
-    except json.JSONDecodeError:
-        return None
-
-    if not isinstance(comments, list):
-        return None
-
-    for comment in comments:
-        if isinstance(comment, dict) and comment.get('body', '').startswith(marker):
-            return str(comment['id'])
-    return None
-
-
-def main() -> None:
-    parser = argparse.ArgumentParser(description='Manage PR quality comments')
-    parser.add_argument('--marker', required=True,
-                        help='Marker name (e.g. pr-title, commit-msgs, pr-body)')
-    parser.add_argument('--pr', required=True, type=int,
-                        help='Pull request number')
-    parser.add_argument('--result', required=True, choices=['pass', 'fail', 'warn'],
-                        help='Check result: pass deletes comment, fail/warn posts it')
-    args = parser.parse_args()
-
-    repo = os.environ.get('GITHUB_REPOSITORY', '')
-    if not repo:
-        print("GITHUB_REPOSITORY not set", file=sys.stderr)
-        sys.exit(2)
-
-    marker = f"<!-- commit-quality-{args.marker} -->"
-    existing_id = find_comment(repo, args.pr, marker)
-
-    if args.result == 'pass':
-        if existing_id:
-            gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='DELETE')
-        return
-
-    # Read comment body from stdin
-    body_content = sys.stdin.read().strip()
-    if not body_content:
-        print("No comment body provided on stdin", file=sys.stderr)
-        sys.exit(2)
-
-    full_body = f"{marker}\n{body_content}"
-
-    if existing_id:
-        gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='PATCH',
-               body={'body': full_body})
-    else:
-        gh_api(f"repos/{repo}/issues/{args.pr}/comments", method='POST',
-               body={'body': full_body})
-
-
-if __name__ == '__main__':
-    main()
@@ -1,163 +0,0 @@
-#!/usr/bin/env bash
-#
-# test_metadata_sync.sh - Test metadata_sync.sh locally using Docker
-#
-# Usage:
-#   Tools/ci/test_metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Options:
-#   --shell       Drop into interactive shell instead of running sync
-#   --verbose     Pass --verbose to metadata_sync.sh
-#   --skip-build  Skip SITL build (use existing build artifacts)
-#   --help        Show this help
-#
-# Types:
-#   Same as metadata_sync.sh: parameters, airframes, modules, msg_docs, uorb_graphs, failsafe_web, all
-#
-# Examples:
-#   # Test full regeneration
-#   Tools/ci/test_metadata_sync.sh all
-#
-#   # Test just parameters (faster)
-#   Tools/ci/test_metadata_sync.sh parameters
-#
-#   # Drop into shell for debugging
-#   Tools/ci/test_metadata_sync.sh --shell
-#
-#   # Skip build if you already have artifacts
-#   Tools/ci/test_metadata_sync.sh --skip-build --verbose all
-#
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
-
-DOCKER_IMAGE="px4io/px4-dev:v1.17.0-alpha1"
-CONTAINER_NAME="px4-metadata-test-$$"
-
-SHELL_MODE=false
-VERBOSE=""
-SKIP_BUILD=false
-TYPES=()
-
-show_help() {
-    head -n 28 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-cleanup() {
-    echo "[test] Cleaning up container..."
-    docker rm -f "$CONTAINER_NAME" 2>/dev/null || true
-}
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --shell)
-                SHELL_MODE=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE="--verbose"
-                shift
-                ;;
-            --skip-build)
-                SKIP_BUILD=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                echo "Unknown option: $1" >&2
-                exit 1
-                ;;
-            *)
-                TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types
-    if [[ ${#TYPES[@]} -eq 0 ]]; then
-        TYPES=("all")
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    cd "$REPO_ROOT"
-
-    echo "[test] Using Docker image: $DOCKER_IMAGE"
-    echo "[test] Repository root: $REPO_ROOT"
-
-    # Pull image if not present
-    if ! docker image inspect "$DOCKER_IMAGE" >/dev/null 2>&1; then
-        echo "[test] Pulling Docker image..."
-        docker pull "$DOCKER_IMAGE"
-    fi
-
-    trap cleanup EXIT
-
-    # Handle git worktrees: the .git file points to the main repo's .git directory
-    # We need to mount that directory too so git works inside the container
-    local git_mounts=()
-    if [[ -f "$REPO_ROOT/.git" ]]; then
-        # It's a worktree - read the gitdir path and mount it
-        local gitdir
-        gitdir=$(grep '^gitdir:' "$REPO_ROOT/.git" | cut -d' ' -f2)
-        if [[ -n "$gitdir" ]]; then
-            # Mount the gitdir at the same path so the .git file reference works
-            git_mounts+=("-v" "$gitdir:$gitdir:ro")
-            # Also need the main .git directory (parent of worktrees/)
-            local main_git_dir
-            main_git_dir=$(dirname "$(dirname "$gitdir")")
-            git_mounts+=("-v" "$main_git_dir:$main_git_dir:ro")
-            echo "[test] Detected git worktree, mounting git directories"
-        fi
-    fi
-
-    if [[ "$SHELL_MODE" == "true" ]]; then
-        echo "[test] Starting interactive shell..."
-        echo "[test] Run: Tools/ci/metadata_sync.sh --generate --sync all"
-        docker run -it --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash
-    else
-        echo "[test] Running metadata sync for: ${TYPES[*]}"
-
-        # Build the command
-        local cmd=""
-
-        if [[ "$SKIP_BUILD" == "false" ]]; then
-            cmd="Tools/ci/metadata_sync.sh --generate --sync $VERBOSE ${TYPES[*]}"
-        else
-            cmd="Tools/ci/metadata_sync.sh --sync $VERBOSE ${TYPES[*]}"
-        fi
-
-        echo "[test] Command: $cmd"
-
-        docker run --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash -c "$cmd"
-
-        echo ""
-        echo "[test] Done! Check git status for changes:"
-        echo "  git status -s docs/"
-        echo ""
-        echo "[test] To see what changed:"
-        echo "  git diff docs/"
-    fi
-}
-
-main "$@"
@@ -1,27 +1,47 @@
 #! /bin/bash

 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
+	echo "guessing PX4_DOCKER_REPO based on input";
+	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+		# clang tools
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
+	elif [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
+	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi

+# otherwise default to nuttx
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
+fi
+
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

-SCRIPT_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=${SCRIPT_DIR}/../
+PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=$PWD/../

 CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"

 docker run -it --rm -w "${SRC_DIR}" \
 	--user="$(id -u):$(id -g)" \
+	--env=AWS_ACCESS_KEY_ID \
+	--env=AWS_SECRET_ACCESS_KEY \
+	--env=BRANCH_NAME \
 	--env=CCACHE_DIR="${CCACHE_DIR}" \
+	--env=CI \
+	--env=CODECOV_TOKEN \
+	--env=COVERALLS_REPO_TOKEN \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
 	--env=PX4_UBSAN \
+	--env=TRAVIS_BRANCH \
+	--env=TRAVIS_BUILD_ID \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$@"
+	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -234,14 +234,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
        param_prefix = process_param_prefix(group['param_prefix'])
        standard_params = group.get('standard_params', {})
        standard_params_array = [
-            ( 'function', 'Function', 'FUNC', False, True ),
-            ( 'disarmed', 'Disarmed', 'DIS', False, True ),
-            ( 'min', 'Minimum', 'MIN', False, True ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False, False ),
-            ( 'max', 'Maximum', 'MAX', False, True ),
-            ( 'failsafe', 'Failsafe', 'FAIL', True, True ),
+            ( 'function', 'Function', 'FUNC', False ),
+            ( 'disarmed', 'Disarmed', 'DIS', False ),
+            ( 'min', 'Minimum', 'MIN', False ),
+            ( 'max', 'Maximum', 'MAX', False ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
+            ( 'failsafe', 'Failsafe', 'FAIL', True ),
            ]
-        for key, label, param_suffix, advanced, has_function in standard_params_array:
+        for key, label, param_suffix, advanced in standard_params_array:
            show_if = None
            if key in standard_params and 'show_if' in standard_params[key]:
                show_if = standard_params[key]['show_if']
@@ -250,12 +250,13 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                param = {
                        'label': label,
                        'name': param_prefix+'_'+param_suffix+'${i}',
+                        'function': key,
                    }
-                if has_function: param['function'] = key
                if advanced: param['advanced'] = True
                if show_if: param['show-if'] = show_if
                per_channel_params.append(param)

+
        param = {
                'label': 'Rev Range\n(for Servos)',
                'name': param_prefix+'_REV',
@@ -312,7 +312,11 @@ When set to -1 (default), the value depends on the function (see {:}).
                if standard_params[key]['max'] >= 1<<16:
                    raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))

