feat(packaging): add voxl2 Debian package build

Add make_package.sh and supporting files to build a .deb package
for the voxl2 target, bundling both the ARM64 apps processor binary
and Hexagon SLPI DSP library. The package version is derived from
the git tag and short commit hash. CI is updated to build and upload
the .deb alongside existing .px4 artifacts.

.clang-tidy

@@ -141,6 +141,8 @@ Checks:          '*,
                   -cppcoreguidelines-avoid-goto,
                   -hicpp-avoid-goto,
                   -bugprone-branch-clone,
+                  -bugprone-unhandled-self-assignment,
+                  -cert-oop54-cpp,
                   -performance-enum-size,
                   -readability-avoid-nested-conditional-operator,
                   -cppcoreguidelines-prefer-member-initializer,
@@ -148,8 +150,10 @@ Checks:          '*,
                   -readability-convert-member-functions-to-static,
                   -readability-make-member-function-const,
                   -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-macro-parentheses,
                   -bugprone-multi-level-implicit-pointer-conversion,
                   -bugprone-signed-char-misuse,
+                  -bugprone-too-small-loop-variable,
                   -cppcoreguidelines-avoid-non-const-global-variables,
                   -cppcoreguidelines-use-default-member-init,
                   -hicpp-multiway-paths-covered,

.github/workflows/build_all_targets.yml

@@ -181,6 +181,17 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
+      - name: Build voxl2 Debian Package
+        if: contains(matrix.targets, 'modalai_voxl2')
+        run: ./Tools/packaging/voxl2/make_package.sh
+
+      - name: Upload voxl2 Debian Package
+        if: contains(matrix.targets, 'modalai_voxl2')
+        uses: actions/upload-artifact@v4
+        with:
+          name: voxl-px4-deb
+          path: Tools/packaging/voxl2/*.deb
+
       - name: Cache Post Build Stats
         if: always()
         run: |
@@ -265,5 +276,7 @@ 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/dev_container.yml

@@ -130,8 +130,8 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
 
   deploy:
     name: Deploy To Registry

.github/workflows/docs_crowdin_download.yml

@@ -34,13 +34,13 @@ jobs:
           upload_sources: false
           upload_translations: false
           download_translations: true
-          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
+          commit_message: New Crowdin translations - ${{ matrix.lc }}
           localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
           crowdin_branch_name: main
           create_pull_request: true
           pull_request_base_branch_name: 'main'
-          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
-          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
           pull_request_labels: 'Documentation 📑'
           pull_request_reviewers: hamishwillee
           download_language: ${{ matrix.lc }}

CITATION.cff

@@ -1,27 +0,0 @@
-cff-version: 1.2.0
-title: "PX4 Autopilot"
-message: "If you use PX4 in your research, please cite it using this metadata."
-type: software
-authors:
-  - family-names: Meier
-    given-names: Lorenz
-  - name: "The PX4 Contributors"
-repository-code: "https://github.com/PX4/PX4-Autopilot"
-url: "https://px4.io"
-abstract: >-
-  PX4 is an open-source autopilot stack for drones and
-  unmanned vehicles. It supports multirotors, fixed-wing,
-  VTOL, rovers, and many more platforms. PX4 runs on both
-  RTOS and POSIX-compatible operating systems.
-keywords:
-  - autopilot
-  - drone
-  - uav
-  - flight-controller
-  - robotics
-  - ros2
-license: BSD-3-Clause
-identifiers:
-  - type: doi
-    value: "10.5281/zenodo.595432"
-    description: "Zenodo concept DOI (resolves to latest version)"

CONTRIBUTING.md

@@ -16,13 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ## Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
-
-### Coding standards
-
-All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
-
-Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
 
 ## Commit message convention
 
@@ -147,20 +141,6 @@ git push --force-with-lease
 
 ## Test your changes
 
-PX4 is safety-critical software. All contributions must include adequate testing where practical:
-
-- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
-- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
-- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
-
-### Types of tests
-
-| Test type | When to use | How to run |
-|-----------|-------------|------------|
-| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
-| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
-| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
-
 Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
 
