Doh

Update msg/versioned/ManualControlSetpoint.msg
Apply suggestions from code review
2026-05-31 14:10:05 +08:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00
695 changed files with 21199 additions and 26952 deletions
@@ -0,0 +1,28 @@
+---
+name: commit
+description: Create a conventional commit for PX4 changes
+disable-model-invocation: true
+argument-hint: "[optional: description of changes]"
+allowed-tools: Bash, Read, Glob, Grep
+---
+
+# PX4 Conventional Commit
+
+Create a git commit: `type(scope): description`
+
+**NEVER add Co-Authored-By lines. No Claude attribution in commits.**
+
+Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
+
+## Steps
+
+1. **Read [CONTRIBUTING.md](../../CONTRIBUTING.md)** for commit message format, types, scopes, and conventions.
+2. Check branch (`git branch --show-current`). If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
+3. Run `git status` and `git diff --staged`. If nothing staged, ask what to stage.
+4. Follow the commit message convention from CONTRIBUTING.md: pick the correct **type** and **scope**, write a concise imperative description.
+5. Body (if needed): explain **why**, not what.
+6. Run `make format` or `./Tools/astyle/fix_code_style.sh <file>` on changed C/C++ files before committing.
+7. Check if GPG signing is available: `git config --get user.signingkey`. If set, use `git commit -S -s`. Otherwise, use `git commit -s`.
+8. Stage and commit. No `Co-Authored-By`.
+
+If the user provided arguments, use them as context: $ARGUMENTS
@@ -0,0 +1,24 @@
+---
+name: pr
+description: Create a pull request with conventional commit title and description
+disable-model-invocation: true
+argument-hint: "[optional: target branch or description]"
+allowed-tools: Bash, Read, Glob, Grep
+---
+
+# PX4 Pull Request
+
+**No Claude attribution anywhere (no Co-Authored-By, no "Generated with Claude").**
+
+Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
+
+## Steps
+
+1. Check branch. If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
+2. Gather context: `git status`, `git log --oneline main..HEAD`, `git diff main...HEAD --stat`, check if remote tracking branch exists.
+3. PR **title**: `type(scope): description` — under 72 chars, describes the overall change across all commits. This becomes the squash-merge commit message.
+4. PR **body**: brief summary + bullet points for key changes. No filler.
+5. Push with `-u` if needed, then `gh pr create`. Default base is `main` unless user says otherwise.
+6. Return the PR URL.
+
+If the user provided arguments, use them as context: $ARGUMENTS
@@ -0,0 +1,73 @@
+---
+name: rebase-onto-main
+description: Rebase a branch onto main, handling squash-merged parent branches cleanly
+argument-hint: "[optional: branch name, defaults to current branch]"
+allowed-tools: Bash, Read, Glob, Grep, Agent
+---
+
+# Rebase Branch onto Main
+
+Rebase the current (or specified) branch onto `main`, correctly handling the case where the branch was built on top of another branch that has since been squash-merged into `main`.
+
+## Background
+
+When a parent branch is squash-merged, its individual commits become a single new commit on `main` with a different hash. A normal `git rebase main` will try to replay the parent's original commits, causing messy conflicts. The fix is to **cherry-pick only the commits unique to this branch** onto a fresh branch from `main`.
+
+## Steps
+
+1. **Identify the branch.** Use `$ARGUMENTS` if provided, otherwise use the current branch.
+
+2. **Fetch and update main:**
+   ```
+   git fetch origin main:main
+   ```
+
+3. **Find the merge base** between the branch and `main`:
+   ```
+   git merge-base <branch> main
+   ```
+
+4. **List all commits** on the branch since the merge base:
+   ```
+   git log --oneline <merge-base>..<branch>
+   ```
+
+5. **Identify which commits are unique to this branch** vs. inherited from a parent branch. Look for:
+   - Squash-merged commits on `main` that correspond to a group of commits at the bottom of the branch's history (check PR titles, commit message keywords).
+   - The boundary commit: the first commit that belongs to *this* branch's work, not the parent's.
+   - If ALL commits are unique (no parent branch), just do a normal `git rebase main` and skip the rest.
+
+6. **Create a fresh branch from `main`:**
+   ```
+   git checkout -b <branch>-rebase main
+   ```
+
+7. **Cherry-pick only the unique commits** (oldest first):
+   ```
+   git cherry-pick <first-unique-commit>^..<branch>
+   ```
+   The `A^..B` range means "from the parent of A through B inclusive."
+
+8. **Handle conflicts** if any arise during cherry-pick. Resolve and `git cherry-pick --continue`.
+
+9. **Replace the old branch:**
+   ```
+   git branch -m <branch> <branch>-old
+   git branch -m <branch>-rebase <branch>
+   ```
+
+10. **Verify** the result:
+    ```
+    git log --oneline main..<branch>
+    ```
+    Confirm only the expected commits are present.
+
+11. **Ask the user** before force-pushing. When approved:
+    ```
+    git push origin <branch> --force-with-lease
+    ```
+
+12. **Clean up** the old branch:
+    ```
+    git branch -D <branch>-old
+    ```
@@ -265,5 +265,7 @@ jobs:
        with:
          draft: true
          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: artifacts/*.px4
+          files: |
+            artifacts/*.px4
+            artifacts/*.deb
          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -89,7 +89,15 @@ jobs:
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
+        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
+        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
+          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
+          git clone --recursive --branch "$BRANCH" "$REPO_URL"
+        else
+          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
+          git clone --recursive "$REPO_URL"
+        fi
        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
@@ -0,0 +1,43 @@
+name: Sync release branch to px4-ros2-interface-lib
+
+on:
+  create:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Release branch name (e.g. release/1.18)'
+        required: true
+        type: string
+
+permissions: {}
+
+jobs:
+  notify-interface-lib:
+    if: >-
+      github.repository == 'PX4/PX4-Autopilot' &&
+      (
+        (github.event_name == 'create' && github.ref_type == 'branch' && startsWith(github.ref_name, 'release/')) ||
+        github.event_name == 'workflow_dispatch'
+      )
+    runs-on: ubuntu-latest
+    steps:
+      - name: Determine branch name
+        id: params
+        run: |
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            BRANCH="${{ inputs.branch }}"
+          else
+            BRANCH="${{ github.ref_name }}"
+          fi
+          echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
+          echo "Dispatching for branch: $BRANCH"
+
+      - name: Dispatch release branch creation
+        run: |
+          BRANCH="${{ steps.params.outputs.branch }}"
+          curl -s -f -X POST \
+            -H "Authorization: token ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}" \
+            -H "Accept: application/vnd.github.v3+json" \
+            https://api.github.com/repos/Auterion/px4-ros2-interface-lib/dispatches \
+            -d "{\"event_type\":\"px4_release_branch\",\"client_payload\":{\"branch\":\"$BRANCH\"}}"
+          echo "Dispatched px4_release_branch event for $BRANCH"
@@ -226,9 +226,22 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))