-                if key == 'failsafe' or key == 'center':
+                if key == 'failsafe':
+                    standard_params[key]['default'] = -1
+                    standard_params[key]['min'] = -1
+
+                if key == 'center':
                    standard_params[key]['default'] = -1
                    standard_params[key]['min'] = -1

@@ -8,803 +8,6 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
-import re
-
-VALID_FIELDS = { #Note, also have to add the message types as those can be fields
-    'uint64',
-    'uint16',
-    'uint8',
-    'uint32'
-}
-
-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "Wh", "dBm", "h", "minutes", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa", "%", "norm", "-"])
-invalid_units = set()
-ALLOWED_FRAMES = set(["NED", "Body", "FRD", "ENU"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0", "-1"])
-ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
-
-class Error:
-    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
-        self.type = type
-        self.message = message
-        self.linenumber = linenumber
-        self.issueString = issueString
-        self.field = field
-
-    def display_error(self):
-        #print(f"Debug: Error: display_error")
-
-
-        if 'trailing_whitespace' == self.type:
-            if self.issueString.strip():
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
-            else:
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
-        elif 'leading_whitespace_field_or_constant' == self.type:
-            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")
-        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
-            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}")
-        elif 'empty_start_line' == self.type:
-            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
-        elif 'internal_comment' == self.type:
-            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
-        elif 'internal_comment_empty' == self.type:
-            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
-        elif 'summary_missing' == self.type:
-            print(f"WARNING: No message description ({self.message})")
-        elif 'topic_error' == self.type:
-            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
-        elif 'unknown_unit' == self.type:
-            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'constant_not_in_assigned_enum' == self.type:
-            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
-        elif 'unknown_invalid_value' == self.type:
-            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'unknown_frame' == self.type:
-            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'command_no_params_pipes' == self.type:
-            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_missing_params' == self.type:
-            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_too_many_params' == self.type:
-            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
-
-
-        else:
-            self.display_info()
-
-    def display_info(self):
-        """
-        Display info about an error.
-        Used as a fallback if error does not have specific printout in display_error()
-        """
-        #print(f"Debug: Error: display_info")
-        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
-
-class Enum:
-    def __init__(self, name, parentMessage):
-        self.name = name
-        self.parent = parentMessage
-        self.enumValues = dict()
-
-    def display_info(self):
-        """
-        Display info about an enum
-        """
-        print(f"Debug: Enum: display_info")
-        print(f" name: {self.name}")
-        for key, value in self.enumValues.items():
-            value.display_info()
-
-class ConstantValue:
-    def __init__(self, name, type, value, comment, line_number):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        # TODO if value or name are empty, error
-
-    def display_info(self):
-        print(f"Debug: ConstantValue: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-
-
-class CommandParam:
-    """
-    Represents an individual param in a command constant
-    Encapsulates parsing of the param to extract units etc.
-    """
-
-    def __init__(self, num, paramText, line_number, parentCommand):
-        self.paramNum = num
-        self.paramText = paramText.strip()
-        self.enum = None
-        self.range = None
-        #self.type = type
-        self.units = []
-        self.enums = []
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentCommand
-        self.parentMessage = self.parent.parent
-
-        match = None
-        if self.paramText:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
-        self.description = paramText
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        enum = item[1].strip()
-                        if enum and enum not in self.enums:
-                            self.enums.append(enum)
-
-                        # Create parent enum objects for any enums created in this step
-                        for enumName in self.enums:
-                            if not enumName in self.parentMessage.enums:
-                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
-
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.range = item
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
-                            """
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                            """
-
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
-                        """
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                        """
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    unit = item.strip()
-
-                    if item == "-":
-                        unit = ""
-
-                    if unit and unit not in self.units:
-                        self.units.append(unit)
-
-                    if unit not in ALLOWED_UNITS:
-                        invalid_units.add(unit)
-                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parentMessage.errors:
-                            self.parentMessage.errors["unknown_unit"] = []
-                        self.parentMessage.errors["unknown_unit"].append(error)
-
-
-    def display_info(self):
-        print(f"Debug: CommandParam: display_info")
-        print(f" id: {self.paramNum}")
-        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
-
-
-
-class CommandConstant:
-    """
-    Represents a constant that is a command definition.
-    Encapsulates parsing of the command format.
-    The individual params are further parsed in CommandParam
-    """
-    def __init__(self, name, type, value, comment, line_number, parentMessage):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-        self.parent = parentMessage
-
-        self.description = self.comment
-        self.param1 = None
-        self.param2 = None
-        self.param3 = None
-        self.param4 = None
-        self.param5 = None
-        self.param6 = None
-        self.param7 = None
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        if not self.comment: # This is an bug for a command
-            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
-            return
-
-        # Parse command comment to get the description and parameters.
-        # print(f"Debug CommandConstant: {self.comment}")
-        if not "|" in self.comment:
-            # This is an error for a command constant
-            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_no_params_pipes" in self.parent.errors:
-                self.parent.errors["command_no_params_pipes"] = []
-            self.parent.errors["command_no_params_pipes"].append(error)
-            return
-
-        # Split on pipes
-        commandSplit = self.comment.split("|")
-        if len(commandSplit) < 9:
-            # Should 7 pipes, so each command is fully surrounded
-            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_missing_params" in self.parent.errors:
-                self.parent.errors["command_missing_params"] = []
-            self.parent.errors["command_missing_params"].append(error)
-
-        self.description = commandSplit[0].strip()
-        self.description = self.description if self.description else None
-
-        params_to_update = commandSplit[1:8]
-
-        for i, value in enumerate(params_to_update, start=1):
-            if value.strip():
-                # parse the param
-                param = CommandParam(i, value, self.line_number, self)
-                #param.display_info() # DEBUG CODE XXX
-                setattr(self, f"param{i}", param)
-                # parse the param
-
-        if len(commandSplit) > 8:
-            extras = commandSplit[8:]
-            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
-            if not "command_too_many_params" in self.parent.errors:
-                self.parent.errors["command_too_many_params"] = []
-            self.parent.errors["command_too_many_params"].append(error)
-
-
-        # TODO if value or name are empty, error
-
-    def markdown_out(self):
-        #print("DEBUG: CommandConstant.markdown_out")
-        output = f"""### {self.name} ({self.value})
-
-{self.description}
-
-Param | Units | Range/Enum | Description
--- | --- | --- | ---
-"""
-        for i in range(1, 8):
-            attr_name = f"param{i}"
-            # getattr returns None if the attribute doesn't exist
-            val = getattr(self, attr_name, None)
-
-            if val is not None:
-                rangeVal = ""
-                if val.minValue or val.maxValue:
-                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
-
-                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
-            else:
-                output+=f"{i} | | | ?\n"
-
-        output+=f"\n"
-        return output
-
-
-    def display_info(self):
-        print(f"Debug: CommandConstant: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
-
-class MessageField:
-    """
-    Represents a field.
-    Encapsulates parsing of the field information.
-    """
-    def __init__(self, name, type, comment, line_number, parentMessage):
-        self.name = name
-        self.type = type
-        self.comment = comment
-        self.unit = None
-        self.enums = None
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentMessage
-
-        #print(f"MessageComment: {comment}")
-        match = None
-        if self.comment:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
-        self.description = comment
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        self.enums = item[1:]
-                        # Create parent enum objects
-                        for enumName in self.enums:
-                            if not enumName in parentMessage.enums:
-                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    self.unit = item
-
-                    if self.unit not in ALLOWED_UNITS:
-                        invalid_units.add(self.unit)
-                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parent.errors:
-                            self.parent.errors["unknown_unit"] = []
-                        self.parent.errors["unknown_unit"].append(error)
-
-                    if item == "-":
-                        self.unit = ""
-
-
-    def display_info(self):
-        print(f"Debug: MessageField: display_info")
-        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
-
-
-class UORBMessage:
-    """
-    Represents a whole message, including fields, enums, commands, constants.
-    The parser function delegates the parsing of each part of the message to
-    more appropriate classes, once the specific type of line has been identified.
-    """
-
-    def __init__(self, filename):
-
-        self.filename = filename
-        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
-        self.msg_filename = os.path.join(msg_path, self.filename)
-        self.name = os.path.splitext(os.path.basename(msg_file))[0]
-        self.shortDescription = ""
-        self.longDescription = ""
-        self.fields = []
-        self.constantFields = dict()
-        self.commandConstants = dict()
-        self.enums = dict()
-        self.output_file = os.path.join(output_dir, f"{self.name}.md")
-        self.topics = []
-        self.errors = dict()
-
-        self.parseFile()
-
-        if args.errors:
-            #print(f"DEBUG: args.errors: {args.errors}")
-            if args.error_messages:
-                messages = args.error_messages.split(" ")
-                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
-                if self.name in messages:
-                    self.reportErrors()
-                    #print(f"Debug: {self.name} in {messages}")
-            else:
-              self.reportErrors()
-
-    def reportErrors(self):
-        #print(f"Debug: UORBMessage: reportErrors()")
-        for errorType, errors in self.errors.items():
-            for error in errors:
-               error.display_error()
-
-    def markdown_out(self):
-        #print(f"Debug: UORBMessage: markdown_out()")
-
-        # Add page header (forces wide pages)
-        markdown = f"""---
-pageClass: is-wide-page
---
-
-# {self.name} (UORB message)
-
-"""
-        ## Append description info if present
-        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
-        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
-
-        topicList = " ".join(self.topics)
-        markdown += f"**TOPICS:** {topicList}\n\n"
-
-        # Generate field docs
-        markdown += f"## Fields\n\n"
-        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
-        markdown += "--- | --- | --- | --- | ---\n"
-        for field in self.fields:
-            unit = f"{field.unit}" if field.unit else ""
-            frame = f"[{field.frameValue}]" if field.frameValue else ""
-            unit = f"{unit} {frame}"
-            unit.strip()
-            unit = f" {unit}"
-
-            value = " "
-            if field.enums:
-                value = ""
-                for enum in field.enums:
-                    value += f"[{enum}](#{enum})"
-                value = value.strip()
