fix(battery): Debounce battery connected state in battery library

This robustifies against some communication flukes where a single 0V
sample was given to the battery library, which would previously mark the
battery disconnected immediately. Now we tolerate a given time of 0V
samples (while not actually updating the voltage) before considering the
battery disconnected.

.claude/skills/commit/SKILL.md

@@ -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

.claude/skills/pr/SKILL.md

@@ -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

.claude/skills/rebase-onto-main/SKILL.md

@@ -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
+    ```

.github/workflows/build_all_targets.yml

@@ -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 }}

.github/workflows/ros_integration_tests.yml

@@ -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

.github/workflows/sync_release_to_ros2_interface_lib.yml

@@ -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"

Makefile

@@ -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
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -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

ROMFS/px4fmu_common/init.d/rcS

@@ -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.

Tools/ci/generate_board_targets_json.py

@@ -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("============================")

Tools/ci/package_build_artifacts.sh

@@ -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#*/}

Tools/msg/generate_msg_docs.py

@@ -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"
 

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -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)

boards/modalai/voxl2-slpi/src/board_config.h

@@ -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

boards/modalai/voxl2-slpi/src/init.c

@@ -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

boards/modalai/voxl2/README.md

@@ -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

boards/modalai/voxl2/cmake/init.cmake

@@ -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

boards/modalai/voxl2/cmake/install.cmake

@@ -0,0 +1,83 @@
+############################################################################
+#
+#   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
+	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
+)

boards/modalai/voxl2/cmake/link_libraries.cmake

@@ -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

boards/modalai/voxl2/cmake/package.cmake

@@ -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(>=1.1.16) | modalai-adsp(>=1.0.2)")
+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.

boards/modalai/voxl2/companion_targets

@@ -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

boards/modalai/voxl2/debian/postinst

@@ -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"

boards/modalai/voxl2/debian/prerm

@@ -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

boards/modalai/voxl2/debian/voxl-px4.service

@@ -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

boards/modalai/voxl2/scripts/build-apps.sh

@@ -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 ***"

boards/modalai/voxl2/scripts/build-pkg.sh

@@ -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 ***"

boards/modalai/voxl2/scripts/build-slpi.sh

@@ -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 ***"

boards/modalai/voxl2/scripts/install-voxl-bins.sh

@@ -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

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -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

boards/modalai/voxl2/slpi.px4board

@@ -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

boards/modalai/voxl2/src/CMakeLists.txt

@@ -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()

boards/modalai/voxl2/src/board_config.h

@@ -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 */

cmake/package.cmake

@@ -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)

docs/en/SUMMARY.md

@@ -476,6 +476,7 @@
     - [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)

docs/en/hardware/board_packaging.md

@@ -0,0 +1,298 @@
+# Board Firmware Packaging
+
+PX4 supports building distributable firmware packages for Linux-based (POSIX) boards.
+While NuttX boards produce `.px4` firmware files that are flashed via QGroundControl, POSIX boards can produce `.deb` (Debian) packages that are installed using standard Linux package management tools (`dpkg`, `apt`).
+
+This page covers how manufacturers can add `.deb` packaging to their boards, with examples for both single-processor and multi-processor architectures.
+
+## Overview
+
+The packaging framework uses [CMake CPack](https://cmake.org/cmake/help/latest/module/CPack.html) with the DEB generator.
+It is built on two extension points in the PX4 build system:
+
+- **`boards/<vendor>/<board>/cmake/package.cmake`**: CPack variable overrides (package name, version, dependencies, architecture, maintainer info). Loaded during CMake configure.
+- **`boards/<vendor>/<board>/cmake/install.cmake`**: `install()` rules that define what goes into the package (binaries, scripts, config files, service files). Loaded from `platforms/posix/CMakeLists.txt` where build targets are available.
+
+When a board provides these files, CI automatically discovers and builds the `_deb` target alongside the normal firmware build.
+
+## Build Command
+
+For any board with packaging support:
+
+```sh
+make <vendor>_<board>_deb
+```
+
+For example:
+
+```sh
+make modalai_voxl2_deb
+```
+
+This builds the `_default` configuration (and any companion builds for multi-processor boards), then runs `cpack -G DEB` in the build directory.
+The resulting `.deb` file is placed in `build/<vendor>_<board>_default/`.
+
+## Adding Packaging to a Board
+
+### File Structure
+
+```
+boards/<vendor>/<board>/
+    cmake/
+        package.cmake      # CPack configuration (required)
+        install.cmake      # Install rules (required)
+    debian/
+        postinst           # Post-install script (optional)
+        prerm              # Pre-remove script (optional)
+        <name>.service     # Systemd unit file (optional)
+```
+
+### Step 1: CPack Configuration (package.cmake)
+
+This file sets CPack variables that control the `.deb` metadata.
+It is included from `cmake/package.cmake` after the base CPack defaults are configured.
+
+```cmake
+# boards/<vendor>/<board>/cmake/package.cmake
+
+# Derive Debian-compatible version from git tag
+# v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef
+# v1.17.0 -> 1.17.0
+string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
+string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}")
+string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
+
+# Target architecture (use the target arch, not the build host)
+set(CPACK_DEBIAN_ARCHITECTURE "arm64")
+
+# Package identity
+set(CPACK_DEBIAN_PACKAGE_NAME "my-px4-board")
+set(CPACK_DEBIAN_FILE_NAME "my-px4-board_${_deb_ver}_arm64.deb")
+
+# Install prefix
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_INSTALL_PREFIX "/usr")
+set(CPACK_SET_DESTDIR true)
+
+# Package metadata
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for My Board")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vendor <support@vendor.com>")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "some-dependency (>= 1.0)")
+set(CPACK_DEBIAN_PACKAGE_CONFLICTS "")
+set(CPACK_DEBIAN_PACKAGE_REPLACES "")
+
+# Disable shlibdeps for cross-compiled boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+
+# Include post-install and pre-remove scripts (optional)
+set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
+    "${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
+```
+
+**Key variables:**
+
+| Variable | Purpose |
+|---|---|
+| `CPACK_DEBIAN_ARCHITECTURE` | Target architecture. Set explicitly for cross-compiled boards since `dpkg --print-architecture` reports the build host, not the target. |
+| `CPACK_DEBIAN_PACKAGE_NAME` | Package name as it appears in `dpkg -l`. |
+| `CPACK_DEBIAN_FILE_NAME` | Output `.deb` filename. |
+| `CPACK_DEBIAN_PACKAGE_DEPENDS` | Runtime dependencies (comma-separated, Debian format). |
+| `CPACK_DEBIAN_PACKAGE_SHLIBDEPS` | Set to `OFF` for cross-compiled boards where `dpkg-shlibdeps` cannot inspect target binaries. |
+
+### Step 2: Install Rules (install.cmake)
+
+This file defines what files are packaged in the `.deb`.