+# Multi-processor boards: build all processor targets together
+# VOXL2 apps processor (default) depends on SLPI DSP being built first
+modalai_voxl2_default: modalai_voxl2_slpi
+modalai_voxl2: modalai_voxl2_slpi
+modalai_voxl2_deb: modalai_voxl2_slpi
+
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)

+# DEB package targets: builds _default config, then runs cpack.
+# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
+# via existing cmake prerequisites.
+%_deb:
+	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
+	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
+
 updateconfig:
 	@./Tools/kconfig/updateconfig.py

@@ -535,7 +548,8 @@ validate_module_configs:
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
+	-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

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

-# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
+# To trigger a parameter reset during boot SYS_AUTOCONFIG 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, sensor calibration, total flight time, flight UUID
+	param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi

@@ -238,7 +238,7 @@ then
 fi

 # Start TMP102 temperature sensor
-if param compare SENS_EN_TMP102 1
+if param compare -s SENS_EN_TMP102 1
 then
 	tmp102 start -X
 fi
@@ -188,11 +188,11 @@ else
 		netman update -i eth0
 	fi

-	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
+	# To trigger a parameter reset during boot SYS_AUTOCONFIG 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, sensor calibration, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -633,12 +633,15 @@ else
 	#
 	# Start the VTX services.
 	#
-	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-	if [ -f ${RC_VTXTABLE} ]
+	if ! param compare VTX_SER_CFG 0
 	then
-		. ${RC_VTXTABLE}
+		set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+		if [ -f ${RC_VTXTABLE} ]
+		then
+			. ${RC_VTXTABLE}
+		fi
+		unset RC_VTXTABLE
 	fi
-	unset RC_VTXTABLE

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -189,6 +189,65 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                if target is not None:
                    build_configs.append(target)

+# Remove companion targets from CI groups (parent target builds them via Make prerequisite)
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        companion_file = os.path.join(board.path, 'companion_targets')
+        if os.path.exists(companion_file):
+            with open(companion_file) as f:
+                companions = {l.strip() for l in f if l.strip() and not l.startswith('#')}
+            for arch in grouped_targets:
+                for man in grouped_targets[arch]['manufacturers']:
+                    grouped_targets[arch]['manufacturers'][man] = [
+                        t for t in grouped_targets[arch]['manufacturers'][man]
+                        if t not in companions
+                    ]
+
+# Append _deb targets for boards that have cmake/package.cmake
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        board_name = manufacturer.name + '_' + board.name
+        if board_name in excluded_boards:
+            continue
+        package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
+        if os.path.exists(package_cmake):
+            deb_target = board_name + '_deb'
+            if target_filter and not any(deb_target.startswith(f) for f in target_filter):
+                continue
+            # Determine the container and group for this board
+            container = default_container
+            if board_name in board_container_overrides:
+                container = board_container_overrides[board_name]
+            target_entry = {'target': deb_target, 'container': container}
+            if args.group:
+                # Find the group where this board's _default target already lives
+                default_target = board_name + '_default'
+                group = None
+                for g in grouped_targets:
+                    targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
+                    if default_target in targets_in_group:
+                        group = g
+                        break
+                if group is None:
+                    group = 'base'
+                target_entry['arch'] = group
+                if group not in grouped_targets:
+                    grouped_targets[group] = {'container': container, 'manufacturers': {}}
+                if manufacturer.name not in grouped_targets[group]['manufacturers']:
+                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
+                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+            build_configs.append(target_entry)
+
 if(verbose):
    import pprint
    print("============================")
@@ -3,6 +3,7 @@
 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
 cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.deb artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
@@ -128,6 +128,9 @@ class SourceParser:
                        # start waiting for the next part - long comment.
                        if state == "wait-short-end":
                            state = "wait-long"
+                        elif state == "wait-long-end":
+                            # Preserve paragraph breaks in long description
+                            long_desc += "\n"
                    else:
                        m = self.re_comment_tag.match(comment_content)
                        if m:
@@ -208,8 +211,7 @@ class SourceParser:
                                raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name))
                            param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc)
                        if long_desc is not None:
-                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
-                            param.fields["long_desc"] = long_desc
+                            param.fields["long_desc"] = long_desc.rstrip('\n')
                        for tag in tags:
                            if tag == "group":
                                group = tags[tag]
@@ -407,7 +409,15 @@ def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str:
            g["definitions"][parameter.name] = p
        data["parameters"].append(g)