-                value = f"{value}"
-            elif field.minValue or field.maxValue:
-                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
-
-            description = f" {field.description}" if field.description else ""
-            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
-            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
-
-        # Generate table for command docs
-        if len(self.commandConstants) > 0:
-            #print("DEBUGCOMMAND")
-            markdown += f"\n## Commands\n\n"
-
-            """
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, command in self.commandConstants.items():
-                description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a id="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'
-            """
-            for commandConstant in self.commandConstants.values():
-                #print(commandConstant)
-                markdown += commandConstant.markdown_out()
-
-        # Generate enum docs
-        if len(self.enums) > 0:
-            markdown += f"\n## Enums\n"
-
-            for name, enum in self.enums.items():
-                markdown += f"\n### {name} {{#{name}}}\n\n"
-
-                markdown += "Name | Type | Value | Description\n"
-                markdown += "--- | --- | --- | ---\n"
-
-                for enumValueName, enumValue in enum.enumValues.items():
-                    description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a id="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
-
-        # Generate table for constants docs
-        if len(self.constantFields) > 0:
-            markdown += f"\n## Constants\n\n"
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, enum in self.constantFields.items():
-                description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a id="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
-
-
-
-        # Append msg contents to the end
-        with open(self.msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-            msg_contents = msg_contents.strip()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown += f"""
-
-## Source Message
-
-[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
-
-::: details Click here to see original file
-
-```c
-{msg_contents}
-```
-
-:::
-"""
-
-        with open(self.output_file, 'w') as content_file:
-            content_file.write(markdown)
-
-        #exit()
-
-
-    def display_info(self):
-        print(f"UORBMessage: display_info")
-        print(f" name: {self.name}")
-        print(f" filename: {self.filename}, ")
-        print(f" msg_filename: {self.msg_filename}, ")
-        print(f"self.shortDescription: {self.shortDescription}")
-        print(f"self.longDescription: {self.longDescription}")
-        print(f"self.enums: {self.enums}")
-
-        for enum, enumObject in self.enums.items():
-            enumObject.display_info()
-
-        # Output our data so far
-        for field in self.fields:
-            field.display_info()
-
-        for enumvalue in self.constantFields:
-            print(enumvalue)
-            self.constantFields[enumvalue].display_info()
-
-    def handleField(self, line, line_number, parentMessage):
-        #print(f"debug: handleField: (line): \n {line}")
-        # Note, here we know we don't have a comment or a topic.
-        # We expect it to be a field.
-
-        # Check field doesn't have leading whitespace (trailing spaces already checked)
-        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
-            #print("First character is whitespace")
-            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
-            if not "leading_whitespace_field_or_constant" in self.errors:
-                self.errors["leading_whitespace_field_or_constant"] = []
-                self.errors["leading_whitespace_field_or_constant"].append(error)
-
-        # Now we can parse the stripped line
-        fieldOrConstant = line.strip()
-
-        # Check that the field or constant has only single whitespace separators
-        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
-        if stripped_fieldOrConstant != fieldOrConstant:
-            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
-            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
-            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
-                self.errors["field_or_constant_has_multiple_whitepsace"] = []
-                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
-
-        fieldOrConstant = stripped_fieldOrConstant
-
-
-
-        comment = None
-        if "#" in line:
-            commentExtract = line.split("#", 1) # Split once on left-most '#'
-            fieldOrConstant = commentExtract[0].strip()
-            comment = commentExtract[-1].strip()
-
-        if "=" not in fieldOrConstant:
-            # Is a field:
-            field = fieldOrConstant.split(" ")
-            type = field[0].strip()
-            name = field[1].strip()
-            field = MessageField(name, type, comment, line_number, parentMessage)
-            self.fields.append(field)
-        else:
-            temp = fieldOrConstant.split("=")
-            value = temp[-1]
-            typeAndName = temp[0].split(" ")
-            type = typeAndName[0].strip()
-            name = typeAndName[1].strip()
-            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
-                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
-                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
-                #commandConstant.display_info()
-                self.commandConstants[name]=commandConstant
-            else: #it's a constant (or part of an enum)
-                constantField = ConstantValue(name, type, value, comment, line_number)
-                self.constantFields[name]=constantField
-
-
-    def parseFile(self):
-        initial_block_lines = []
-        #stopping_token = None
-        found_first_relevant_content = False
-        gettingInitialComments = False
-        gettingFields = False
-
-        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
-            lines = uorbfile.read().splitlines()
-            for line_number, line in enumerate(lines, 1):
-
-                if line != line.rstrip():
-                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
-                    error = Error("trailing_whitespace", self.filename, line_number, line)
-                    if not "trailing_whitespace" in self.errors:
-                        self.errors["trailing_whitespace"] = []
-                    self.errors["trailing_whitespace"].append(error)
-
-                #print(f"line: {line}")
-                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
-                #print(f"stripped_line: {stripped_line}")
-                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
-                # Or perhaps we just fix it on request
-
-                isEmptyLine = False if line.strip() else True
-                if not found_first_relevant_content and isEmptyLine: #Empty line
-                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
-                    error = Error("empty_start_line", self.filename, line_number, line)
-                    if not "empty_start_line" in self.errors:
-                        self.errors["empty_start_line"] = []
-                    self.errors["empty_start_line"].append(error)
-                    #error.display_error()
-                    continue
-                if not found_first_relevant_content and not isEmptyLine:
-                    found_first_relevant_content = True
-
-                    if stripped_line.startswith("#"):
-                        gettingInitialComments = True
-                    else:
-                        gettingInitialComments = False
-                        gettingFields = True
-
-                if gettingInitialComments and stripped_line.startswith("#"):
-                    stripped_line=stripped_line[1:].strip()
-                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
-                    initial_block_lines.append(stripped_line)
-                else:
-                    gettingInitialComments = False
-                    gettingFields = True #Getting fields and constants
-                if gettingFields:
-                    if isEmptyLine:
-                        continue # empty line
-                    if stripped_line.startswith("# TOPICS "):
-                        stripped_line = stripped_line[9:]
-                        stripped_line = stripped_line.split(" ")
-                        self.topics+= stripped_line
-                        # Note, default topic and topic errors handled after all lines parsed
-                        continue
-                    if stripped_line.startswith("#"):
-                        # Its an internal comment
-                        stripped_line=stripped_line[1:].strip()
-
-                        if stripped_line:
-                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment", self.filename, line_number, line)
-                            if not "internal_comment" in self.errors:
-                                self.errors["internal_comment"] = []
-                            self.errors["internal_comment"].append(error)
-                        else:
-                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment_empty", self.filename, line_number, line)
-                            if not "internal_comment_empty" in self.errors:
-                                self.errors["internal_comment_empty"] = []
-                            self.errors["internal_comment_empty"].append(error)
-                            #pass # Empty comment
-                        continue
-
-                    # Must be a field or a comment.
-                    self.handleField(line, line_number, parentMessage=self)
-
-            # Fix up topics if the topic is empty
-            def camel_to_snake(name):
-                # Insert underscore between lowercase/digit and uppercase letter
-                s1 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', name)
-                # Insert underscore between consecutive uppercase and uppercase+lowercase
-                return re.sub('([A-Z]+)([A-Z][a-z])', r'\1_\2', s1).lower()
-
-            defaultTopic = camel_to_snake(self.name)
-            if len(self.topics) == 0:
-                # We have no topic declared, so set the default topic
-                self.topics.append(defaultTopic)
-            elif len(self.topics) == 1:
-                # We have 1 topic declared - either it is default or there is some issue.
-                if defaultTopic in self.topics:
-                    # Declared topic is default topic
-                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
-                else:
-                    # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[0]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
-                if not "topic_error" in self.errors:
-                    self.errors["topic_error"] = []
-                    self.errors["topic_error"].append(error)
-            elif len(self.topics) > 1:
-                if defaultTopic not in self.topics:
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
-
-            # Parse our short and long description
-            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
-            doingLongDescription = False
-            for summaryline in initial_block_lines:
-                if not self.shortDescription and summaryline.strip() == '':
-                    continue
-                if not doingLongDescription and not summaryline.strip() == '':
-                   self.shortDescription += f" {summaryline}"
-                   self.shortDescription = self.shortDescription.strip()
-                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
-                       self.shortDescription += "."
-                if not doingLongDescription and summaryline.strip() == '':
-                   doingLongDescription = True
-                   continue
-                if doingLongDescription:
-                    self.longDescription += f"{summaryline}\n"
-
-            if self.longDescription:
-                self.longDescription.strip()
-
-            if not self.shortDescription:
-                # Summary has not been defined
-                error = Error("summary_missing", self.filename)
-                if not "summary_missing" in self.errors:
-                    self.errors["summary_missing"] = []
-                self.errors["summary_missing"].append(error)
-
-
-            # TODO Parse our constantValues into enums, leaving only constants
-            constantValuesToRemove = []
-            #print(f"DEBUG: Self.enums: {self.enums}")
-            for enumName, enumObject in self.enums.items():
-                for enumValueName, enumValueObject in self.constantFields.items():
-                    if enumValueName.startswith(enumName):
-                        # Copy this value into the object (cant be duplicate because parent is dict)
-                        enumObject.enumValues[enumValueName]=enumValueObject
-                        constantValuesToRemove.append(enumValueName)
-            # Now delete the original enumvalues
-            for enumValName in constantValuesToRemove:
-                del self.constantFields[enumValName]
-            constantsNotAssignedToEnums = len(self.constantFields)
-            if constantsNotAssignedToEnums > 0:
-                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
-                for enumValueName, enumValue in self.constantFields.items():
-                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
-                        pass
-                    else:
-                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
-                        if not "constant_not_in_assigned_enum" in self.errors:
-                            self.errors["constant_not_in_assigned_enum"] = []
-                        self.errors["constant_not_in_assigned_enum"].append(error)
-                # TODO Maybe present as list of possible enums.