+It is included from `platforms/posix/CMakeLists.txt` where the `px4` build target is available.
+
+All paths are relative to `CPACK_PACKAGING_INSTALL_PREFIX` (typically `/usr`). Use `../` to install outside the prefix (e.g., `../etc/` installs to `/etc/`).
+
+**Minimal example (single-processor board):**
+
+```cmake
+# boards/<vendor>/<board>/cmake/install.cmake
+
+# PX4 binary
+install(TARGETS px4 RUNTIME DESTINATION bin)
+
+# Module alias script (generated during build)
+install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
+
+# Startup scripts
+install(PROGRAMS
+    ${PX4_BOARD_DIR}/target/my-px4-start
+    DESTINATION bin
+)
+
+# Configuration files
+install(FILES
+    ${PX4_BOARD_DIR}/target/my-config.conf
+    DESTINATION ../etc/my-board
+)
+
+# Systemd service
+install(FILES ${PX4_BOARD_DIR}/debian/my-px4.service
+    DESTINATION ../etc/systemd/system
+)
+
+# Component metadata
+install(FILES
+    ${PX4_BINARY_DIR}/actuators.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
+)
+```
+
+### Step 3: Debian Scripts (optional)
+
+#### postinst
+
+Runs after the package is installed. Common tasks:
+
+- Create `px4-*` module symlinks from `px4-alias.sh`
+- Set up required directories with correct ownership
+- Run `systemctl daemon-reload` to pick up the service file
+- Board-specific setup (e.g., DSP signature generation)
+
+```bash
+#!/bin/bash
+set -e
+
+# Create px4-* symlinks
+if [ -f /usr/bin/px4-alias.sh ]; then
+    grep "^alias " /usr/bin/px4-alias.sh | \
+        sed "s/alias \(px4-[a-zA-Z0-9_]*\)=.*/\1/" | while read cmd; do
+        ln -sf px4 "/usr/bin/${cmd}"
+    done
+fi
+
+# Create data directories
+mkdir -p /data/px4/param
+mkdir -p /data/px4/etc/extras
+
+# Reload systemd
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl daemon-reload
+fi
+```
+
+#### prerm
+
+Runs before the package is removed:
+
+```bash
+#!/bin/bash
+set -e
+
+# Stop the service
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl stop my-px4 2>/dev/null || true
+fi
+
+# Remove px4-* symlinks
+for f in /usr/bin/px4-*; do
+    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
+        rm -f "$f"
+    fi
+done
+```
+
+Both scripts must be executable (`chmod +x`).
+
+## Multi-Processor Boards
+
+Some boards run PX4 across multiple processors, for example the ModalAI VOXL2 which has a POSIX apps processor (ARM) and a Hexagon DSP (SLPI).
+These produce two separate CMake builds, but the `.deb` must contain artifacts from both.
+
+### How It Works
+
+1. The `_default` build (POSIX/apps processor) owns the `.deb`.
+2. The Makefile `%_deb` target builds `_default`, which chains any companion builds as CMake prerequisites.
+3. The `install.cmake` pulls companion build artifacts via absolute path to the sibling build directory.
+4. CPack runs in the `_default` build tree and produces a single `.deb`.
+
+### Companion Build Artifacts
+
+In `install.cmake`, reference the companion build output by absolute path:
+
+```cmake
+# DSP firmware blob from companion SLPI build
+set(SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/<vendor>_<board>-slpi_default")
+
+install(FILES ${SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
+    DESTINATION lib/rfsa/adsp
+    OPTIONAL
+)
+```
+
+The `OPTIONAL` keyword allows the `.deb` to build even when the companion build hasn't run (useful for development/testing of just the apps-processor side).
+
+### VOXL2 Reference
+
+The VOXL2 board is a complete working example of multi-processor packaging:
+
+```
+boards/modalai/voxl2/
+    cmake/
+        package.cmake      # CPack config: voxl-px4, arm64, deps, shlibdeps off
+        install.cmake      # px4 binary, SLPI libpx4.so, scripts, configs, metadata
+    debian/
+        postinst           # Symlinks, DSP signature, directory setup
+        prerm              # Stop service, remove symlinks
+        voxl-px4.service   # Systemd unit (after sscrpcd, restart on-failure)
+    target/
+        voxl-px4           # Main startup wrapper
+        voxl-px4-start     # PX4 module startup script
+```
+
+The resulting `.deb` installs:
+
+| Path | Contents |
+|---|---|
+| `/usr/bin/px4` | Apps processor PX4 binary |
+| `/usr/bin/px4-alias.sh` | Module alias script |
+| `/usr/bin/voxl-px4` | Startup wrapper |
+| `/usr/bin/voxl-px4-start` | Module startup script |
+| `/usr/lib/rfsa/adsp/libpx4.so` | DSP firmware (from SLPI build) |
+| `/etc/modalai/*.config` | Board configuration files |
+| `/etc/systemd/system/voxl-px4.service` | Systemd service |
+| `/data/px4/etc/extras/*.json.xz` | Component metadata |
+
+## CI Integration
+
+### Automatic Discovery
+
+The CI system (`Tools/ci/generate_board_targets_json.py`) automatically discovers boards with `cmake/package.cmake` and adds a `<vendor>_<board>_deb` target to the board's existing CI group.
+No manual CI configuration is needed.
+
+### Artifact Collection
+
+The `Tools/ci/package_build_artifacts.sh` script collects `.deb` files alongside `.px4` and `.elf` artifacts.
+On tagged releases, `.deb` files are uploaded to both S3 and GitHub Releases.