 ## Push your changes

README.md

@@ -10,7 +10,6 @@
 
 <p align="center">
   <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
-  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
   <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
   <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
   <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -34,7 +34,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
 
 param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -44,8 +44,7 @@ param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
 
 # Rate controllers
 param set-default FW_RR_P 0.0500

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -11,8 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set-default SENS_EN_GPSSIM 1

ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol

@@ -27,8 +27,7 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
 
 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -44,5 +44,4 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 
-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -44,6 +44,8 @@ param set-default FW_T_SINK_MIN 3
 
 param set-default FW_W_EN 1
 
+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -104,3 +104,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -26,6 +26,7 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0

ROMFS/px4fmu_common/init.d-posix/airframes/70000_gz_atmos

@@ -28,6 +28,7 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -28,6 +28,7 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim

@@ -2,8 +2,7 @@
 # shellcheck disable=SC2154
 
 # EKF2 specifics
-param set-default SENS_GPS0_DELAY 10
-param set-default SENS_GPS1_DELAY 10
+param set-default EKF2_GPS_DELAY 10
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -119,11 +119,10 @@ else
 	param set SYS_AUTOCONFIG 1
 fi
 
-# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
-if param greater SYS_AUTOCONFIG 0
+if param compare SYS_AUTOCONFIG 1
 then
-	# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
-	param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi
 

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -47,9 +47,8 @@ param set-default EKF2_BCOEF_Y 25.5
 
 param set-default EKF2_DRAG_CTRL 1
 
-param set-default SENS_GPS0_DELAY 100
-param set-default SENS_GPS1_DELAY 100
-param set-default SENS_GPS0_OFFX 0.06
+param set-default EKF2_GPS_DELAY 100
+param set-default EKF2_GPS_POS_X 0.06
 param set-default EKF2_GPS_V_NOISE 0.5
 
 param set-default EKF2_IMU_POS_X 0.06

ROMFS/px4fmu_common/init.d/rcS

@@ -191,8 +191,8 @@ else
 	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi
 
 	#

SECURITY.md

@@ -2,40 +2,24 @@
 
 ## Supported Versions
 
-The following versions receive security updates:
+The following is a list of versions the development team is currently supporting.
 
 | Version | Supported          |
 | ------- | ------------------ |
-| 1.16.x  | :white_check_mark: |
-| < 1.16  | :x:                |
+| 1.4.x   | :white_check_mark: |
+| 1.3.3   | :white_check_mark: |
+| < 1.3   | :x:                |
 
 ## Reporting a Vulnerability
 
-We receive security vulnerability reports through GitHub Security Advisories.
+We currently only receive security vulnerability reports through GitHub.
 
-To begin a report, go to the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository
-and click on the **Security** tab. If you are on mobile, click the **...** dropdown menu, then click **Security**.
+To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
+and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.
 
-Click **Report a Vulnerability** to open the advisory form. Fill in the advisory details form.
-Make sure your title is descriptive and the description contains all relevant details needed
-to verify the issue. We welcome logs, screenshots, photos, and videos.
+Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive, and the development team can find all of the relevant details needed
+to verify on the description box. We recommend you add as much data as possible. We welcome logs,
+screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.
 
-At the bottom of the form, click **Submit report**.
-
-## Response Process
-
-1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
-2. **Triage**: We will assess severity and impact and communicate next steps.
-3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
-
-If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
-
-## Secure Development Practices
-
-The PX4 development team applies the following practices to reduce security risk:
-
-- **Code review**: All changes require peer review before merging.
-- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
-- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
-- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
-- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.
+At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.