 import yaml
@@ -833,9 +36,11 @@ def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
        for message in data["subscriptions"]:
            all_message_types.add(message['type'].split("::")[-1])
            all_topics.add(message['topic'].split('/')[-1])
-        for message in (data.get("subscriptions_multi") or []):
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
+        if data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+            for message in data["subscriptions_multi"]:
+                all_message_types.add(message['type'].split("::")[-1])
+                all_topics.add(message['topic'].split('/')[-1])
        for message in allMessageFiles:
            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
        messagesNotExported = all_messages_in_source - all_message_types
@@ -872,17 +77,13 @@ Topic | Type| Rate Limit

        dds_markdown += "\n## Subscriptions Multi\n\n"

-        subscriptions_multi = data.get("subscriptions_multi") or []
-        if not subscriptions_multi:
+        if not data["subscriptions_multi"]: # There is none now
            dds_markdown += "None\n"
        else:
-            dds_markdown += "Topic | Type | Route Field | Max Instances\n--- | --- | --- | ---\n"
-            for message in subscriptions_multi:
-                type = message['type']
-                px4Type = type.split("::")[-1]
-                route_field = f"`{message['route_field']}`" if 'route_field' in message else "-"
-                max_instances = message.get('max_instances', '-')
-                dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md) | {route_field} | {max_instances}\n"
+            print("Warning - we now have subscription_multi data - check format")
+            dds_markdown += "Topic | Type\n--- | ---\n"
+            for message in data["subscriptions_multi"]:
+                dds_markdown += f"{message['topic']} | {message['type']}\n"

        if messagesNotExported:
            # Print the topics that are not exported to DDS
@@ -926,47 +127,83 @@ if __name__ == "__main__":

    parser = argparse.ArgumentParser(description='Generate docs from .msg files')
    parser.add_argument('-d', dest='dir', help='output directory', required=True)
-    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
-    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
    args = parser.parse_args()

    output_dir = args.dir
    if not os.path.isdir(output_dir):
-        print(f"making output_dir {output_dir}")
        os.mkdir(output_dir)

    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
    msg_files = get_msgs_list(msg_path)
-
    msg_files.sort()

    versioned_msgs_list = ''
    unversioned_msgs_list = ''
-    msgTypes = set()

    for msg_file in msg_files:
-        # Add messages to set of allowed types (compound types)
        msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        msgTypes.add(msg_name)
+        output_file = os.path.join(output_dir, msg_name+'.md')
+        msg_filename = os.path.join(msg_path, msg_file)
+        print("{:} -> {:}".format(msg_filename, output_file))

-    for msg_file in msg_files:
-        message = UORBMessage(msg_file)
-        # Any additional tests that can't be in UORBMessage parser go here.
-        message.markdown_out()
+        #Format msg url
+        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
+
+        msg_description = ""
+        summary_description = ""
+
+        #Get msg description (first non-empty comment line from top of msg)
+        with open(msg_filename, 'r') as lineparser:
+            line = lineparser.readline()
+            while line.startswith('#') or (line.strip() == ''):
+                print('DEBUG: line: %s' % line)
+                line=line[1:].strip()+'\n'
+                stripped_line=line.strip()
+                if msg_description and not summary_description and stripped_line=='':
+                    summary_description = msg_description.strip()
+
+                msg_description+=line
+                line = lineparser.readline()
+            msg_description=msg_description.strip()
+            if not summary_description and msg_description:
+                summary_description = msg_description
+            print('msg_description: Z%sZ' % msg_description)
+            print('summary_description: Z%sZ' % summary_description)
+            summary_description
+        msg_contents = ""
+        #Get msg contents (read the file)
+        with open(msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown_output="""# %s (UORB message)
+
+%s
+
+%s
+
+```c
+%s
+```
+""" % (msg_name, msg_description, msg_url, msg_contents)
+
+        with open(output_file, 'w') as content_file:
+            content_file.write(markdown_output)

        # Categorize as versioned or unversioned
        if "versioned" in msg_file:
-            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                versioned_msgs_list += f" — {message.shortDescription}"
+            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                versioned_msgs_list += " — %s" % summary_description
            versioned_msgs_list += "\n"
        else:
-            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                unversioned_msgs_list += f" — {message.shortDescription}"
+            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                unversioned_msgs_list += " — %s" % summary_description
            unversioned_msgs_list += "\n"
+
    # Write out the index.md file
-    index_text=f"""# uORB Message Reference
+    index_text="""# uORB Message Reference

 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -981,14 +218,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m

 ## Versioned Messages

-{versioned_msgs_list}
+%s

 ## Unversioned Messages

-{unversioned_msgs_list}
-    """
+%s
+    """ % (versioned_msgs_list, unversioned_msgs_list)
    index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w', encoding='utf-8') as content_file:
+    with open(index_file, 'w') as content_file:
            content_file.write(index_text)

    generate_dds_yaml_doc(msg_files)
@@ -1138,8 +1138,6 @@ if num_mags >= 1:

    if not math.isnan(sensor_mag_0['temperature'][0]):