+
+## Version Format
+
+The `.deb` version is derived from `PX4_GIT_TAG` using Debian-compatible formatting:
+
+| Git Tag | Debian Version | Notes |
+|---|---|---|
+| `v1.17.0` | `1.17.0` | Stable release |
+| `v1.17.0-beta1` | `1.17.0~beta1` | Pre-release (`~` sorts before release) |
+| `v1.17.0-alpha1-42-gabcdef` | `1.17.0~alpha1.42.gabcdef` | Development build |
+
+The `~` prefix in Debian versioning ensures pre-releases sort lower than the final release: `1.17.0~beta1 < 1.17.0`.
+
+## Checklist for New Boards
+
+1. Create `boards/<vendor>/<board>/cmake/package.cmake` with CPack variables
+2. Create `boards/<vendor>/<board>/cmake/install.cmake` with install rules
+3. (Optional) Create `boards/<vendor>/<board>/debian/postinst` and `prerm`
+4. (Optional) Create `boards/<vendor>/<board>/debian/<name>.service`
+5. Test locally: `make <vendor>_<board>_deb`
+6. Verify: `dpkg-deb --info build/<vendor>_<board>_default/<name>_*.deb`
+7. Verify: `dpkg-deb --contents build/<vendor>_<board>_default/<name>_*.deb`
+8. CI picks it up automatically on the next push

docs/en/middleware/dds_topics.md

@@ -95,204 +95,204 @@ They are not build into the module, and hence are neither published or subscribe
 
 ::: details See messages
 
-- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
-- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
-- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
-- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
-- [Rpm](../msg_docs/Rpm.md)
-- [VehicleAirData](../msg_docs/VehicleAirData.md)
-- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
-- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
-- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
-- [ButtonEvent](../msg_docs/ButtonEvent.md)
-- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
-- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
-- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
-- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
-- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
-- [CameraStatus](../msg_docs/CameraStatus.md)
-- [OrbitStatus](../msg_docs/OrbitStatus.md)
-- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
-- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
-- [MissionResult](../msg_docs/MissionResult.md)
-- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
-- [GpsInjectData](../msg_docs/GpsInjectData.md)
-- [GpsDump](../msg_docs/GpsDump.md)
-- [QshellReq](../msg_docs/QshellReq.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
 - [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
-- [TuneControl](../msg_docs/TuneControl.md)
-- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
 - [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
-- [PwmInput](../msg_docs/PwmInput.md)
-- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
-- [RtlStatus](../msg_docs/RtlStatus.md)
-- [ActuatorTest](../msg_docs/ActuatorTest.md)
-- [VehicleImu](../msg_docs/VehicleImu.md)
-- [Event](../msg_docs/Event.md)
 - [FollowTarget](../msg_docs/FollowTarget.md)
-- [BatteryInfo](../msg_docs/BatteryInfo.md)
-- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
-- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
-- [QshellRetval](../msg_docs/QshellRetval.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
 - [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [Event](../msg_docs/Event.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [Mission](../msg_docs/Mission.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
 - [VehicleConstraints](../msg_docs/VehicleConstraints.md)
-- [GimbalControls](../msg_docs/GimbalControls.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
 - [LogMessage](../msg_docs/LogMessage.md)
 - [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
-- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
-- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
-- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
-- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
-- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
-- [EscStatus](../msg_docs/EscStatus.md)
-- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
-- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
-- [DebugValue](../msg_docs/DebugValue.md)
-- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
-- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
-- [Ping](../msg_docs/Ping.md)
-- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
-- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
-- [DatamanRequest](../msg_docs/DatamanRequest.md)
-- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
-- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
-- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
-- [AirspeedWind](../msg_docs/AirspeedWind.md)
-- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
-- [InputRc](../msg_docs/InputRc.md)
-- [EventV0](../msg_docs/EventV0.md)
-- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
-- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
-- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
-- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
-- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
-- [SensorGyro](../msg_docs/SensorGyro.md)
-- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
-- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
-- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
-- [DebugArray](../msg_docs/DebugArray.md)
-- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
-- [MagWorkerData](../msg_docs/MagWorkerData.md)
-- [SensorCorrection](../msg_docs/SensorCorrection.md)
-- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
-- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
-- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
-- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
-- [PowerMonitor](../msg_docs/PowerMonitor.md)
-- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
-- [Airspeed](../msg_docs/Airspeed.md)
-- [EscEepromRead](../msg_docs/EscEepromRead.md)
-- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
-- [SensorAccel](../msg_docs/SensorAccel.md)
-- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
-- [AdcReport](../msg_docs/AdcReport.md)
-- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
-- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
-- [RadioStatus](../msg_docs/RadioStatus.md)
-- [SensorTemp](../msg_docs/SensorTemp.md)
-- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
-- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
-- [RcParameterMap](../msg_docs/RcParameterMap.md)
-- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
-- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
-- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
-- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
-- [ActionRequest](../msg_docs/ActionRequest.md)
-- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
-- [RaptorStatus](../msg_docs/RaptorStatus.md)
-- [MountOrientation](../msg_docs/MountOrientation.md)
-- [Vtx](../msg_docs/Vtx.md)
-- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
-- [SensorMag](../msg_docs/SensorMag.md)
-- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
-- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
-- [RcChannels](../msg_docs/RcChannels.md)
-- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
-- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
-- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
-- [LoggerStatus](../msg_docs/LoggerStatus.md)
-- [RaptorInput](../msg_docs/RaptorInput.md)
-- [GpioIn](../msg_docs/GpioIn.md)
-- [EstimatorStates](../msg_docs/EstimatorStates.md)
-- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
-- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
-- [SystemPower](../msg_docs/SystemPower.md)
-- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
-- [SensorsStatus](../msg_docs/SensorsStatus.md)
-- [WheelEncoders](../msg_docs/WheelEncoders.md)
-- [SensorAirflow](../msg_docs/SensorAirflow.md)
-- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
-- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
-- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
-- [SensorBaro](../msg_docs/SensorBaro.md)
-- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
-- [CameraTrigger](../msg_docs/CameraTrigger.md)
 - [VehicleRoi](../msg_docs/VehicleRoi.md)
-- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
-- [PowerButtonState](../msg_docs/PowerButtonState.md)
-- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
-- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
-- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
-- [DebugVect](../msg_docs/DebugVect.md)
-- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
-- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
-- [EscReport](../msg_docs/EscReport.md)
-- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
-- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
-- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
-- [GeofenceResult](../msg_docs/GeofenceResult.md)
-- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
-- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
-- [SensorUwb](../msg_docs/SensorUwb.md)
-- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
-- [Gripper](../msg_docs/Gripper.md)
-- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
-- [GainCompression](../msg_docs/GainCompression.md)
-- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
-- [UlogStream](../msg_docs/UlogStream.md)
-- [VelocityLimits](../msg_docs/VelocityLimits.md)
-- [EstimatorBias](../msg_docs/EstimatorBias.md)
-- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
 - [NeuralControl](../msg_docs/NeuralControl.md)
-- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
-- [GpioConfig](../msg_docs/GpioConfig.md)
-- [Cpuload](../msg_docs/Cpuload.md)
-- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
-- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
-- [DeviceInformation](../msg_docs/DeviceInformation.md)
-- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
-- [HomePositionV0](../msg_docs/HomePositionV0.md)
-- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
-- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
-- [PpsCapture](../msg_docs/PpsCapture.md)
-- [CellularStatus](../msg_docs/CellularStatus.md)
-- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
-- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
-- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
-- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
-- [OrbTest](../msg_docs/OrbTest.md)
-- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
-- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
-- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
-- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
-- [MavlinkLog](../msg_docs/MavlinkLog.md)
-- [Mission](../msg_docs/Mission.md)
-- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
-- [HeaterStatus](../msg_docs/HeaterStatus.md)
-- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
-- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
-- [GpioRequest](../msg_docs/GpioRequest.md)
+- [MissionResult](../msg_docs/MissionResult.md)
 - [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
-- [TecsStatus](../msg_docs/TecsStatus.md)
-- [HealthReport](../msg_docs/HealthReport.md)
-- [GpioOut](../msg_docs/GpioOut.md)
-- [CameraCapture](../msg_docs/CameraCapture.md)
-- [LedControl](../msg_docs/LedControl.md)
-- [SensorSelection](../msg_docs/SensorSelection.md)
-- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
-- [IrlockReport](../msg_docs/IrlockReport.md)
-- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
 - [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
-- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [UlogStream](../msg_docs/UlogStream.md)
 - [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [Ping](../msg_docs/Ping.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
   :::

docs/en/msg_docs/EscReport.md

@@ -8,20 +8,19 @@ pageClass: is-wide-page
 
 ## Fields
 
-| Name              | Type      | Unit [Frame] | Range/Enum          | Description                                                         |
-| ----------------- | --------- | ------------ | ------------------- | ------------------------------------------------------------------- |
-| timestamp         | `uint64`  | us           |                     | Time since system start                                             |
-| esc_errorcount    | `uint32`  |              |                     | Number of reported errors by ESC - if supported                     |
-| esc_rpm           | `int32`   | rpm          |                     | Motor RPM, negative for reverse rotation - if supported             |
-| esc_voltage       | `float32` | V            |                     | Voltage measured from current ESC - if supported                    |
-| esc_current       | `float32` | A            |                     | Current measured from current ESC - if supported                    |
-| esc_temperature   | `float32` | degC         |                     | Temperature measured from current ESC - if supported                |
-| esc_address       | `uint8`   |              |                     | Address of current ESC (in most cases 1-12 / must be set by driver) |
-| motor_temperature | `int16`   | degC         |                     | Temperature measured from current motor - if supported              |
-| esc_state         | `uint8`   |              |                     | State of ESC - depend on Vendor                                     |
-| actuator_function | `uint8`   |              |                     | Actuator output function (one of Motor1...MotorN)                   |
-| failures          | `uint16`  |              | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults                         |
-| esc_power         | `int8`    | %            | [0 : 100]           | Applied power (negative values reserved)                            |
+| Name              | Type      | Unit [Frame] | Range/Enum          | Description                                             |
+| ----------------- | --------- | ------------ | ------------------- | ------------------------------------------------------- |
+| timestamp         | `uint64`  | us           |                     | Time since system start                                 |
+| esc_errorcount    | `uint32`  |              |                     | Number of reported errors by ESC - if supported         |
+| esc_rpm           | `int32`   | rpm          |                     | Motor RPM, negative for reverse rotation - if supported |
+| esc_voltage       | `float32` | V            |                     | Voltage measured from current ESC - if supported        |
+| esc_current       | `float32` | A            |                     | Current measured from current ESC - if supported        |
+| esc_temperature   | `float32` | degC         |                     | Temperature measured from current ESC - if supported    |
+| motor_temperature | `int16`   | degC         |                     | Temperature measured from current motor - if supported  |
+| esc_state         | `uint8`   |              |                     | State of ESC - depend on Vendor                         |
+| actuator_function | `uint8`   |              |                     | Actuator output function (one of Motor1...MotorN)       |
+| failures          | `uint16`  |              | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults             |
+| esc_power         | `int8`    | %            | [0 : 100]           | Applied power (negative values reserved)                |
 
 ## Enums
 
@@ -62,7 +61,6 @@ int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
 float32 esc_voltage # [V] Voltage measured from current ESC - if supported
 float32 esc_current # [A] Current measured from current ESC - if supported
 float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
-uint8 esc_address # [-] Address of current ESC (in most cases 1-12 / must be set by driver)
 int16 motor_temperature # [degC] Temperature measured from current motor - if supported
 
 uint8 esc_state # [-] State of ESC - depend on Vendor

msg/EscReport.msg

@@ -5,7 +5,6 @@ int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
 float32 esc_voltage # [V] Voltage measured from current ESC - if supported
 float32 esc_current # [A] Current measured from current ESC - if supported
 float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
-uint8 esc_address # [-] Address of current ESC (in most cases 1-12 / must be set by driver)
 int16 motor_temperature # [degC] Temperature measured from current motor - if supported
 
 uint8 esc_state # [-] State of ESC - depend on Vendor

msg/versioned/VehicleCommand.msg

@@ -180,13 +180,6 @@ uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
 uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
 uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
 
-# Used as param1&2 in CMD_START_RX_PAIR.