Tools/ci/package_build_artifacts.sh

@@ -6,42 +6,32 @@ cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
-  mkdir -p artifacts/$build_dir
+  mkdir artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
-  airframes_src=""
-  if [ -f "$build_dir_path/airframes.xml" ]; then
-    airframes_src="$build_dir_path/airframes.xml"
-  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
-    airframes_src="$build_dir_path/docs/airframes.xml"
-  fi
-  if [ -n "$airframes_src" ]; then
-    cp "$airframes_src" "artifacts/$build_dir/"
-  fi
+  # Airframe
+  cp $build_dir_path/airframes.xml artifacts/$build_dir/
   # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/
+  cp $build_dir_path/parameters.json artifacts/$build_dir/
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
   # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json artifacts/$build_dir/
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
   # Events
-  mkdir -p artifacts/$build_dir/events/
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # ROS 2 msgs
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # Module Docs
   ls -la artifacts/$build_dir
   echo "----------"
 done
 
 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata (used by Flight Review and other downstream consumers)
-  mkdir -p artifacts/_general/
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
   # Airframe
-  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
-    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
   # Parameters
   cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
   cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -50,11 +40,9 @@ if [ -d artifacts/px4_sitl_default ]; then
   cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
   cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
   # Events
-  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
-    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
   ls -la artifacts/_general/
 fi