-        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
-
        # find the min, max and reference temperature
        mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
        mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])
@@ -42,7 +42,6 @@
 import argparse
 import json
 import base64
-import os
 import zlib
 import time
 import subprocess
@@ -100,13 +99,14 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	git_dir = os.path.join(args.git_identity, '.git')
-	p = subprocess.run(["git", "--git-dir", git_dir, "describe", "--exclude", "ext/*", "--always", "--tags"],
-		stdout=subprocess.PIPE, text=True)
-	desc['git_identity']	= p.stdout.strip()
-	p = subprocess.run(["git", "--git-dir", git_dir, "rev-parse", "--verify", "HEAD"],
-		stdout=subprocess.PIPE, text=True)
-	desc['git_hash']	= p.stdout.strip()
+	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
+	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
+	desc['git_identity']	= p.read().strip().decode('utf-8')
+	p.close()
+	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
+	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
+	desc['git_hash']	= p.read().strip().decode('utf-8')
+	p.close()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
 	bytes = f.read()
@@ -0,0 +1,947 @@
+#!/usr/bin/env python3
+############################################################################
+#
+#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Serial firmware uploader for the PX4FMU bootloader
+#
+# The PX4 firmware file is a JSON-encoded Python object, containing
+# metadata fields and a zlib-compressed base64-encoded firmware image.
+#
+# The uploader uses the following fields from the firmware file:
+#
+# image
+#       The firmware that will be uploaded.
+# image_size
+#       The size of the firmware in bytes.
+# board_id
+#       The board for which the firmware is intended.
+# board_revision
+#       Currently only used for informational purposes.
+#
+
+import sys
+import argparse
+import binascii
+import socket
+import struct
+import json
+import zlib
+import base64
+import time
+import array
+import os
+
+from sys import platform as _platform
+
+try:
+    import serial
+except ImportError as e:
+    print(f"Failed to import serial: {e}")
+    print("")
+    print("You may need to install it using:")
+    print("    python -m pip install pyserial")
+    print("")
+    sys.exit(1)
+
+
+# Detect python version
+if sys.version_info[0] < 3:
+    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
+    sys.exit(1)
+
+
+# Use monotonic time where available
+def _time():
+    try:
+        return time.monotonic()
+    except Exception:
+        return time.time()
+
+class FirmwareNotSuitableException(Exception):
+    def __init__(self, message):
+        super(FirmwareNotSuitableException, self).__init__(message)
+
+
+class firmware(object):
+    '''Loads a firmware file'''
+
+    desc = {}
+    image = bytes()
+
+    def __init__(self, path):
+
+        # read the file
+        f = open(path, "r")
+        self.desc = json.load(f)
+        f.close()
+
+        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
+
+        # pad image to 4-byte length
+        while ((len(self.image) % 4) != 0):
+            self.image.extend(b'\xff')
+
+    def property(self, propname):
+        return self.desc[propname]
+
+    def crc(self, padlen):
+        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:
+    '''Uploads a firmware file to the PX4 bootloader'''
+
+    # protocol bytes
+    INSYNC          = b'\x12'
+    EOC             = b'\x20'
+
+    # reply bytes
+    OK              = b'\x10'
+    FAILED          = b'\x11'
+    INVALID         = b'\x13'     # rev3+
+    BAD_SILICON_REV = b'\x14'     # rev5+
+
+    # command bytes
+    NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
+    GET_SYNC        = b'\x21'
+    GET_DEVICE      = b'\x22'
+    CHIP_ERASE      = b'\x23'
+    CHIP_VERIFY     = b'\x24'     # rev2 only
+    PROG_MULTI      = b'\x27'
+    READ_MULTI      = b'\x28'     # rev2 only
+    GET_CRC         = b'\x29'     # rev3+
+    GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
+    GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
+    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
+    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
+    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
+    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
+    MAX_DES_LENGTH  = 20
+
+    REBOOT          = b'\x30'
+
+    INFO_BL_REV     = b'\x01'        # bootloader protocol revision
+    BL_REV_MIN      = 2              # minimum supported bootloader protocol
+    BL_REV_MAX      = 5              # maximum supported bootloader protocol
+    INFO_BOARD_ID   = b'\x02'        # board type
+    INFO_BOARD_REV  = b'\x03'        # board revision
+    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
+
+    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
+    READ_MULTI_MAX  = 252            # protocol max is 255
+
+    NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
+    NSH_REBOOT_BL   = b"reboot -b\n"
+    NSH_REBOOT      = b"reboot\n"
+    MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
+    MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
+
+    MAX_FLASH_PRGRAM_TIME  = 0.001  # Time on an F7 to send SYNC, RESULT from last data in multi RXed
+
+    def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
+        # Open the port, keep the default timeout short so we can poll quickly.
+        # On some systems writes can suddenly get stuck without having a
+        # write_timeout > 0 set.
+        # chartime 8n1 * bit rate is us
+        self.chartime = 10 * (1.0 / baudrate_bootloader)
+
+        # we use a window approche to SYNC,<result> gathring
+        self.window = 0
+        self.window_max = 256
+        self.window_per = 2  # Sync,<result>
+        self.ackWindowedMode = False  # Assume Non Widowed mode for all USB CDC
+        self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
+        self.otp = b''
+        self.sn = b''
+        self.baudrate_bootloader = baudrate_bootloader
+        self.baudrate_flightstack = baudrate_flightstack
+        self.baudrate_flightstack_idx = -1
+        self.force_erase = False
+
+    def close(self):
+        if self.port is not None:
+            self.port.close()
+
+    def open(self):
+        # upload timeout
+        timeout = _time() + 0.2
+
+        # attempt to open the port while it exists and until timeout occurs
+        while self.port is not None:
+            portopen = True
+            try:
+                portopen = self.port.is_open
+            except AttributeError:
+                portopen = self.port.isOpen()
+
+            if not portopen and _time() < timeout:
+                try:
+                    self.port.open()
+                except OSError:
+                    # wait for the port to be ready
+                    time.sleep(0.04)
+                except serial.SerialException:
+                    # if open fails, try again later
+                    time.sleep(0.04)
+            else:
+                break
+
+    # debugging code
+    def __probe(self, state):
+        # self.port.setRTS(state)
+        return
+
+    def __send(self, c):
+        # print("send " + binascii.hexlify(c))
+        self.port.write(c)
+
+    def __recv(self, count=1):
+        c = self.port.read(count)
+        if len(c) < 1:
+            raise RuntimeError("timeout waiting for data (%u bytes)" % count)
+        # print("recv " + binascii.hexlify(c))
+        return c
+
+    def __recv_int(self):
+        raw = self.__recv(4)
+        val = struct.unpack("<I", raw)
+        return val[0]
+
+    def __getSync(self, doFlush=True):
+        if (doFlush):
+            self.port.flush()
+        c = bytes(self.__recv())
+        if c != self.INSYNC:
+            raise RuntimeError("unexpected %s instead of INSYNC" % c)
+        c = self.__recv()
+        if c == self.INVALID:
+            raise RuntimeError("bootloader reports INVALID OPERATION")
+        if c == self.FAILED:
+            raise RuntimeError("bootloader reports OPERATION FAILED")
+        if c != self.OK:
+            raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
+
+    # The control flow for receiving Sync is on the order of 16 Ms per Sync
+    # This will validate all the SYNC,<results> for a window of programing
+    # in about 13.81 Ms for 256 blocks written
+    def __ackSyncWindow(self, count):
+        if (count > 0):
+            data =  bytearray(bytes(self.__recv(count)))
+            if (len(data) != count):
+                raise RuntimeError("Ack Window %i not %i " % (len(data), count))
+            for i in range(0, len(data), 2):
+                if bytes([data[i]]) != self.INSYNC:
+                    raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
+                if bytes([data[i+1]]) == self.INVALID:
+                    raise RuntimeError("bootloader reports INVALID OPERATION")
+                if bytes([data[i+1]]) == self.FAILED:
+                    raise RuntimeError("bootloader reports OPERATION FAILED")
+                if bytes([data[i+1]]) != self.OK:
+                    raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
+
+    # attempt to get back into sync with the bootloader
+    def __sync(self):
+        # send a stream of ignored bytes longer than the longest possible conversation
+        # that we might still have in progress
+        # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
+        self.port.flushInput()
+        self.__send(uploader.GET_SYNC +
+                    uploader.EOC)
+        self.__getSync()
+
+    def __trySync(self):
+        try:
+            self.port.flush()
+            if (self.__recv() != self.INSYNC):
+                # print("unexpected 0x%x instead of INSYNC" % ord(c))
+                return False
+            c = self.__recv()
+            if (c == self.BAD_SILICON_REV):
+                raise NotImplementedError()
+            if (c != self.OK):
+                # print("unexpected 0x%x instead of OK" % ord(c))
+                return False
+            return True
+
+        except NotImplementedError:
+            raise RuntimeError("Programing not supported for this version of silicon!\n"
+                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
+        except RuntimeError:
+            # timeout, no response yet
+            return False
+
+    # attempt to determins if the device is CDCACM or A FTDI
+    def __determineInterface(self):
+        self.port.flushInput()
+        # Set a baudrate that can not work on a real serial port
+        # in that it is 233% off.
+        try:
+            self.port.baudrate = self.baudrate_bootloader * 2.33
+        except NotImplementedError as e:
+            # This error can occur because pySerial on Windows does not support odd baudrates
+            print(f"{e} -> could not check for FTDI device, assuming USB connection")
+            return
+
+        self.__send(uploader.GET_SYNC +
+                    uploader.EOC)
+        try:
+            self.__getSync(False)
+        except RuntimeError:
+            # if it fails we are on a real serial port - only leave this enabled on Windows
+            if sys.platform.startswith('win'):
+                self.ackWindowedMode = True
+        finally:
+            try:
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass
+
+    # send the GET_DEVICE command and wait for an info parameter
+    def __getInfo(self, param):