-    return yaml.dump(data, sort_keys=False)
+    # Use block scalar style for multi-line strings
+    class BlockStyleDumper(yaml.SafeDumper):
+        pass
+    def str_representer(dumper, data):
+        if '\n' in data:
+            return dumper.represent_scalar('tag:yaml.org,2002:str', data, style='|')
+        return dumper.represent_scalar('tag:yaml.org,2002:str', data)
+    BlockStyleDumper.add_representer(str, str_representer)
+    return yaml.dump(data, Dumper=BlockStyleDumper, sort_keys=False)


 def main():
@@ -108,7 +108,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                tags = '@group {:}'.format(param_group)
                if param['type'] == 'enum':
                    param_type = 'INT32'
-                    for key in param['values']:
+                    for key in sorted(param['values'], key=float):
                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                elif param['type'] == 'bitmask':
                    param_type = 'INT32'
@@ -124,6 +124,9 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                    param_type = 'INT32'
                elif param['type'] == 'float':
                    param_type = 'FLOAT'
+                    if 'values' in param:
+                        for key in sorted(param['values'], key=float):
+                            tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                else:
                    raise Exception("unknown param type {:}".format(param['type']))

@@ -316,7 +316,9 @@ Param | Units | Range/Enum | Description
                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"
+                units_str = ", ".join(val.units)
+                enums_str = ', '.join("[{}](#{})".format(e, e) for e in val.enums)
+                output+=f"{i} | {units_str}|{enums_str}{rangeVal} | {val.description}\n"
            else:
                output+=f"{i} | | | ?\n"

@@ -42,6 +42,8 @@ px4_add_module(
 		syslink_bridge.cpp
 		syslink_memory.cpp
 		syslink.c
+	MODULE_CONFIG
+		syslink_params.yaml
 	DEPENDS
 		battery
 	)
@@ -0,0 +1,28 @@
+module_name: syslink
+parameters:
+- group: Syslink
+  definitions:
+    SLNK_RADIO_CHAN:
+      description:
+        short: Operating channel of the NRF51
+      type: int32
+      default: 80
+      min: 0
+      max: 125
+    SLNK_RADIO_RATE:
+      description:
+        short: Operating datarate of the NRF51
+      type: int32
+      default: 2
+      min: 0
+      max: 2
+    SLNK_RADIO_ADDR1:
+      description:
+        short: Operating address of the NRF51 (most significant byte)
+      type: int32
+      default: 231
+    SLNK_RADIO_ADDR2:
+      description:
+        short: Operating address of the NRF51 (least significant 4 bytes)
+      type: int32
+      default: -404232217
@@ -104,7 +104,7 @@
 #define OSC_FREQ                       8

 #define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED  // RED
 #define BOARD_LED_ON                   0
 #define BOARD_LED_OFF                  1

@@ -169,6 +169,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	drv_led_start();
 	led_off(LED_RED);
 	led_off(LED_BLUE);
+	led_off(LED_GREEN);

 	if (board_hardfault_init(2, true) != 0) {
 		led_on(LED_BLUE);
@@ -63,12 +63,23 @@ extern void led_toggle(int led);
 __END_DECLS

 #  define xlat(p) (p)
+// index: 0=BLUE, 1=RED, 2=SAFETY, 3=GREEN
 static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nLED_BLUE,    // LED_BLUE (0)
+	GPIO_nLED_RED,     // LED_RED (1)
+	0,                 // LED_SAFETY (2) - no independent safety LED, use 0 placeholder
+	GPIO_nLED_GREEN,   // LED_GREEN (3)
 };

+#ifndef arraySize
+#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
+#endif
+
+static inline bool valid_led_index(int led)
+{
+	return (led >= 0) && ((size_t)led < arraySize(g_ledmap));
+}
+
 __EXPORT void led_init(void)
 {
 	/* Configure LED GPIOs for output */
@@ -81,6 +92,10 @@ __EXPORT void led_init(void)

 static void phy_set_led(int led, bool state)
 {
+	if (!valid_led_index(led)) {
+		return;
+	}
+
 	/* Drive Low to switch on */
 	if (g_ledmap[led] != 0) {
 		stm32_gpiowrite(g_ledmap[led], !state);
@@ -89,6 +104,10 @@ static void phy_set_led(int led, bool state)

 static bool phy_get_led(int led)
 {
+	if (!valid_led_index(led)) {
+		return false;
+	}
+
 	/* If Low it is on */
 	if (g_ledmap[led] != 0) {
 		return !stm32_gpioread(g_ledmap[led]);
@@ -37,6 +37,8 @@ px4_add_module(

 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * Enable:  PWM output voltage 5V
- * Disable: PWM output voltage 3.3V
- *
- * @boolean
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_LEVEL_CONT, 0);
@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_LEVEL_CONT:
+      description:
+        short: Control PWM output voltage
+        long: |-
+          Enable:  PWM output voltage 5V
+          Disable: PWM output voltage 3.3V
+      type: boolean
+      default: 0
+      reboot_required: true
@@ -37,6 +37,8 @@ px4_add_module(

 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true
@@ -37,6 +37,8 @@ px4_add_module(

 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true
@@ -37,6 +37,8 @@ px4_add_module(