Tools/packaging/voxl2/make_package.sh

@@ -0,0 +1,169 @@
+#!/bin/bash
+################################################################################
+# Copyright (c) 2026 ModalAI, Inc. All rights reserved.
+#
+# Builds a Debian package for the voxl2 target from existing build artifacts.
+# Both modalai_voxl2 and modalai_voxl2-slpi must be built before running this.
+#
+# Usage:
+#   ./Tools/packaging/voxl2/make_package.sh
+#
+################################################################################
+
+set -e
+
+################################################################################
+# Resolve paths - script can be run from anywhere
+################################################################################
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+PX4_DIR="$(cd "$SCRIPT_DIR/../../.." && pwd)"
+PKG_DIR="$SCRIPT_DIR/pkg"
+
+BOARD_DIR="$PX4_DIR/boards/modalai/voxl2"
+BUILD_APPS="$PX4_DIR/build/modalai_voxl2_default"
+BUILD_SLPI="$PX4_DIR/build/modalai_voxl2-slpi_default"
+
+################################################################################
+# Check arguments
+################################################################################
+for arg in "$@"; do
+	case "$(echo "$arg" | tr '[:upper:]' '[:lower:]')" in
+		"-h"|"--help")
+			echo ""
+			echo " Build a Debian package for the voxl2 target."
+			echo " You must build modalai_voxl2 and modalai_voxl2-slpi first."
+			echo ""
+			echo " Usage:"
+			echo "   ./Tools/packaging/voxl2/make_package.sh"
+			echo ""
+			exit 0
+			;;
+		*)
+			echo "Unknown argument: $arg"
+			exit 1
+			;;
+	esac
+done
+
+################################################################################
+# Derive version from git
+################################################################################
+cd "$PX4_DIR"
+GIT_TAG=$(git describe --tags --abbrev=0 2>/dev/null || echo "0.0.0")
+VERSION=$(echo "$GIT_TAG" | sed 's/^v//')
+SHORT_HASH=$(git rev-parse --short HEAD)
+VERSION="${VERSION}-g${SHORT_HASH}"
+
+PACKAGE=$(grep "^Package:" "$PKG_DIR/control/control" | cut -d' ' -f 2)
+
+echo "Package: $PACKAGE"
+echo "Version: $VERSION"
+
+################################################################################
+# Validate build artifacts
+################################################################################
+MISSING=false
+
+if [ ! -f "$BUILD_APPS/bin/px4" ]; then
+	echo "Error: $BUILD_APPS/bin/px4 not found. Run 'make modalai_voxl2' first."
+	MISSING=true
+fi
+
+if [ ! -f "$BUILD_APPS/bin/px4-alias.sh" ]; then
+	echo "Error: $BUILD_APPS/bin/px4-alias.sh not found."
+	MISSING=true
+fi
+
+if [ ! -f "$BUILD_SLPI/platforms/qurt/libpx4.so" ]; then
+	echo "Error: $BUILD_SLPI/platforms/qurt/libpx4.so not found. Run 'make modalai_voxl2-slpi' first."
+	MISSING=true
+fi
+
+if $MISSING; then
+	exit 1
+fi
+
+################################################################################
+# Clean old packaging artifacts
+################################################################################
+DATA_DIR="$PKG_DIR/data"
+DEB_DIR="$PKG_DIR/DEB"
+
+rm -rf "$DATA_DIR"
+rm -rf "$DEB_DIR"
+rm -f "$SCRIPT_DIR"/*.deb
+
+mkdir -p "$DATA_DIR"
+
+################################################################################
+# Stage files into data directory
+################################################################################
+
+# --- Apps processor binary ---
+mkdir -p "$DATA_DIR/usr/bin"
+cp "$BUILD_APPS/bin/px4"          "$DATA_DIR/usr/bin/"
+cp "$BUILD_APPS/bin/px4-alias.sh" "$DATA_DIR/usr/bin/"
+chmod a+x "$DATA_DIR/usr/bin/px4"
+chmod a+x "$DATA_DIR/usr/bin/px4-alias.sh"
+
+# --- SLPI DSP library ---
+mkdir -p "$DATA_DIR/usr/lib/rfsa/adsp"
+cp "$BUILD_SLPI/platforms/qurt/libpx4.so" "$DATA_DIR/usr/lib/rfsa/adsp/"
+
+# --- Target scripts ---
+for script in voxl-px4 voxl-px4-start voxl-px4-hitl voxl-px4-hitl-start; do
+	if [ -f "$BOARD_DIR/target/$script" ]; then
+		cp "$BOARD_DIR/target/$script" "$DATA_DIR/usr/bin/"
+		chmod a+x "$DATA_DIR/usr/bin/$script"
+	fi
+done
+
+# --- Barometer calibration script ---
+if [ -f "$BOARD_DIR/scripts/baro_temp_cal" ]; then
+	cp "$BOARD_DIR/scripts/baro_temp_cal" "$DATA_DIR/usr/bin/"
+	chmod a+x "$DATA_DIR/usr/bin/baro_temp_cal"
+fi
+
+# --- Configuration files ---
+mkdir -p "$DATA_DIR/etc/modalai"
+for config in voxl-px4-fake-imu-calibration.config voxl-px4-hitl-set-default-parameters.config; do
+	if [ -f "$BOARD_DIR/target/$config" ]; then
+		cp "$BOARD_DIR/target/$config" "$DATA_DIR/etc/modalai/"
+		chmod +x "$DATA_DIR/etc/modalai/$config"
+	fi
+done
+
+# --- Systemd service ---
+mkdir -p "$DATA_DIR/etc/systemd/system"
+cp "$PKG_DIR/services/voxl-px4.service" "$DATA_DIR/etc/systemd/system/"
+
+# --- Build metadata ---
+mkdir -p "$DATA_DIR/data/px4/etc/extras"
+for meta in parameters.json.xz component_general.json.xz actuators.json.xz; do
+	if [ -f "$BUILD_APPS/$meta" ]; then
+		cp "$BUILD_APPS/$meta" "$DATA_DIR/data/px4/etc/extras/"
+	fi
+done
+if [ -f "$BUILD_APPS/events/all_events.json.xz" ]; then
+	cp "$BUILD_APPS/events/all_events.json.xz" "$DATA_DIR/data/px4/etc/extras/"
+fi
+
+# --- Create runtime directories ---
+mkdir -p "$DATA_DIR/data/px4/param"
+
+################################################################################
+# Build the DEB package
+################################################################################
+mkdir -p "$DEB_DIR"
+cp -rf "$PKG_DIR/control/" "$DEB_DIR/DEBIAN"
+cp -rf "$DATA_DIR/"*       "$DEB_DIR/"
+
+# Write the version into the control file
+sed -i "s/^Version:.*/Version: $VERSION/" "$DEB_DIR/DEBIAN/control"
+
+DEB_NAME="${PACKAGE}_${VERSION}_arm64.deb"
+dpkg-deb --build "$DEB_DIR" "$SCRIPT_DIR/$DEB_NAME"
+
+echo ""
+echo "Package built: $SCRIPT_DIR/$DEB_NAME"
+echo "DONE"

Tools/packaging/voxl2/pkg/control/control

@@ -0,0 +1,13 @@
+Package: voxl-px4
+Version: 0.0.0
+Section: devel
+Priority: optional
+Architecture: arm64
+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)
+Replaces: px4-rb5-flight
+Conflicts: px4-rb5-flight
+Maintainer: Eric Katzfey <eric.katzfey@modalai.com>
+Description: ModalAI PX4 flight controller for VOXL2