+        self.__send(uploader.GET_DEVICE + param + uploader.EOC)
+        value = self.__recv_int()
+        self.__getSync()
+        return value
+
+    # send the GET_OTP command and wait for an info parameter
+    def __getOTP(self, param):
+        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
+        self.__send(uploader.GET_OTP + t + uploader.EOC)
+        value = self.__recv(4)
+        self.__getSync()
+        return value
+
+    # send the GET_SN command and wait for an info parameter
+    def __getSN(self, param):
+        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
+        self.__send(uploader.GET_SN + t + uploader.EOC)
+        value = self.__recv(4)
+        self.__getSync()
+        return value
+
+    # send the GET_CHIP command
+    def __getCHIP(self):
+        self.__send(uploader.GET_CHIP + uploader.EOC)
+        value = self.__recv_int()
+        self.__getSync()
+        return value
+
+    # send the GET_CHIP command
+    def __getCHIPDes(self):
+        self.__send(uploader.GET_CHIP_DES + uploader.EOC)
+        length = self.__recv_int()
+        value = self.__recv(length)
+        self.__getSync()
+        pieces = value.split(b",")
+        return pieces
+
+    def __getVersion(self):
+        self.__send(uploader.GET_VERSION + uploader.EOC)
+        try:
+            length = self.__recv_int()
+            value = self.__recv(length)
+            self.__getSync()
+        except RuntimeError:
+            # Bootloader doesn't support version call
+            return "unknown"
+        return value.decode()
+
+    def __drawProgressBar(self, label, progress, maxVal):
+        if maxVal < progress:
+            progress = maxVal
+
+        percent = (float(progress) / float(maxVal)) * 100.0
+
+        redraw = "\r" if sys.stdout.isatty() else "\n"
+        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
+        sys.stdout.flush()
+
+    # send the CHIP_ERASE command and wait for the bootloader to become ready
+    def __erase(self, label):
+        print(f"Windowed mode: {self.ackWindowedMode}")
+        print("\n", end='')
+
+        if self.force_erase:
+            print("Trying force erase of full chip...\n")
+            self.__send(uploader.CHIP_FULL_ERASE +
+                        uploader.EOC)
+        else:
+            self.__send(uploader.CHIP_ERASE +
+                        uploader.EOC)
+
+        # erase is very slow, give it 30s
+        deadline = _time() + 30.0
+        while _time() < deadline:
+
+            usualEraseDuration = 15.0
+            estimatedTimeRemaining = deadline-_time()
+            if estimatedTimeRemaining >= usualEraseDuration:
+                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
+            else:
+                self.__drawProgressBar(label, 10.0, 10.0)
+                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
+                sys.stdout.flush()
+
+            if self.__trySync():
+                self.__drawProgressBar(label, 10.0, 10.0)
+                if self.force_erase:
+                    print("\nForce erase done.\n")
+                return
+
+        if self.force_erase:
+            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
+        else:
+            raise RuntimeError("timed out waiting for erase")
+
+    # send a PROG_MULTI command to write a collection of bytes
+    def __program_multi(self, data, windowMode):
+
+        length = len(data).to_bytes(1, byteorder='big')
+
+        self.__send(uploader.PROG_MULTI)
+        self.__send(length)
+        self.__send(data)
+        self.__send(uploader.EOC)
+        if (not windowMode):
+            self.__getSync(False)
+        else:
+            # The following is done to have minimum delay on the transmission
+            # of the ne fw. The per block cost of __getSync was about 16 mS per.
+            # Passively wait on Sync and Result using board rates and
+            # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
+            self.__probe(False)
+            self.__probe(True)
+            time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
+            self.__probe(False)
+
+    # verify multiple bytes in flash
+    def __verify_multi(self, data):
+
+        length = len(data).to_bytes(1, byteorder='big')
+
+        self.__send(uploader.READ_MULTI)
+        self.__send(length)
+        self.__send(uploader.EOC)
+        self.port.flush()
+        programmed = self.__recv(len(data))
+        if programmed != data:
+            print("got    " + binascii.hexlify(programmed))
+            print("expect " + binascii.hexlify(data))
+            return False
+        self.__getSync()
+        return True
+
+    # send the reboot command
+    def __reboot(self):
+        self.__send(uploader.REBOOT +
+                    uploader.EOC)
+        self.port.flush()
+
+        # v3+ can report failure if the first word flash fails
+        if self.bl_rev >= 3:
+            self.__getSync()
+
+    # split a sequence into a list of size-constrained pieces
+    def __split_len(self, seq, length):
+        return [seq[i:i+length] for i in range(0, len(seq), length)]
+
+    # upload code
+    def __program(self, label, fw):
+        self.__probe(False)
+        print("\n", end='')
+        code = fw.image
+        groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
+        # Give imedate feedback
+        self.__drawProgressBar(label, 0, len(groups))
+        uploadProgress = 0
+        for bytes in groups:
+            self.__program_multi(bytes, self.ackWindowedMode)
+            # If in Window mode, extend the window size for the __ackSyncWindow
+            if self.ackWindowedMode:
+                self.window += self.window_per
+
+            # Print upload progress (throttled, so it does not delay upload progress)
+            uploadProgress += 1
+            if uploadProgress % 256 == 0:
+                self.__probe(True)
+                self.__probe(False)
+                self.__probe(True)
+                self.__ackSyncWindow(self.window)
+                self.__probe(False)
+                self.window = 0
+                self.__drawProgressBar(label, uploadProgress, len(groups))
+
+        # Do any remaining fragment
+        self.__ackSyncWindow(self.window)
+        self.window = 0
+        self.__drawProgressBar(label, 100, 100)
+
+    # verify code
+    def __verify_v2(self, label, fw):
+        print("\n", end='')
+        self.__send(uploader.CHIP_VERIFY +
+                    uploader.EOC)
+        self.__getSync()
+        code = fw.image
+        groups = self.__split_len(code, uploader.READ_MULTI_MAX)
+        verifyProgress = 0
+        for bytes in groups:
+            verifyProgress += 1
+            if verifyProgress % 256 == 0:
+                self.__drawProgressBar(label, verifyProgress, len(groups))
+            if (not self.__verify_multi(bytes)):
+                raise RuntimeError("Verification failed")
+        self.__drawProgressBar(label, 100, 100)
+
+    def __verify_v3(self, label, fw):
+        print("\n", end='')
+        self.__drawProgressBar(label, 1, 100)
+        expect_crc = fw.crc(self.fw_maxsize)
+        self.__send(uploader.GET_CRC + uploader.EOC)
+        time.sleep(0.5)
+        report_crc = self.__recv_int()
+        self.__getSync()
+        if report_crc != expect_crc:
+            print("Expected 0x%x" % expect_crc)
+            print("Got      0x%x" % report_crc)
+            raise RuntimeError("Program CRC failed")
+        self.__drawProgressBar(label, 100, 100)
+
+    def __set_boot_delay(self, boot_delay):
+        self.__send(uploader.SET_BOOT_DELAY +
+                    struct.pack("b", boot_delay) +
+                    uploader.EOC)
+        self.__getSync()
+
+    # get basic data about the board
+    def identify(self):
+        self.__determineInterface()
+        # make sure we are in sync before starting
+        self.__sync()
+
+        # get the bootloader protocol ID first
+        self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
+        if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
+            print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
+            raise RuntimeError("Bootloader protocol mismatch")
+
+        self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
+        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
+        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
+
+        self.version = self.__getVersion()
+
+    # upload the firmware
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
+        self.force_erase = force_erase
+        # select correct binary
+        found_suitable_firmware = False
+        for file in fw_list:
+            fw = firmware(file)
+            if self.board_type == fw.property('board_id'):
+                if len(fw_list) > 1: print("using firmware binary {}".format(file))
+                found_suitable_firmware = True
+                break
+
+        if not found_suitable_firmware:
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                if len(fw_list) > 1:
+                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        percent = fw.property('image_size') / fw.property('image_maxsize')
+        binary_size = float(fw.property('image_size'))
+        binary_max_size = float(fw.property('image_maxsize'))
+        percent = (binary_size / binary_max_size) * 100
+
+        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
+        print()
+
+        print(f"Bootloader version: {self.version}")
+
+        # Make sure we are doing the right thing
+        start = _time()
+        if self.board_type != fw.property('board_id'):
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        # Prevent uploads where the image would overflow the flash
+        if self.fw_maxsize < fw.property('image_size'):
+            raise RuntimeError("Firmware image is too large for this board")
+
+        # OTP added in v4:
+        if self.bl_rev >= 4:
+            for byte in range(0, 32*6, 4):
+                x = self.__getOTP(byte)
+                self.otp = self.otp + x
+                # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
+            # see src/modules/systemlib/otp.h in px4 code:
+            self.otp_id = self.otp[0:4]
+            self.otp_idtype = self.otp[4:5]
+            self.otp_vid = self.otp[8:4:-1]
+            self.otp_pid = self.otp[12:8:-1]
+            self.otp_coa = self.otp[32:160]
+            # show user:
+            try:
+                print("Sn: ", end='')
+                for byte in range(0, 12, 4):
+                    x = self.__getSN(byte)
+                    x = x[::-1]  # reverse the bytes
+                    self.sn = self.sn + x
+                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
+                print('')
+                print("Chip: %08x" % self.__getCHIP())
+
+                otp_id = self.otp_id.decode('Latin-1')
+                if ("PX4" in otp_id):
+                    print("OTP id: " + otp_id)
+                    print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
+                    print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
+                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
+                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
+
+            except Exception as e:
+                # ignore bad character encodings
+                print(f"Exception ignored: {e}")
+                pass
+
+        # Silicon errata check was added in v5
+        if (self.bl_rev >= 5):