-uint8 RC_TYPE_SPEKTRUM = 0
-uint8 RC_TYPE_CRSF = 1
-uint8 RC_SUB_TYPE_SPEKTRUM_DSM2 = 0
-uint8 RC_SUB_TYPE_SPEKTRUM_DSMX = 1
-uint8 RC_SUB_TYPE_SPEKTRUM_DSMX8 = 2
-
 # Used as param1 in ARM_DISARM command.
 int8 ARMING_ACTION_DISARM = 0
 int8 ARMING_ACTION_ARM = 1

platforms/posix/CMakeLists.txt

@@ -80,7 +80,8 @@ target_link_libraries(px4 PRIVATE uORB)
 # install
 #
 
-# TODO: extend to snapdragon
+# Generic install rules (skipped when board provides its own install.cmake)
+if(NOT EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
 
 # px4 dirs
 install(
@@ -94,6 +95,8 @@ install(
 	USE_SOURCE_PERMISSIONS
 )
 
+endif() # NOT board install.cmake
+
 # Module Symlinks
 px4_posix_generate_symlinks(
 	MODULE_LIST ${module_libraries}
@@ -112,6 +115,11 @@ if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
 	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
 endif()
 
+# board defined install rules for .deb packaging
+if(EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
+	include(${PX4_BOARD_DIR}/cmake/install.cmake)
+endif()
+
 # board defined link libraries
 if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
 	include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)

src/drivers/actuators/vertiq_io/vertiq_telemetry_manager.cpp

@@ -80,7 +80,6 @@ void VertiqTelemetryManager::StartPublishing(uORB::Publication<esc_status_s> *es
 
 	for (unsigned i = 0; i < _number_of_module_ids_for_telem; i++) {
 		_esc_status.esc[i].timestamp       = 0;
-		_esc_status.esc[i].esc_address     = 0;
 		_esc_status.esc[i].esc_rpm         = 0;
 		_esc_status.esc[i].esc_state       = 0;
 		_esc_status.esc[i].esc_voltage     = 0;
@@ -111,7 +110,6 @@ uint16_t VertiqTelemetryManager::UpdateTelemetry()
 		IFCITelemetryData telem_response = _telem_interface.telemetry_.get_reply();
 
 		// also update our internal report for logging
-		_esc_status.esc[_current_module_id_target_index].esc_address  = _module_ids_in_use[_number_of_module_ids_for_telem];
 		_esc_status.esc[_current_module_id_target_index].timestamp    = time_now;
 		_esc_status.esc[_current_module_id_target_index].esc_rpm      = telem_response.speed * 60.0f * M_1_PI_F *
 				0.5f; //We get back rad/s, convert to rpm

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -63,7 +63,6 @@ VoxlEsc::VoxlEsc() :
 
 	for (unsigned i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
 		_esc_status.esc[i].timestamp       = 0;
-		_esc_status.esc[i].esc_address     = 0;
 		_esc_status.esc[i].esc_rpm         = 0;
 		_esc_status.esc[i].esc_state       = 0;
 		_esc_status.esc[i].esc_voltage     = 0;
@@ -520,7 +519,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 					_esc_chans[id].feedback_time = tnow;
 
 					// also update our internal report for logging
-					_esc_status.esc[id].esc_address  = motor_idx + 1; //remapped motor ID
 					_esc_status.esc[id].timestamp    = tnow;
 					_esc_status.esc[id].esc_rpm      = fb.rpm;
 					_esc_status.esc[id].esc_power    = fb.power;
@@ -559,14 +557,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 					}
 
 
-					//print ESC status just for debugging
-					/*
-					PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, FAIL %d",
-						_esc_status.esc[id].timestamp, id, _esc_status.esc[id].esc_address,
-						_esc_status.esc[id].esc_state, _esc_status.esc[id].esc_rpm, _esc_status.esc[id].esc_power,
-						(double)_esc_status.esc[id].esc_voltage, (double)_esc_status.esc[id].esc_current, _esc_status.esc[id].esc_temperature,
-					  _esc_status.esc[id].failures);
-					*/
 				}
 			}
 

src/drivers/cyphal/Actuators/EscClient.hpp

@@ -243,7 +243,6 @@ public:
 		const ZubaxCompactFeedback *feedback = ((const ZubaxCompactFeedback *)(receive.payload));
 
 		ref.timestamp       = hrt_absolute_time();
-		ref.esc_address     = receive.metadata.remote_node_id;
 		ref.esc_voltage     = 0.2 * feedback->dc_voltage;
 		ref.esc_current     = 0.2 * feedback->dc_current;
 		ref.esc_temperature = NAN;

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -37,6 +37,11 @@
 
 #include <fcntl.h>
 
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/sensor_gps.h>
+#include <uORB/topics/vehicle_status.h>
+
 using namespace time_literals;
 
 ModuleBase::Descriptor CrsfRc::desc{task_spawn, custom_command, print_usage};
@@ -187,43 +192,6 @@ void CrsfRc::Run()
 	const hrt_abstime time_now_us = hrt_absolute_time();
 	perf_count_interval(_cycle_interval_perf, time_now_us);
 
-	if (_vehicle_status_sub.updated()) {
-		vehicle_status_s vehicle_status;
-
-		if (_vehicle_status_sub.copy(&vehicle_status)) {
-			_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
-		}
-	}
-
-	vehicle_command_s vcmd{};
-
-	if (_vehicle_cmd_sub.update(&vcmd)) {
-		if (vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) {
-			uint8_t cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
-
-			if (!_is_singlewire && !_armed) {
-				if ((int)vcmd.param1 == vehicle_command_s::RC_TYPE_CRSF) {
-					if (BindCRSF()) {
-						cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
-					}
-				}
-
-			} else {
-				cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
-			}
-
-			// publish acknowledgement
-			vehicle_command_ack_s command_ack{};
-			command_ack.command = vcmd.command;
-			command_ack.result = cmd_ret;
-			command_ack.target_system = vcmd.source_system;
-			command_ack.target_component = vcmd.source_component;
-			command_ack.timestamp = hrt_absolute_time();
-			uORB::Publication<vehicle_command_ack_s> vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};
-			vehicle_command_ack_pub.publish(command_ack);
-		}
-	}
-
 	// Read all available data from the serial RC input UART
 	int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100);
 
@@ -550,23 +518,6 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
 	return _uart->write((void *) buf, (size_t) offset);
 }
 
-bool CrsfRc::BindCRSF()
-{
-	uint8_t bind_frame[] = {
-		0xC8,  // sync
-		0x07,  // frame length
-		(uint8_t)crsf_frame_type_t::command,