Tools/packaging/voxl2/pkg/control/postinst

@@ -0,0 +1,91 @@
+#!/bin/bash
+################################################################################
+# Post-install script for voxl-px4
+#
+# Creates px4 module symlinks, sets up directories, and handles DSP signatures.
+################################################################################
+
+set -e
+
+################################################################################
+# Create px4 module symlinks from px4-alias.sh
+################################################################################
+cd /usr/bin
+
+if [ -f px4-alias.sh ]; then
+	# Auto-generate symlinks from the alias file produced by the build.
+	# Each alias line looks like: alias <name>='px4-<module> ...'
+	# We extract the px4-<module> part and create a symlink to the px4 binary.
+	grep "^alias " px4-alias.sh | grep -v "^alias set=" | \
+		sed -n "s/^alias [^=]*='\\(px4-[^ ']*\\).*/\\1/p" | \
+		sort -u | while read -r MODULE; do
+			ln -f -s px4 "$MODULE"
+		done
+	echo "Created px4 module symlinks"
+else
+	echo "Warning: px4-alias.sh not found, skipping symlink creation"
+fi
+
+################################################################################
+# Platform detection
+################################################################################
+PLATFORM="M0197"
+if [ -x /usr/bin/voxl-platform ]; then
+	PLATFORM=$(/usr/bin/voxl-platform 2>/dev/null || echo "M0197")
+fi
+
+if [ "$PLATFORM" = "M0052" ]; then
+	echo "Error: M0052 is no longer supported"
+	exit 1
+fi
+
+echo "Platform: $PLATFORM"
+
+################################################################################
+# Create runtime directories
+################################################################################
+mkdir -p /data/px4/param
+mkdir -p /data/px4/slpi
+
+if [ "$PLATFORM" = "M0197" ]; then
+	chown fastrpc:fastrpc /data/px4/slpi
+else
+	chown system:system /data/px4/slpi
+fi
+
+################################################################################
+# DSP test signature
+################################################################################
+SIG_SCRIPT_DIR=/share/modalai/qrb5165-slpi-test-sig
+if [ "$PLATFORM" = "M0197" ]; then
+	SIG_SCRIPT_DIR=/share/modalai/qcs6490-slpi-test-sig
+fi
+
+if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &>/dev/null; then
+	echo "Found DSP signature file"
+else
+	echo "DSP signature file not found"
+	if [ -f "$SIG_SCRIPT_DIR/generate-test-sig.sh" ]; then
+		echo "Generating DSP signature..."
+		"$SIG_SCRIPT_DIR/generate-test-sig.sh"
+	else
+		echo "Warning: DSP signature generation script not found at $SIG_SCRIPT_DIR"
+	fi
+fi
+
+################################################################################
+# Cleanup and reload
+################################################################################
+
+# Remove legacy config file
+rm -f /etc/modalai/voxl-px4.config
+
+sync
+
+# Reload systemd if available
+set +e
+if [ -f /bin/systemctl ]; then
+	systemctl daemon-reload
+fi
+
+exit 0

Tools/packaging/voxl2/pkg/services/voxl-px4.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=px4
+After=sscrpcd.service
+Requires=sscrpcd.service
+
+[Service]
+ExecStartPre=/bin/sleep 2
+ExecStart=/usr/bin/voxl-px4
+ExecStopPost=/usr/bin/voxl-reset-slpi
+Restart=on-failure
+
+[Install]
+WantedBy=multi-user.target

boards/accton-godwit/ga1/src/board_config.h

@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -286,7 +286,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/accton-godwit/ga1/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/accton-godwit/ga1/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/ark/fmu-v6x/mavlink-dev.px4board

@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"

boards/ark/fmu-v6x/src/board_config.h

@@ -273,7 +273,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -295,7 +295,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -421,6 +421,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+/* This board has 4 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
+
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1
@@ -452,7 +455,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/ark/fmu-v6x/src/init.c