 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true
@@ -1,84 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2022 ModalAI, Inc. 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.
-#
-############################################################################
-
-# Need to make sure that the DSP processor on VOXL2
-# knows about all parameters since some modules need parameters
-# from other modules that are not running on the DSP.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
-
-add_library(drivers_board
-	board_config.h
-	i2c.cpp
-	init.c
-	spi.cpp
-    )
-
-# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
-# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
-# SLPI build is self-contained and does not depend on voxl2-default.
-set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
-set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
-
-px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
-
-add_custom_command(
-	OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
-	COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-		--lang C --wire-protocol 2.0
-		--output ${MAVLINK_LIBRARY_DIR}
-		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-		> ${CMAKE_BINARY_DIR}/mavgen_common.log
-	DEPENDS
-		git_mavlink_v2
-		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-	COMMENT "Generating MAVLink common headers for SLPI"
-)
-add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
-
-add_library(mavlink_common_headers INTERFACE)
-add_dependencies(mavlink_common_headers mavlink_common_generate)
-target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
-target_include_directories(mavlink_common_headers INTERFACE
-	${MAVLINK_LIBRARY_DIR}
-	${MAVLINK_LIBRARY_DIR}/common
-)
-
-# Add custom drivers for SLPI
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)
@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022-2026 ModalAI, Inc. 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * VOXL2 internal definitions
- */
-
-#pragma once
-
-#define CONFIG_BOARDCTL_RESET
-#define BOARD_HAS_NO_BOOTLOADER
-/*
- * I2C buses
- */
-#define CONFIG_I2C 1
-#define PX4_NUMBER_I2C_BUSES    4
-
-/*
- * SPI buses
- */
-#define CONFIG_SPI 1
-#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
-
-/*
- * Include these last to make use of the definitions above
- */
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>
-
-/*
- *  Default port for the ESC
- */
-#define VOXL_ESC_DEFAULT_PORT 	"2"
-
-/*
- *  Default port for the GHST RC
- */
-#define GHST_RC_DEFAULT_PORT 	"7"
-
-/*
- * Default port for M0065
-*/
-#define VOXL2_IO_DEFAULT_PORT 	"2"
-
-
-/*
- * M0065 PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS 4
-#define MAX_IO_TIMERS 3
@@ -1,35 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2022 ModalAI, Inc. 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.
- *
- ****************************************************************************/
-#include "board_config.h"
-
-// Place holder for VOXL2-specific early startup code
@@ -13,6 +13,10 @@ critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.

+Both processors are built from this single board directory:
+- `default.px4board` - POSIX apps processor (ARM64)
+- `slpi.px4board` - QURT DSP (Hexagon)
+
 ## Build environment

 In order to build for this platform both the Qualcomm Hexagon (DSP) toolchain and the Linaro ARM64 toolchain need to be installed. The (nearly) complete setup including the ARM64 toolchain is provided in the base Docker image provided by ModalAI, but since ModalAI is not allowed to redistribute the Qualcomm Hexagon DSP SDK this must be added by the end user.
@@ -22,17 +26,21 @@ The full instructions are available here:

 ## Build overview

+A single `make modalai_voxl2` command builds both the DSP and apps processor
+firmware. The Makefile chains the SLPI build as a prerequisite of the default
+(apps) build.
+
 - Clone the repo (Don't forget to update and initialize all submodules)
 - In the top level directory
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
 ```

+For DSP-only rebuilds: `make modalai_voxl2_slpi`
+
 ## Install and run on VOXL 2

 Once the DSP and Linux images have been built they can be installed on a VOXL 2
@@ -31,6 +31,10 @@
 #
 ############################################################################

+if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
+	return()
+endif()
+
 # Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
 execute_process(
 	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api
@@ -0,0 +1,84 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+# VOXL2 board-specific install rules for .deb packaging
+# Included from platforms/posix/CMakeLists.txt where the px4 target exists
+
+# SLPI companion build output directory
+set(VOXL2_SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/modalai_voxl2_slpi")
+
+# Apps processor binary
+install(TARGETS px4 RUNTIME DESTINATION bin)
+
+# px4-alias.sh (generated during build into bin/ subdirectory)
+install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
+
+# Startup scripts from board target directory
+install(PROGRAMS
+	${PX4_BOARD_DIR}/target/voxl-px4
+	${PX4_BOARD_DIR}/target/voxl-px4-start
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
+	${PX4_BOARD_DIR}/scripts/voxl-configure-px4
+	DESTINATION bin
+)
+
+# DSP firmware blob from companion SLPI build
+install(FILES ${VOXL2_SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
+	DESTINATION lib/rfsa/adsp
+)
+
+# Configuration files
+install(FILES
+	${PX4_BOARD_DIR}/target/voxl-px4-fake-imu-calibration.config
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-set-default-parameters.config
+	DESTINATION ../etc/modalai
+)
+
+# Systemd service file
+install(FILES ${PX4_BOARD_DIR}/debian/voxl-px4.service
+	DESTINATION ../etc/systemd/system
+)
+
+# Component metadata JSON files
+install(FILES
+	${PX4_BINARY_DIR}/actuators.json.xz
+	${PX4_BINARY_DIR}/component_general.json.xz
+	${PX4_BINARY_DIR}/parameters.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)
+install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)
@@ -1,3 +1,6 @@
+if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
+	return()
+endif()

 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE
@@ -0,0 +1,63 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+# VOXL2 board-specific CPack overrides
+# Loaded after cmake/package.cmake sets up CPack defaults
+
+# Derive Debian-compatible version from git tag (e.g. v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef)
+string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
+string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}" )
+string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
+
+# VOXL2 is always aarch64 regardless of build host
+set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "arm64")
+set(CPACK_DEBIAN_PACKAGE_NAME "voxl-px4")
+set(CPACK_DEBIAN_FILE_NAME "voxl-px4_${_deb_ver}_arm64.deb")
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_INSTALL_PREFIX "/usr")
+set(CPACK_SET_DESTDIR true)
+
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.2.2) | modalai-adsp(>=1.0.5)")
+set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "ModalAI <support@modalai.com>")
+
+# Disable shlibdeps for cross-compiled boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+
+set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
+	"${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
+
+# Install rules are in boards/modalai/voxl2/cmake/install.cmake,
+# included from platforms/posix/CMakeLists.txt where the px4 target exists.
@@ -0,0 +1,3 @@
+# Companion processor targets - built automatically by the parent (default) target
+# These are excluded from CI target lists to avoid redundant builds
+modalai_voxl2_slpi
@@ -0,0 +1,36 @@
+#!/bin/bash
+set -e
+
+# Create px4-* symlinks from px4-alias.sh
+# The alias format is: alias <module>='px4-<module> --instance $px4_instance'
+# We extract the px4-<module> command name and symlink it to the px4 binary
+if [ -f /usr/bin/px4-alias.sh ]; then
+    grep "^alias " /usr/bin/px4-alias.sh | \
+        sed -n "s/.*'\(px4-[a-zA-Z0-9_]*\).*/\1/p" | while read cmd; do
+        ln -sf px4 "/usr/bin/${cmd}"
+    done
+fi
+
+# Detect platform and generate DSP test signature if needed
+if ! /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
+    echo "[INFO] Generating DSP test signature..."
+    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh || true
+    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh || true
+    else
+        echo "[WARNING] Could not find DSP signature generation script"
+    fi
+fi
+
+# Create required data directories
+mkdir -p /data/px4/param
+mkdir -p /data/px4/etc/extras
+chown -R root:root /data/px4
+
+# Reload systemd if available
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl daemon-reload
+fi
+
+echo "voxl-px4 installed successfully"
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+# Stop voxl-px4 service if running
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl stop voxl-px4 2>/dev/null || true
+fi
+
+# Remove px4-* symlinks
+for f in /usr/bin/px4-*; do
+    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
+        rm -f "$f"
+    fi
+done
@@ -0,0 +1,14 @@
+[Unit]
+Description=PX4 Autopilot for VOXL2
+After=sscrpcd.service
+Requires=sscrpcd.service
+
+[Service]
+Type=simple
+ExecStart=/usr/bin/voxl-px4
+ExecStopPost=/usr/bin/voxl-reset-slpi
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
@@ -1,6 +1,6 @@
 #!/bin/bash

-echo "*** Starting apps processor build ***"
+echo "*** Starting unified VOXL2 build (apps + SLPI) ***"

 source /home/build-env.sh

@@ -8,4 +8,4 @@ make modalai_voxl2

 cat build/modalai_voxl2_default/src/lib/version/build_git_version.h

-echo "*** End of apps processor build ***"
+echo "*** End of unified VOXL2 build ***"
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
+
+source /home/build-env.sh
+
+make modalai_voxl2_deb
+
+cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
+
+echo "*** End of unified VOXL2 build ***"
@@ -4,6 +4,6 @@ echo "*** Starting qurt slpi build ***"

 source /home/build-env.sh

-make modalai_voxl2-slpi
+make modalai_voxl2_slpi

 echo "*** End of qurt slpi build ***"
@@ -1,7 +1,7 @@
 #!/bin/bash

 # Push slpi image to voxl2
-adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin
@@ -1,7 +1,7 @@
 #!/bin/bash

 # Push slpi image to voxl2
-adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin
@@ -0,0 +1,270 @@
+#!/bin/bash
+################################################################################
+# Copyright 2023 ModalAI Inc.
+#
+# 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 of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# 4. The Software is used solely in conjunction with devices provided by
+#    ModalAI Inc.
+#
+# 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 HOLDER 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.
+################################################################################
+
+NAME="voxl-px4"
+SERVICE_FILE="${NAME}.service"
+CONFIG_FILE="/etc/modalai/${NAME}.conf"
+USER=$(whoami)
+
+print_usage () {
+	echo ""
+	echo "Config script for voxl-px4"
+	echo "wizard coming soon. For now, call with one of the following args:"
+	echo ""
+	echo ""
+	echo "voxl-configure-px4 disable"
+	echo "voxl-configure-px4 enable"