-		(uint8_t)crsf_address_t::crsf_receiver,
-		(uint8_t)crsf_address_t::flight_controller,
-		(uint8_t)crsf_sub_command_t::subcmd_rx,
-		(uint8_t)crsf_sub_command_t::subcmd_rx_bind,
-		0x9E,  // command CRC8
-		0xE8,  // packet CRC8
-	};
-
-	return _uart->write((void *)bind_frame, sizeof(bind_frame)) == sizeof(bind_frame);
-}
-
 int CrsfRc::print_status()
 {
 	if (_device[0] != '\0') {
@@ -596,16 +547,6 @@ int CrsfRc::print_status()
 
 int CrsfRc::custom_command(int argc, char *argv[])
 {
-	if (!strcmp(argv[0], "bind")) {
-		uORB::Publication<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
-		vehicle_command_s vcmd{};
-		vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
-		vcmd.param1 = vehicle_command_s::RC_TYPE_CRSF;
-		vcmd.timestamp = hrt_absolute_time();
-		vehicle_command_pub.publish(vcmd);
-		return 0;
-	}
-
 #ifdef CONFIG_RC_CRSF_INJECT
 
 	if (!strcmp(argv[0], "start")) {
@@ -663,7 +604,6 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
 	PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a CRSF bind command (not available on singlewire)");
 #ifdef CONFIG_RC_CRSF_INJECT
 	PRINT_MODULE_USAGE_COMMAND_DESCR("inject", "Inject frame data bytes (for testing)");
 #endif

src/drivers/rc/crsf_rc/CrsfRc.hpp

@@ -53,8 +53,6 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_command_ack.h>
 
 using namespace device;
 
@@ -94,13 +92,10 @@ private:
 
 	bool SendTelemetryFlightMode(const char *flight_mode);
 
-	bool BindCRSF();
-
 	Serial *_uart = nullptr; ///< UART interface to RC
 
 	char _device[20] {}; ///< device / serial port path
 	bool _is_singlewire{false};
-	bool _armed{false};
 
 	static constexpr size_t RC_MAX_BUFFER_SIZE{64};
 	uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
@@ -119,7 +114,6 @@ private:
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-	uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
 
 	enum class crsf_frame_type_t : uint8_t {
 		gps = 0x02,
@@ -146,17 +140,6 @@ private:
 		attitude = 6,
 	};
 
-	enum class crsf_address_t : uint8_t {
-		flight_controller = 0xC8,
-		crsf_receiver = 0xEC,
-		crsf_transmitter = 0xEE
-	};
-
-	enum class crsf_sub_command_t : uint8_t {
-		subcmd_rx = 0x10,
-		subcmd_rx_bind = 0x01,
-	};
-
 	void WriteFrameHeader(uint8_t *buf, int &offset, const crsf_frame_type_t type, const uint8_t payload_size);
 	void WriteFrameCrc(uint8_t *buf, int &offset, const int buf_size);
 

src/drivers/rc/dsm_rc/DsmRc.cpp

@@ -166,29 +166,25 @@ void DsmRc::Run()
 #if defined(SPEKTRUM_POWER)
 
 			if (!_rc_scan_locked && !_armed) {
-				if ((int)vcmd.param1 == vehicle_command_s::RC_TYPE_SPEKTRUM) {
+				if ((int)vcmd.param1 == 0) {
 					// DSM binding command
 					int dsm_bind_mode = (int)vcmd.param2;
 
 					int dsm_bind_pulses = 0;
 
-					if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSM2) {
+					if (dsm_bind_mode == 0) {
 						dsm_bind_pulses = DSM2_BIND_PULSES;
 
-					} else if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSMX) {
+					} else if (dsm_bind_mode == 1) {
 						dsm_bind_pulses = DSMX_BIND_PULSES;
 
-					} else if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSMX8) {
-						dsm_bind_pulses = DSMX8_BIND_PULSES;
-
 					} else {
-						PX4_WARN("invalid Spektrum bind sub-type: %d", dsm_bind_mode);
-						cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
+						dsm_bind_pulses = DSMX8_BIND_PULSES;
 					}
 
-					if (dsm_bind_pulses > 0 && bind_spektrum(dsm_bind_pulses)) {
-						cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
-					}
+					bind_spektrum(dsm_bind_pulses);
+
+					cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
 				}
 
 			} else {

src/drivers/rc_input/RCInput.cpp

@@ -388,29 +388,25 @@ void RCInput::Run()
 #if defined(SPEKTRUM_POWER)
 
 				if (!_rc_scan_locked && !_armed) {
-					if ((int)vcmd.param1 == vehicle_command_s::RC_TYPE_SPEKTRUM) {
+					if ((int)vcmd.param1 == 0) {
 						// DSM binding command
 						int dsm_bind_mode = (int)vcmd.param2;
 
 						int dsm_bind_pulses = 0;
 
-						if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSM2) {
+						if (dsm_bind_mode == 0) {
 							dsm_bind_pulses = DSM2_BIND_PULSES;
 
-						} else if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSMX) {
+						} else if (dsm_bind_mode == 1) {
 							dsm_bind_pulses = DSMX_BIND_PULSES;
 
-						} else if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSMX8) {
-							dsm_bind_pulses = DSMX8_BIND_PULSES;
-
 						} else {
-							PX4_WARN("invalid Spektrum bind sub-type: %d", dsm_bind_mode);
-							cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
+							dsm_bind_pulses = DSMX8_BIND_PULSES;
 						}
 
-						if (dsm_bind_pulses > 0 && bind_spektrum(dsm_bind_pulses)) {
-							cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
-						}
+						bind_spektrum(dsm_bind_pulses);
+
+						cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
 					}
 
 				} else {

src/drivers/uavcan/actuators/esc.cpp

@@ -115,14 +115,13 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
 	if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
 		esc_report_s &esc_report = _esc_status.esc[msg.esc_index];
 		esc_report.timestamp = hrt_absolute_time();
-		esc_report.esc_address = msg.getSrcNodeID().get();
 		esc_report.esc_voltage = msg.voltage;
 		esc_report.esc_current = msg.current;
 		esc_report.esc_temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
 		// esc_report.motor_temperature is filled in the extended status callback
 		esc_report.esc_rpm = msg.rpm;
 		esc_report.esc_errorcount = msg.error_count;
-		esc_report.failures = get_failures(msg.esc_index);
+		esc_report.failures = get_failures(msg.esc_index, msg.getSrcNodeID().get());
 
 		_esc_status.esc_count = _rotor_count;
 		_esc_status.counter += 1;
@@ -169,11 +168,11 @@ uint16_t UavcanEscController::check_escs_status()
 	return esc_status_flags;
 }
 
-uint32_t UavcanEscController::get_failures(uint8_t esc_index)
+uint32_t UavcanEscController::get_failures(uint8_t esc_index, uint8_t node_id)