@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 	SPI6_RESET(true);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -124,7 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
@@ -221,7 +221,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	SPI6_RESET(false);

boards/ark/fmu-v6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/ark/fpv/init/rc.board_airframes

@@ -1,19 +0,0 @@
-4001_quad_x
-4050_generic_250
-6001_hexa_x
-12001_octo_cox
-13100_generic_vtol_tiltrotor
-5001_quad_+
-24001_dodeca_cox
-2100_standard_plane
-13000_generic_vtol_standard
-4601_droneblocks_dexi_5
-11001_hexa_cox
-14001_generic_mc_with_tilt
-16001_helicopter
-9001_octo_+
-7001_hexa_+
-3000_generic_wing
-2106_albatross
-13200_generic_vtol_tailsitter
-13030_generic_vtol_quad_tiltrotor

boards/ark/fpv/mavlink-dev.px4board

@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"

boards/ark/fpv/src/board_config.h

@@ -306,6 +306,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+/* This board has 3 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
+
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/mavlink-dev.px4board

@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"

boards/ark/pi6x/src/board_config.h

@@ -311,6 +311,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+/* This board has 4 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
+
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -69,7 +69,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/auterion/fmu-v6x/src/board_config.h

@@ -262,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -289,7 +289,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -453,7 +453,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/auterion/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -215,7 +215,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/auterion/fmu-v6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/cuav/fmu-v6x/src/board_config.h

@@ -271,7 +271,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -297,7 +297,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -463,7 +463,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_SYNC,                        \

boards/cuav/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/cuav/fmu-v6x/src/spi.cpp

@@ -49,7 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/holybro/kakuteh7-wing/nuttx-config/include/board_dma_map.h

@@ -58,13 +58,11 @@
 //#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
 //#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
 
-// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
-// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
-// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
-// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
-// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
-// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
-// Timer 15 - no TIM15UP DMA, cannot do DShot
+// Assigned in timer_config.cpp
+
+// TODO
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V

boards/holybro/kakuteh7-wing/src/timer_config.cpp

@@ -38,20 +38,18 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer15),
+	initIOTimer(Timer::Timer3),
+	initIOTimer(Timer::Timer2),
 };
 
-// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
-// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
 	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),

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

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+cd boards/modalai/voxl2/libfc-sensor-api
+rm -fR build
+mkdir build
+cd build
+CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
+make
+cd ../../../../..

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

@@ -65,6 +65,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"

boards/modalai/voxl2/target/voxl-px4

@@ -29,12 +29,10 @@ if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
     /bin/echo "Found DSP signature file"
 else
     /bin/echo "[WARNING] Could not find DSP signature file"
-    # Look for the DSP signature generation script (platform-specific)
-    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
-        /bin/echo "[INFO] Attempting to generate the DSP signature file (qcs6490)"
-        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh
-    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
-        /bin/echo "[INFO] Attempting to generate the DSP signature file (qrb5165)"
+    # Look for the DSP signature generation script
+    if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "[INFO] Attempting to generate the DSP signature file"
+        # Automatically generate the test signature so that px4 can run on SLPI DSP
         /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
     else
         /bin/echo "[ERROR] Could not find the DSP signature file generation script"

boards/modalai/voxl2/target/voxl-px4-hitl

@@ -6,12 +6,10 @@ if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
     /bin/echo "Found DSP signature file"
 else
     /bin/echo "[WARNING] Could not find DSP signature file"
-    # Look for the DSP signature generation script (platform-specific)
-    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
-        /bin/echo "[INFO] Attempting to generate the DSP signature file (qcs6490)"
-        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh
-    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
-        /bin/echo "[INFO] Attempting to generate the DSP signature file (qrb5165)"
+    # Look for the DSP signature generation script
+    if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "[INFO] Attempting to generate the DSP signature file"
+        # Automatically generate the test signature so that px4 can run on SLPI DSP
         /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
     else
         /bin/echo "[ERROR] Could not find the DSP signature file generation script"

boards/modalai/voxl2/target/voxl-px4-start

@@ -143,7 +143,7 @@ if [ "$GPS" != "NONE" ]; then
     if [ "$PLATFORM" == "M0197" ]; then
 	gps start -d /dev/ttyHS7
     else
-	qshell gps start -d 6
+	qshell gps start
     fi
 fi
 