+            des = self.__getCHIPDes()
+            if (len(des) == 2):
+                family, revision = des
+                print(f"Family: {family.decode()}")
+                print(f"Revision: {revision.decode()}")
+                print(f"Flash: {self.fw_maxsize} bytes")
+
+                # Prevent uploads where the maximum image size of the board config is smaller than the flash
+                # of the board. This is a hint the user chose the wrong config and will lack features
+                # for this particular board.
+
+                # This check should also check if the revision is an unaffected revision
+                # and thus can support the full flash, see
+                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
+
+                if self.fw_maxsize > fw.property('image_maxsize') and not force:
+                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
+        else:
+            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
+            # have the silicon errata and therefore need to flash px4_fmu-v2
+            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
+            if fw.property('board_id') == 9 \
+                    and fw.property('image_size') > 1032192 \
+                    and not force:
+                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
+                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
+                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
+                                   "\n"
+                                   "If you know you that the board does not have the silicon errata, use\n"
+                                   "this script with --force, or update the bootloader. If you are invoking\n"
+                                   "upload using make, you can use force-upload target to force the upload.\n")
+        self.__erase("Erase  ")
+        self.__program("Program", fw)
+
+        if self.bl_rev == 2:
+            self.__verify_v2("Verify ", fw)
+        else:
+            self.__verify_v3("Verify ", fw)
+
+        if boot_delay is not None:
+            self.__set_boot_delay(boot_delay)
+
+        print("\nRebooting.", end='')
+        self.__reboot()
+        self.port.close()
+        print(" Elapsed Time %3.3f\n" % (_time() - start))
+
+    def __next_baud_flightstack(self):
+        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
+            return False
+        try:
+            self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
+            self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
+        except serial.SerialException:
+            # Sometimes _configure_port fails
+            time.sleep(0.04)
+
+        return True
+
+    def send_protocol_splitter_format(self, data):
+        # Header Structure:
+        #      bits:   1 2 3 4 5 6 7 8
+        # header[0] - |     Magic     | (='S')
+        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
+        # header[2] - |     LenL      |
+        # header[3] - |   Checksum    |
+
+        MAGIC = 83
+
+        len_bytes = len(data).to_bytes(2, "big")
+        LEN_H = len_bytes[0] & 127
+        LEN_L = len_bytes[1] & 255
+        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
+
+        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
+        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
+
+        self.__send(header_bytes)
+        self.__send(data)
+
+    def send_reboot(self, use_protocol_splitter_format=False):
+        if (not self.__next_baud_flightstack()):
+            return False
+
+        print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
+        if "ttyS" in self.port.port:
+            print("If the board does not respond, check the connection to the Flight Controller")
+        else:
+            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
+
+        try:
+            send_fct = self.__send
+            if use_protocol_splitter_format:
+                send_fct = self.send_protocol_splitter_format
+
+            # try MAVLINK command first
+            self.port.flush()
+            send_fct(uploader.MAVLINK_REBOOT_ID1)
+            send_fct(uploader.MAVLINK_REBOOT_ID0)
+            # then try reboot via NSH
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT_BL)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT)
+            self.port.flush()
+            self.port.baudrate = self.baudrate_bootloader
+        except Exception:
+            try:
+                self.port.flush()
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass
+
+        return True
+
+
+def main():
+    # Parse commandline arguments
+    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
+    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
+    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
+    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
+    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
+    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
+    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
+    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
+    args = parser.parse_args()
+
+    if args.use_protocol_splitter_format:
+        print("Using protocol splitter format to reboot pixhawk!")
+
+    # warn people about ModemManager which interferes badly with Pixhawk
+    if os.path.exists("/usr/sbin/ModemManager"):
+        print("==========================================================================================================")
+        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
+        print("==========================================================================================================")
+
+    print("Waiting for bootloader...")
+    # tell any GCS that might be connected to the autopilot to give up
+    # control of the serial port
+
+    # send to localhost and default GCS port
+    ipaddr = '127.0.0.1'
+    portnum = 14550
+
+    # COMMAND_LONG in MAVLink 1
+    heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
+    commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
+
+    # initialize an UDP socket
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    # send heartbeat to initialize connection and command to free the link
+    s.sendto(heartbeatpacket, (ipaddr, portnum))
+    s.sendto(commandpacket, (ipaddr, portnum))
+
+    # close the socket
+    s.close()
+
+    # Spin waiting for a device to show up
+    try:
+        while True:
+            portlist = []
+            patterns = args.port.split(",")
+            # on unix-like platforms use glob to support wildcard ports. This allows
+            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
+            # causing modem hangups etc
+            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
+                import glob
+                for pattern in patterns:
+                    portlist += glob.glob(pattern)
+            else:
+                portlist = patterns
+
+            baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
+
+            successful = False
+            unsuitable_board = False
+            for port in portlist:
+
+                # print("Trying %s" % port)
+
+                # create an uploader attached to the port
+                try:
+                    if "linux" in _platform:
+                        # Linux, don't open Mac OS and Win ports
+                        if "COM" not in port and "tty.usb" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "darwin" in _platform:
+                        # OS X, don't open Windows and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "cygwin" in _platform:
+                        # Cygwin, don't open native Windows COM and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "win" in _platform:
+                        # Windows, don't open POSIX ports
+                        if "/" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                except Exception as e:
+                    # open failed, rate-limit our attempts
+                    time.sleep(0.05)
+                    print(f"Exception ignored: {e}")
+
+                    # and loop to the next port
+                    continue
+
+                found_bootloader = False
+                while True:
+                    up.open()
+
+                    # port is open, try talking to it
+                    try:
+                        # identify the bootloader
+                        up.identify()
+                        found_bootloader = True
+                        print()
+                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
+                        break
+
+                    except (RuntimeError, serial.SerialException):
+
+                        if not up.send_reboot(args.use_protocol_splitter_format):
+                            break
+
+                        # wait for the reboot, without we might run into Serial I/O Error 5
+                        time.sleep(0.25)
+
+                        # always close the port
+                        up.close()
+
+                        # wait for the close, without we might run into Serial I/O Error 6
+                        time.sleep(0.3)
+
+                if not found_bootloader:
+                    # Go to the next port
+                    continue
+
+                try:
+                    # ok, we have a bootloader, try flashing it
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
+
+                    # if we made this far without raising exceptions, the upload was successful
+                    successful = True
+
+                except RuntimeError as e:
+                    # print the error
+                    print(f"\n\nError: {e}")
+
+                except FirmwareNotSuitableException:
+                    unsuitable_board = True
+                    up.close()
+                    continue
+
+                except IOError:
+                    up.close()
+                    continue
+
+                finally:
+                    # always close the port
+                    up.close()
+
+                # we could loop here if we wanted to wait for more boards...
+                if successful:
+                    sys.exit(0)
+                else:
+                    sys.exit(1)
+
+            if unsuitable_board:
+                # If we land here, we went through all ports, did not flash any
+                # board and found at least one unsuitable board.
+                # Exit with 2, so a caller can distinguish from other errors
+                sys.exit(2)
+
+            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
+            time.sleep(0.05)
+
+    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
+    except KeyboardInterrupt:
+        print("\n Upload aborted by user.")
+        sys.exit(0)
+
+
+if __name__ == '__main__':
+    main()
+
+# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
@@ -144,8 +144,6 @@ def main():
                      help='number of tidy instances to be run in parallel.')
  parser.add_argument('files', nargs='*', default=['.*'],
                      help='files to be processed (regex on path)')
-  parser.add_argument('-exclude', dest='exclude', default=None,
-                      help='regular expression matching files to exclude')
  parser.add_argument('-fix', action='store_true', help='apply fix-its')
  parser.add_argument('-format', action='store_true', help='Reformat code '
                      'after applying fixes')
@@ -194,7 +192,6 @@ def main():