 {
-	// Check DoneCAN node health of the ESC
+	// Check DroneCAN node health of the ESC
 	dronecan_node_status_s node_status{};
-	uint8_t esc_node_id = _esc_status.esc[esc_index].esc_address;
+	uint8_t esc_node_id = node_id;
 	uint8_t node_health = dronecan_node_status_s::HEALTH_OK;
 	uint16_t vendor_specific_status_code = 0;
 

src/drivers/uavcan/actuators/esc.hpp

@@ -104,7 +104,7 @@ private:
 	/**
 	 * Gets failure flags for a specific ESC
 	 */
-	uint32_t get_failures(uint8_t esc_index);
+	uint32_t get_failures(uint8_t esc_index, uint8_t node_id);
 
 	typedef uavcan::MethodBinder<UavcanEscController *,
 		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;

src/lib/battery/battery.cpp

@@ -98,7 +98,10 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
 
 void Battery::updateVoltage(const float voltage_v)
 {
-	_voltage_v = voltage_v;
+	if (voltage_v >= LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
+		_voltage_v = voltage_v;
+		_last_sufficient_voltage_timestamp = hrt_absolute_time();
+	}
 }
 
 void Battery::updateCurrent(const float current_a)
@@ -116,7 +119,8 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 	updateDt(timestamp);
 
 	// Require minimum voltage otherwise override connected status
-	if (_voltage_v < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
+	// Tolerate a small number of low-voltage samples (common I2C comm failure) before disconnection
+	if (timestamp - _last_sufficient_voltage_timestamp > MAX_LOW_VOLTAGE_TIME_S * 1_s) {
 		_connected = false;
 	}
 
@@ -201,8 +205,9 @@ void Battery::updateDt(const hrt_abstime &timestamp)
 
 float Battery::sumDischarged(float current_a)
 {
-	if (_dt > FLT_EPSILON) {
+	if (_dt > FLT_EPSILON && fabsf(current_a + 1.f) > FLT_EPSILON) {
 		// mAh since last loop: (current[A] * 1000 = [mA]) * (dt[s] / 3600 = [h])
+		// current = -1 means invalid current measurement
 		_discharged_mah_loop = (current_a * 1e3f) * (_dt / 3600.f);
 		_discharged_mah += _discharged_mah_loop;
 	}

src/lib/battery/battery.h

@@ -134,8 +134,6 @@ public:
 	void updateDt(const hrt_abstime &timestamp);
 
 protected:
-	static constexpr float LITHIUM_BATTERY_RECOGNITION_VOLTAGE = 2.1f;
-
 	struct {
 		param_t v_empty;
 		param_t v_charged;
@@ -202,6 +200,10 @@ private:
 	bool _vehicle_status_is_fw{false};
 	hrt_abstime _last_unconnected_timestamp{0};
 
+	static constexpr float LITHIUM_BATTERY_RECOGNITION_VOLTAGE = 2.1f;
+	static constexpr float MAX_LOW_VOLTAGE_TIME_S = 0.2f;
+	hrt_abstime _last_sufficient_voltage_timestamp{0};
+
 	// Internal Resistance estimation
 	void updateInternalResistanceEstimation(const float voltage_v, const float current_a);
 	void resetInternalResistanceEstimation(const float voltage_v, const float current_a);

src/lib/npfg/AirspeedDirectionController.hpp

@@ -59,13 +59,15 @@
 #ifndef PX4_AIRSPEEDDIRECTIONONTROLLER_HPP
 #define PX4_AIRSPEEDDIRECTIONONTROLLER_HPP
 
+#include <matrix/math.hpp>
+#include <lib/mathlib/mathlib.h>
+
 class AirspeedDirectionController
 {
 public:
-
 	AirspeedDirectionController();
 
-
+	void setPGainFromPeriodAndDamping(float damping, float period) {p_gain_ = 4.f * M_PI_F * damping / math::max(period, FLT_EPSILON);}
 	float controlHeading(const float heading_sp, const float heading, const float airspeed) const;
 
 private:

src/lib/tunes/tune_definition.desc

@@ -94,8 +94,8 @@ PX4_DEFINE_TUNE(3,  NOTIFY_POSITIVE,       "MFT200e8a8a",
 PX4_DEFINE_TUNE(4,  NOTIFY_NEUTRAL,        "MFT200e8e",                                     true  /*  Notify Neutral tone */)
 PX4_DEFINE_TUNE(5,  NOTIFY_NEGATIVE,       "MFT200e8c8e8c8e8c8",                            true  /*  Notify Negative tone */)
 PX4_DEFINE_TUNE(6,  ARMING_WARNING,        "MNT75L1O2G",                                    false /*  arming warning */)
-PX4_DEFINE_TUNE(7,  BATTERY_WARNING_SLOW,  "MBNT100a8",                                     true  /*  battery warning slow */)
-PX4_DEFINE_TUNE(8,  BATTERY_WARNING_FAST,  "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8",       true  /*  battery warning fast */)
+PX4_DEFINE_TUNE(7,  BATTERY_WARNING_SLOW,  "MBT100a8P",                                     true  /*  battery warning slow */)
+PX4_DEFINE_TUNE(8,  BATTERY_WARNING_FAST,  "MBT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8P",       true  /*  battery warning fast */)
 PX4_DEFINE_TUNE(9,  GPS_WARNING,           "MFT255L4AAAL1F#",                               false /*  gps warning slow */)
 PX4_DEFINE_TUNE(10, ARMING_FAILURE,        "MFT255L4<<<BAP",                                false /*  arming failure tune */)
 PX4_DEFINE_TUNE(11, PARACHUTE_RELEASE,     "MFT255L16agagagag",                             false /*  parachute release */)

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -444,8 +444,10 @@ AirspeedModule::Run()
 
 			// save estimated airspeed scale after disarm if airspeed is valid and scale has changed
 			if (!armed && _armed_prev) {
+				const float scale_change_threshold = _param_airspeed_scale[i] * 0.03f; // 3% relative change threshold
+
 				if (_param_aspd_scale_apply.get() > 0 && _airspeed_validator[i].get_airspeed_valid()
-				    && fabsf(_airspeed_validator[i].get_CAS_scale_validated() - _param_airspeed_scale[i]) > FLT_EPSILON) {
+				    && fabsf(_airspeed_validator[i].get_CAS_scale_validated() - _param_airspeed_scale[i]) > scale_change_threshold) {
 
 					mavlink_log_info(&_mavlink_log_pub, "Airspeed sensor Nr. %d ASPD_SCALE updated: %.4f --> %.4f", i + 1,
 							 (double)_param_airspeed_scale[i],

src/modules/airspeed_selector/airspeed_selector_params.c

@@ -96,7 +96,6 @@ PARAM_DEFINE_INT32(ASPD_SCALE_APPLY, 2);
  * @max 2.0
  * @decimal 2
  * @group Airspeed Validator
- * @volatile
  */
 PARAM_DEFINE_FLOAT(ASPD_SCALE_1, 1.0f);
 
@@ -109,7 +108,6 @@ PARAM_DEFINE_FLOAT(ASPD_SCALE_1, 1.0f);
  * @max 2.0
  * @decimal 2
  * @group Airspeed Validator
- * @volatile
  */
 PARAM_DEFINE_FLOAT(ASPD_SCALE_2, 1.0f);
 
@@ -122,7 +120,6 @@ PARAM_DEFINE_FLOAT(ASPD_SCALE_2, 1.0f);