+	echo "voxl-configure-px4 factory_enable"
+	echo "voxl-configure-px4 d0005_v2"
+	echo "voxl-configure-px4 starling_v2"
+	echo "voxl-configure-px4 d0006_v1"
+	echo "voxl-configure-px4 sentinel_v1"
+	echo "voxl-configure-px4 d0008"
+	echo "voxl-configure-px4 fpv_revB"
+	echo "voxl-configure-px4 d0010"
+	echo "voxl-configure-px4 d0011"
+	echo "voxl-configure-px4 d0013"
+	echo "voxl-configure-px4 d0015"
+	echo "voxl-configure-px4 voxl2-mini"
+	echo ""
+	echo "show this help message:"
+	echo "voxl-configure-px4 help"
+	echo ""
+	echo "Use voxl-configure-px4 factory_enable to configure default values"
+
+}
+
+## set most parameters which don't have quotes in json
+set_param () {
+	if [ "$#" != "2" ]; then
+		echo "set_param expected 2 args"
+		exit 1
+	fi
+
+	var=$1
+	val=$2
+
+	sed -i "/$var=/c $var=$val" ${CONFIG_FILE}
+}
+
+disable_service_and_exit () {
+	echo "disabling ${NAME} systemd service"
+	systemctl disable ${SERVICE_FILE}
+	echo "stopping ${NAME} systemd service"
+	systemctl stop ${SERVICE_FILE}
+	echo "Done configuring ${NAME}"
+	exit 0
+}
+
+enable_service_and_exit () {
+	echo "enabling  ${NAME} systemd service"
+	systemctl enable  ${SERVICE_FILE}
+	echo "Done configuring ${NAME}"
+	exit 0
+}
+
+reset_config_file_to_default () {
+	echo "wiping old config file"
+	rm -rf ${CONFIG_FILE}
+
+	# create config description section on top of file
+    echo -e "#!/bin/bash\n#\n# voxl-px4 Configuration File\
+    \n#\
+    \n# AIRFRAME:\
+    \n#     Tell PX4 which AIRFRAME to use.\
+    \n#     Options include: [MULTICOPTER, FIXED_WING]\
+    \n#\
+    \n# GPS:\
+    \n#     Tell PX4 which GPS to use. If there is no GPS unit use NONE. Otherwise\
+    \n#     choose AUTODETECT and the startup script will attempt to automatically\
+    \n#     configure the GPS, magnetometer, and status LED\
+    \n#     Options include: [NONE, AUTODETECT]\
+    \n#\
+    \n# RC:\
+    \n#     Tell PX4 which RC transmitter to use. \
+    \n#     Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC)\
+    \n#     Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT]\
+    \n#\
+    \n# ESC:\
+    \n#     Tell PX4 which type of ESC to use. \
+    \n#     Options include: [VOXL_ESC, VOXL2_IO_PWM_ESC]\
+    \n#\
+    \n# POWER_MANAGER:\
+    \n#     Tell PX4 which power manager to use. \
+    \n#     Use NONE for ModalAI Mini-ESC since the ESC driver handles PM.\
+    \n#     Use EXTERNAL when not using the ModalAI APM power manager to power the board\
+    \n#       This also just disables the voxlpm driver, same as the NONE option\
+    \n#     Options include: [VOXLPM, EXTERNAL, NONE]\
+    \n#\
+    \n# AIRSPEED_SENSOR:\
+    \n#     Tell PX4 which airspeed sensor peripheral to use. \
+    \n#     Note: The sensor will be started on external I2C port on voxl2\
+    \n#     Options include: [NONE, MS4525DO]\
+    \n#\
+    \n# DISTANCE_SENSOR:\
+    \n#     Tell PX4 which distance sensor peripheral to use. \
+	\n#     Note: The sensor will be started on the RC port so it is only\
+	\n#           really possible to use it when using external RC.\
+    \n#     Options include: [NONE, LIGHTWARE_SF000]\
+    \n#\
+    \n# OSD:\
+    \n#     Tell PX4 whether to enable OSD (on-screen display). \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# DAEMON_MODE:\
+    \n#     Tell PX4 whether to enable daemon mode. \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# SENSOR_CAL:\
+    \n#     Tell PX4 where to source sensor calibration information. \
+    \n#     Options include: [ACTUAL, FAKE]\
+    \n#\
+    \n# ARTIFACT_MODE:\
+    \n#     Do not allow artifacts to be saved to disk. Will not start the logging \
+    \n#     module, will delete any current log files, and will delete the data manager file. \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# EXTRA_STEPS:\
+    \n#     Optional field that allows a user to define custom commands to be run by PX4 on boot. \
+    \n#     Must be a valid bash array as seen below \
+    \n#     Example: EXTRA_STEPS=( \"qshell gps start\" \"qshell commander mode manual\" ) \
+    \n#\
+    \n#" > $CONFIG_FILE
+
+    echo "AIRFRAME=MULTICOPTER" >> $CONFIG_FILE
+    echo "GPS=NONE" >> $CONFIG_FILE
+    echo "RC=SPEKTRUM" >> $CONFIG_FILE
+    echo "ESC=VOXL_ESC" >> $CONFIG_FILE
+	echo "POWER_MANAGER=VOXLPM" >> $CONFIG_FILE
+    echo "AIRSPEED_SENSOR=NONE" >> $CONFIG_FILE
+    echo "DISTANCE_SENSOR=NONE" >> $CONFIG_FILE
+    echo "OSD=DISABLE" >> $CONFIG_FILE
+    echo "DAEMON_MODE=ENABLE" >> $CONFIG_FILE
+    echo "SENSOR_CAL=ACTUAL" >> $CONFIG_FILE
+	echo "ARTIFACT_MODE=DISABLE" >> $CONFIG_FILE
+    echo "EXTRA_STEPS=()" >> $CONFIG_FILE
+}
+
+################################################################################
+## actual start of execution, handle optional arguments first
+################################################################################
+
+## sanity checks
+if [ "${USER}" != "root" ]; then
+	echo "Please run this script as root"
+	exit 1
+fi
+
+## convert argument to lower case for robustness
+arg=$(echo "$1" | tr '[:upper:]' '[:lower:]')
+
+## parse arguments
+case ${arg} in
+	"")
+		echo "ERROR no argument given"
+		print_usage
+		exit 1
+		;;
+	"h"|"-h"|"help"|"--help")
+		print_usage
+		exit 0
+		;;
+	"disable")
+		disable_service_and_exit
+		;;
+	"enable")
+		enable_service_and_exit
+		;;
+	"factory_enable")
+		reset_config_file_to_default
+		enable_service_and_exit
+		;;
+	"crsf_gps_apm"|"d0005_v2"|"starling_v2"|"d0006_v2"|"sentinel_v2")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC CRSF_RAW
+		enable_service_and_exit
+		;;
+	"spektrum_gps_apm"|"d0006_v1"|"sentinel_v1")
+		## First revision Sentinel with Holybro GPS and Spektrum Radio
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC SPEKTRUM
+		enable_service_and_exit
+		;;
+	"d0008"|"fpv_revb")
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		set_param OSD ENABLE
+		enable_service_and_exit
+		;;
+	"crsf_nogps_apm"|"d0010")
+		## Starling 1 with no GPS
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		enable_service_and_exit
+		;;
+	"crsf_gps_noapm"|"d0011"|"voxl2-mini")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC CRSF_RAW
+		set_param POWER_MANAGER NONE
+		enable_service_and_exit
+		;;
+	"crsf_nogps_noapm"|"d0013")
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		set_param POWER_MANAGER NONE
+		enable_service_and_exit
+		;;
+	"d0015")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param ESC VOXL2_IO_PWM_ESC
+		set_param RC CRSF_RAW
+		set_param AIRFRAME FIXED_WING
+		set_param AIRSPEED_SENSOR MS4525DO
+		set_param DISTANCE_SENSOR LIGHTWARE_SF000
+		enable_service_and_exit
+		;;
+	*)
+		echo "invalid option: $arg"
+		exit 1
+esac
+
+## should never get here
+exit 1
@@ -1,5 +1,23 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
+# Disable modules from default.px4board that are apps-only
+CONFIG_BOARD_LINUX_TARGET=n
+CONFIG_DRIVERS_OSD_MSP_OSD=n
+CONFIG_DRIVERS_QSHELL_POSIX=n
+CONFIG_DRIVERS_RC_INPUT=n
+CONFIG_MODULES_DATAMAN=n
+CONFIG_MODULES_LOGGER=n
+CONFIG_MODULES_MAVLINK=n
+CONFIG_MODULES_MUORB_APPS=n
+CONFIG_MODULES_NAVIGATOR=n
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
+CONFIG_SYSTEMCMDS_BSONDUMP=n
+CONFIG_SYSTEMCMDS_PERF=n
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
+CONFIG_SYSTEMCMDS_VER=n
+CONFIG_SYSTEMCMDS_REBOOT=n
+CONFIG_PARAM_PRIMARY=n
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -19,6 +37,8 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_VOXL2_IO=y
@@ -31,28 +31,81 @@
 #
 ############################################################################

-# Need to make sure that the Linux processor on VOXL2
-# knows about all parameters since it is acting as the