  # Build up a big regexy filter from all command line arguments.
  file_name_re = re.compile('(' + ')|('.join(args.files) + ')')
-  exclude_re = re.compile(args.exclude) if args.exclude else None

  try:
    # Spin up a bunch of tidy-launching threads.
@@ -208,8 +205,6 @@ def main():
    # Fill the queue with files.
    for name in files:
      if file_name_re.search(name):
-        if exclude_re and exclude_re.search(name):
-          continue
        queue.put(name)

    # Wait for all threads to be done.
@@ -4,7 +4,7 @@ GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
 SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"

-echo -e "$SCRIPTID $( uname -m ) | $(date -u +%FT%TZ)"
+echo -e "$SCRIPTID Starting"

 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
@@ -22,4 +22,6 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

+echo -e "$SCRIPTID ($( uname -m ))"
+
 exec "$@"
@@ -74,7 +74,7 @@ python3 -m pip install --user -r ${DIR}/requirements.txt

 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
-	if ! brew ls --versions px4-sim > /dev/null; then
+	if brew ls --versions px4-sim > /dev/null; then
 		brew install px4-sim
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim
@@ -6,9 +6,9 @@ set -e
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, Gazebo
+## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - Gazebo Harmonic simulator (omit with arg: --no-sim-tools)
+## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##

 INSTALL_NUTTX="true"
@@ -176,10 +176,8 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 		echo
 		echo "Fetching Xtensa compilers"
-		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
-		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
-		rm $DIR/$XTENSA_FILE_NAME
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
 		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi

@@ -196,11 +194,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	fi
 fi

-if [[ "${UBUNTU_RELEASE}" == "25.10" ]]; then
-	echo "[ubuntu.sh] Gazebo binaries are not available for 25.10, skipping installation"
-	INSTALL_SIM="false"
-fi
-
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then

@@ -212,18 +205,37 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		bc \
 		;

-	# Gazebo Harmonic installation (Ubuntu 22.04+)
-	echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-	# Add Gazebo binary repository
-	sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-	sudo apt-get update -y --quiet
+	# Gazebo / Gazebo classic installation
+	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet

-	# Install Gazebo
-	gazebo_packages="gz-harmonic libunwind-dev"
+		# Install Gazebo classic
+		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+			gazebo_classic_version=9
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		else
+			# default and Ubuntu 20.04
+			gazebo_classic_version=11
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		fi
+	else
+		# Expects Ubuntu 22.04 > by default
+		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+		echo "[ubuntu.sh] Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+		sudo apt-get update -y --quiet

-	if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
-		gazebo_packages="$gazebo_packages cppzmq-dev"
+		# Install Gazebo
+		gazebo_packages="gz-harmonic libunwind-dev"
+
+		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+			gazebo_packages="$gazebo_packages cppzmq-dev"
+		fi
 	fi

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -34,6 +34,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -221,10 +221,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -259,7 +257,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -286,7 +284,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -444,7 +442,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -452,7 +450,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -31,7 +31,6 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
 CONFIG_UAVCANNODE_ESC_STATUS=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
 CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
@@ -28,8 +28,12 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=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_POWER_MONITOR_INA226=y
@@ -17,21 +17,21 @@ param set-default MAV_2_UDP_PRT 14550
 param set-default SENS_EN_INA226 1
 param set-default SENS_EN_THERMAL 1
 param set-default SENS_IMU_MODE 1
-param set-default HEATER1_TEMP 10.0
-#param set-default HEATER1_TEMP_FF 0.0
-#param set-default HEATER1_TEMP_I 0.025
-#param set-default HEATER1_TEMP_P 1.0
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0

 param set-default UAVCAN_ESC_IFACE 2

 if ver hwtypecmp ARKV6X000
 then
-	param set-default HEATER1_IMU_ID 2818058
+	param set-default SENS_TEMP_ID 2818058
 fi

 if ver hwtypecmp ARKV6X001
 then
-	param set-default HEATER1_IMU_ID 3014666
+	param set-default SENS_TEMP_ID 3014666
 fi

 safety_button start
@@ -100,7 +100,7 @@ bmp388 -I start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -X
+	pca9685_pwm_out start
 fi

 unset HAVE_PM2
@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"
@@ -224,10 +224,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -273,7 +271,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -295,7 +293,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -421,6 +419,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

+/* This board has 4 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
+
 /* This board provides the board_on_reset interface */

 #define BOARD_HAS_ON_RESET 1
@@ -444,7 +445,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -452,7 +453,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 	SPI6_RESET(true);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -124,7 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);

@@ -221,7 +221,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	SPI6_RESET(false);
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -1,5 +0,0 @@
-# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=n
-CONFIG_MODULES_ZENOH=y
@@ -1,19 +0,0 @@
-4001_quad_x
-4050_generic_250
-6001_hexa_x
-12001_octo_cox
-13100_generic_vtol_tiltrotor
-5001_quad_+
-24001_dodeca_cox
-2100_standard_plane
-13000_generic_vtol_standard
-4601_droneblocks_dexi_5
-11001_hexa_cox
-14001_generic_mc_with_tilt
-16001_helicopter
-9001_octo_+
-7001_hexa_+
-3000_generic_wing
-2106_albatross
-13200_generic_vtol_tailsitter
-13030_generic_vtol_quad_tiltrotor
@@ -15,19 +15,17 @@ fi

 # TODO: Tune the following parameters
 param set-default SENS_EN_THERMAL 1
-param set-default HEATER1_TEMP 10.0
-#param set-default HEATER1_TEMP_FF 0.0
-#param set-default HEATER1_TEMP_I 0.025
-#param set-default HEATER1_TEMP_P 1.0
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0

 if ver hwtypecmp ARKFPV000
 then
-	param set-default HEATER1_IMU_ID 3014666
+	param set-default SENS_TEMP_ID 3014666
 fi

 param set-default BAT1_V_DIV 21.0
-param set-default BAT1_V_FILT 0.075
-param set-default BAT1_I_FILT 0.5

 param set-default RC_CRSF_PRT_CFG 300
 param set-default RC_SBUS_PRT_CFG 0
@@ -20,5 +20,5 @@ bmp388 -I -b 2 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -X
+	pca9685_pwm_out start
 fi
@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"
@@ -176,6 +176,9 @@

 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21

+#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
+#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
+
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL

 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
@@ -205,10 +208,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -306,6 +307,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

+/* This board has 3 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
+
 /* This board provides the board_on_reset interface */

 #define BOARD_HAS_ON_RESET 1
@@ -327,7 +331,7 @@
 		GPIO_HW_VER_REV_DRIVE,            \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_VDD_5V_PGOOD,                \
 		GPIO_VDD_12V_PGOOD,               \
 		GPIO_VDD_12V_EN,                  \
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Pedro Roque	8a700471b4	Merge branch 'main' into dev-boat	2026-01-14 11:53:54 -08:00
Pedro-Roque	076e07444d	feat: update gz commit	2026-01-14 11:52:02 -08:00
Pedro-Roque	afdac4bd4c	feat: reverted changes to old boat on ROMFS	2026-01-14 11:50:08 -08:00
Pedro-Roque	39965d3ef1	feat: add romfs for boat	2026-01-14 11:45:39 -08:00
Pedro-Roque	348b8f7f56	feat: add basic boat	2026-01-14 11:45:20 -08:00