  * @max 2.0
  * @decimal 2
  * @group Airspeed Validator
- * @volatile
  */
 PARAM_DEFINE_FLOAT(ASPD_SCALE_3, 1.0f);
 

src/modules/control_allocator/module.yaml

@@ -684,114 +684,133 @@ mixer:
               - { 'disabled': True, 'default': 0.0 } # yaw
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': True, 'default': 0} # launch-lock
             1: # Left Aileron
               - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             2: # Right Aileron
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             3: # Elevator
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             4: # Rudder
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # yaw
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             5: # Left Elevon
               - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             6: # Right Elevon
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             7: # Left V Tail
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             8: # Right V Tail
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
               - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             9: # Left Flap
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             10: # Right Flap
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             11: # Airbrake
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             12: # Custom
               - { 'hidden': False, 'default': 0.0 } # roll
               - { 'hidden': False, 'default': 0.0 } # pitch
               - { 'hidden': False, 'default': 0.0 } # yaw
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             13: # Left A Tail
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
               - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             14: # Right A Tail
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
               - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             15: # Single Channel Aileron
               - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             16: # Steering Wheel
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
+              - { 'hidden': True, 'default': 0} # launch-lock
             17: # Left Spoiler
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
             18: # Right Spoiler
               - { 'hidden': True, 'default': 0.0 } # roll
               - { 'hidden': True, 'default': 0.0 } # pitch
               - { 'hidden': True, 'default': 0.0 } # yaw
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
               - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
+              - { 'hidden': False, 'default': 0} # launch-lock
 
 
       - select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters

src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp

@@ -118,6 +118,8 @@ FwLateralLongitudinalControl::parameters_update()
 
 	_tecs_alt_time_const_slew_rate.setSlewRate(TECS_ALT_TIME_CONST_SLEW_RATE);
 	_tecs_alt_time_const_slew_rate.setForcedValue(_param_fw_t_h_error_tc.get() * _param_fw_thrtc_sc.get());
+
+	_airspeed_direction_control.setPGainFromPeriodAndDamping(_param_npfg_damping.get(), _param_npfg_period.get());
 }
 
 void FwLateralLongitudinalControl::Run()

src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp

@@ -171,7 +171,9 @@ private:
 		(ParamFloat<px4::params::FW_LND_THRTC_SC>) _param_fw_thrtc_sc,
 		(ParamFloat<px4::params::FW_T_THR_LOW_HGT>) _param_fw_t_thr_low_hgt,
 		(ParamFloat<px4::params::FW_WIND_ARSP_SC>) _param_fw_wind_arsp_sc,
-		(ParamFloat<px4::params::FW_GND_SPD_MIN>) _param_fw_gnd_spd_min
+		(ParamFloat<px4::params::FW_GND_SPD_MIN>) _param_fw_gnd_spd_min,
+		(ParamFloat<px4::params::NPFG_DAMPING>) _param_npfg_damping,
+		(ParamFloat<px4::params::NPFG_PERIOD>) _param_npfg_period
 	)
 
 	hrt_abstime _last_time_loop_ran{};

src/modules/navigator/precland.cpp

@@ -412,10 +412,8 @@ bool
 PrecLand::switch_to_state_search()
 {
 	PX4_INFO("Climbing to search altitude.");
-	vehicle_local_position_s *vehicle_local_position = _navigator->get_local_position();
-
 	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-	pos_sp_triplet->current.alt = vehicle_local_position->ref_alt + _param_pld_srch_alt.get();
+	pos_sp_triplet->current.alt = _navigator->get_home_position()->alt + _param_pld_srch_alt.get();
 	pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 	_navigator->set_position_setpoint_triplet_updated();
 

src/modules/navigator/rtl_mission_fast_reverse.cpp

@@ -78,7 +78,7 @@ void RtlMissionFastReverse::on_activation()
 	} else {
 		int32_t previous_mission_item_index;
 		size_t num_found_items{0U};
-		getPreviousPositionItems(math::max(_mission_index_prior_rtl - INT32_C(1), INT32_C(0)), &previous_mission_item_index,
+		getPreviousPositionItems(_mission_index_prior_rtl, &previous_mission_item_index,
 					 num_found_items, UINT8_C(1));
 
 		if (num_found_items > 0U) {

src/modules/simulation/battery_simulator/BatterySimulator.cpp

@@ -109,6 +109,12 @@ void BatterySimulator::Run()
 		vbatt = _battery.empty_cell_voltage();
 	}
 
+	if (_zero_volt_spike) {
+		// Zero volt but only one sample. Replicates some I2C comm failures
+		vbatt = 0.0f;
+		_zero_volt_spike = false;
+	}
+
 	vbatt *= _battery.cell_count();
 
 	_battery.setConnected(true);
@@ -157,6 +163,17 @@ void BatterySimulator::updateCommands()
 					supported = true;
 					_force_empty_battery = true;
 				}
+
+			} else if (failure_type == vehicle_command_s::FAILURE_TYPE_INTERMITTENT) {
+				handled = true;
+				PX4_WARN("CMD_INJECT_FAILURE, battery intermittent (single 0V sample)");
+				supported = true;
+
+				if (instance == 0) {
+					supported = true;
+					_zero_volt_spike = true;
+				}
+
 			}
 		}
 

src/modules/simulation/battery_simulator/BatterySimulator.hpp

@@ -89,6 +89,7 @@ private:
 	bool _armed{false};
 
 	bool _force_empty_battery{false};
+	bool _zero_volt_spike{false};
 
 	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};