-# parameter server for other processors that may define
-# parameters that it doesn't normally know about.
+# Both processors need to know about all parameters since modules are
+# split across processors and may reference parameters from the other side.
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)

-add_library(drivers_board
+set(SRCS
 	board_config.h
-	i2c.cpp
 	init.c
-	boardctl.c
-	spi.cpp
-    )
+)

-# Add custom drivers
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
+if("${PX4_PLATFORM}" STREQUAL "qurt")
+	list(APPEND SRCS
+		i2c_qurt.cpp
+		spi_qurt.cpp
+	)
+elseif("${PX4_PLATFORM}" STREQUAL "posix")
+	list(APPEND SRCS
+		boardctl.c
+		i2c_posix.cpp
+		spi_posix.cpp
+	)
+endif()

-# Add custom libraries
-add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa)
+add_library(drivers_board ${SRCS})

-# Add custom modules
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge)
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge)
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge)
+if("${PX4_PLATFORM}" STREQUAL "qurt")
+	# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
+	# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
+	# SLPI build is self-contained and does not depend on voxl2-default.
+	set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
+	set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
+
+	px4_add_git_submodule(TARGET git_mavlink_v2_slpi PATH "${MAVLINK_GIT_DIR}")
+
+	add_custom_command(
+		OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
+		COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			--lang C --wire-protocol 2.0
+			--output ${MAVLINK_LIBRARY_DIR}
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+			> ${CMAKE_BINARY_DIR}/mavgen_common.log
+		DEPENDS
+			git_mavlink_v2_slpi
+			${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+		COMMENT "Generating MAVLink common headers for SLPI"
+	)
+	add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
+
+	add_library(mavlink_common_headers INTERFACE)
+	add_dependencies(mavlink_common_headers mavlink_common_generate)
+	target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+	target_include_directories(mavlink_common_headers INTERFACE
+		${MAVLINK_LIBRARY_DIR}
+		${MAVLINK_LIBRARY_DIR}/common
+	)
+
+	# Add custom drivers for SLPI
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/rc_controller rc_controller)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/mavlink_rc_in mavlink_rc_in)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/spektrum_rc spektrum_rc)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/ghst_rc ghst_rc)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/dsp_hitl dsp_hitl)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/dsp_sbus dsp_sbus)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/elrs_led elrs_led)
+
+elseif("${PX4_PLATFORM}" STREQUAL "posix")
+	# Add custom drivers
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/posix/apps_sbus apps_sbus)
+
+	# Add custom libraries
+	add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa mpa)
+
+	# Add custom modules
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params voxl_save_cal_params)
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge vehicle_air_data_bridge)
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge sensor_baro_bridge)
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge vehicle_local_position_bridge)
+endif()
@@ -42,21 +42,44 @@
 #define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER

-// Define this as empty since i2c clock init isn't required
-#define BOARD_I2C_BUS_CLOCK_INIT
-
 /*
- * I2C buses
- */
-#define CONFIG_I2C 1
-#define PX4_NUMBER_I2C_BUSES    1
-
-/*
- * SPI buses
+ * SPI buses (shared)
 */
 #define CONFIG_SPI 1
 #define BOARD_SPI_BUS_MAX_BUS_ITEMS 1

+#ifdef __PX4_QURT
+/*
+ * QURT (DSP) specific defines
+ */
+
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    4
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
+
+#define VOXL_ESC_DEFAULT_PORT 	"2"
+#define GHST_RC_DEFAULT_PORT 	"7"
+#define VOXL2_IO_DEFAULT_PORT 	"2"
+
+/* M0065 PWM */
+#define DIRECT_PWM_OUTPUT_CHANNELS 4
+#define MAX_IO_TIMERS 3
+
+#endif /* __PX4_QURT */
+
+#if defined(__PX4_POSIX) && !defined(__PX4_QURT)
+/*
+ * POSIX (apps processor) specific defines
+ */
+
+/* I2C clock init not required on Linux */
+#define BOARD_I2C_BUS_CLOCK_INIT
+
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    1
+
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

@@ -65,3 +88,5 @@

 #define VOXL_ESC_DEFAULT_PORT 	"2"
 #define VOXL2_IO_DEFAULT_PORT 	"2"
+
+#endif /* __PX4_POSIX && !__PX4_QURT */
@@ -215,6 +215,12 @@ fi
 if [ "$POWER_MANAGER" == "VOXLPM" ]; then
    # APM power monitor
    qshell voxlpm start -X -b 2
+elif [ "$POWER_MANAGER" == "INA226" ]; then
+    /bin/echo "Starting INA226 power monitor"
+    qshell ina226 start -X -b 2
+elif [ "$POWER_MANAGER" == "INA228" ]; then
+    /bin/echo "Starting INA228 power monitor"
+    qshell ina228 start -X -b 2
 fi

 if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
@@ -37,6 +37,8 @@ px4_add_module(

 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true
@@ -37,6 +37,8 @@ px4_add_module(

 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true
@@ -37,6 +37,8 @@ px4_add_module(

 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true
@@ -86,7 +86,7 @@ if("${CMAKE_SYSTEM}" MATCHES "Linux")
 		set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 autopilot")
 		set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 		set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
-		set(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+		set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})

 		# autogenerate dependency information
 		set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
@@ -97,4 +97,9 @@ else()
 	set(CPACK_GENERATOR "ZIP")
 endif()

+# Board-specific overrides (loaded after defaults are set)
+if(EXISTS "${PX4_BOARD_DIR}/cmake/package.cmake")
+	include(${PX4_BOARD_DIR}/cmake/package.cmake)
+endif()
+
 include(CPack)
@@ -304,7 +304,6 @@
 1	1	COM_FLT_TIME_MAX	-1	6
 1	1	COM_FORCE_SAFETY	0	6
 1	1	COM_HLDL_LOSS_T	120	6
-1	1	COM_HLDL_REG_T	0	6
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
@@ -164,6 +164,7 @@
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
      - [ARK FPV Flight Controller](flight_controller/ark_fpv.md)
      - [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
+      - [CORVON 743v1](flight_controller/corvon_743v1.md)
      - [CUAV Nora](flight_controller/cuav_nora.md)
      - [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md)
        - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
@@ -476,6 +477,7 @@
    - [Flight Controller Porting Guide](hardware/porting_guide.md)
      - [PX4 Board Configuration (kconfig)](hardware/porting_guide_config.md)
      - [NuttX Board Porting Guide](hardware/porting_guide_nuttx.md)
+      - [Board Firmware Packaging (.deb)](hardware/board_packaging.md)
    - [Serial Port Mapping](hardware/serial_port_mapping.md)
    - [Airframes](dev_airframes/index.md)
      - [Adding a New Airframe](dev_airframes/adding_a_new_frame.md)
@@ -756,6 +758,7 @@
    - [MAVLink Messaging](mavlink/index.md)
      - [Adding Messages](mavlink/adding_messages.md)
      - [Streaming Messages](mavlink/streaming_messages.md)
+      - [MAVLink Profiles](mavlink/mavlink_profiles.md)
      - [Receiving Messages](mavlink/receiving_messages.md)
      - [Custom MAVLink Messages](mavlink/custom_messages.md)
      - [Message Signing](mavlink/message_signing.md)
@@ -57,6 +57,17 @@ param set PWM_MAIN_FUNC10 2064
 param set PPS_CAP_ENABLE 1
 ```

+#### Multi-GPS Setups
+
+If you have multiple GPS receivers, set `PPS_CAP_GPS_ID` to the device ID of the GPS receiver that emits the PPS signal.
+When set to `0` (default), the driver uses the first available GPS instance.
+
+You can find the device ID by running:
+
+```sh
+listener sensor_gps
+```
+
 ### Wiring

 The wiring configuration depends on your specific flight controller.
@@ -129,5 +140,5 @@ See also:
 The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.

 ::: warning
-If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `SENS_GPS0_DELAY` will be used instead for estimating the latency.
+If the PPS driver does not send any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the corresponding `SENS_GPS*_DELAY` parameter will be used instead for estimating the latency.
 :::
@@ -406,6 +406,16 @@ With Valid GNSS Data:
 - **Alternative Sources**: Dead-reckoning mode provides enhanced protection by requiring absence of alternative navigation sources before allowing resets.
 - **Boot Vulnerability**: Initial faulty GNSS data cannot be detected automatically; requires operator intervention and manual position correction.

+#### Ground Position Lock
+
+When a vehicle equipped with dead-reckoning sensors (e.g. airspeed for fixed-wing, or optical flow) is sitting on the ground before takeoff, those sensors provide little to no aiding — airspeed and optical flow measurements are unreliable at rest. In this case, the EKF relies on _constant position fusion_ (fusing a synthetic position measurement at the last known position) to prevent the estimate from drifting. However, this is only active when the vehicle is detected as stationary, so handling the vehicle or starting the engine can interrupt it.
+
+To counter this, [EKF2_POS_LOCK](../advanced_config/parameter_reference.md#EKF2_POS_LOCK) can be enabled to force constant position fusion to run while landed and the global horizontal position has already been initialized.
+
+::: note
+`EKF2_POS_LOCK` has no effect in flight.
+:::
+
 ### Range Finder

 [Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
--- a/Show More
+++ b/Show More