@@ -302,28 +302,4 @@ done
 # marked as optional will only be logged if they have been advertised when
 # this is started. By starting it last it makes sure to see those
 # advertisements as the other modules are starting before it.
-#
-# Set logger mode based on SDLOG_MODE parameter:
-#   0: log when armed until disarm (default)
-#   1: log from boot until disarm
-#   2: log from boot until shutdown
-#   3: log based on AUX1 RC channel
-#   4: log from first armed until shutdown
-LOGGER_ARGS=""
-if param compare SDLOG_MODE 1
-then
-	LOGGER_ARGS="-e"
-fi
-if param compare SDLOG_MODE 2
-then
-	LOGGER_ARGS="-f"
-fi
-if param compare SDLOG_MODE 3
-then
-	LOGGER_ARGS="-x"
-fi
-if param compare SDLOG_MODE 4
-then
-	LOGGER_ARGS="-a"
-fi
-logger start $LOGGER_ARGS
+logger start

boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld

@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
+*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)

boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld

@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
+*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)

boards/px4/fmu-v5x/src/board_config.h

@@ -233,7 +233,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -258,7 +258,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -409,7 +409,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PH11,                        \

boards/px4/fmu-v5x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -217,7 +217,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/px4/fmu-v5x/src/spi.cpp

@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -96,7 +96,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/px4/fmu-v6c/src/board_config.h

@@ -185,7 +185,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 
 /* Tone alarm output */
 

boards/px4/fmu-v6x/src/board_config.h

@@ -268,7 +268,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -290,7 +290,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -454,7 +454,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/px4/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/px4/fmu-v6x/src/spi.cpp

@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -97,7 +97,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -120,7 +120,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -143,7 +143,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -166,7 +166,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -190,7 +190,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -205,7 +205,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
+*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)

boards/radiolink/PIX6/src/board_config.h

@@ -161,7 +161,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 

boards/radiolink/PIX6/src/init.cpp

@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -123,7 +123,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/sky-drones/smartap-airlink/src/board_config.h

@@ -210,7 +210,7 @@
 #define GPIO_VDD_3V5_LTE_nOC            /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 
 
 /* Spare GPIO */
@@ -227,7 +227,7 @@
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_3V5_LTE_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_3V5_LTE_nEN, on_true)
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, on_true)
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 
 /* Tone alarm output */
 
@@ -342,7 +342,7 @@
 		GPIO_VDD_3V5_LTE_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,	  \
+		GPIO_VDD_3V3_SENSORS4_EN,	  \
 		GPIO_PH11,                        \
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \

boards/sky-drones/smartap-airlink/src/init.cpp

@@ -109,7 +109,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V5_LTE_EN(false);
 	VDD_5V_HIPOWER_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 
 }
 
@@ -211,7 +211,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 
 	/* Need hrt running before using the ADC */
 

boards/svehicle/e2/src/board_config.h

@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -276,7 +276,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -420,7 +420,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_ETH_POWER_EN,                \

boards/svehicle/e2/src/init.c

@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/zeroone/x6/src/board_config.h

@@ -267,7 +267,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -289,7 +289,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/zeroone/x6/src/init.c

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -2,7 +2,7 @@
 #
 # Stack: PX4 Pro
 # Vehicle: Amovlab F410
-# Version: 1.15.4
+# Version: 1.15.4 
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -301,6 +301,7 @@
 1	1	COM_FLTMODE5	-1	6
 1	1	COM_FLTMODE6	8	6
 1	1	COM_FLTT_LOW_ACT	3	6
+1	1	COM_FLT_PROFILE	0	6
 1	1	COM_FLT_TIME_MAX	-1	6
 1	1	COM_FORCE_SAFETY	0	6
 1	1	COM_HLDL_LOSS_T	120	6
@@ -308,8 +309,10 @@
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
+1	1	COM_KILL_DISARM	5.000000000000000000	9
 1	1	COM_LKDOWN_TKO	3.000000000000000000	9
 1	1	COM_LOW_BAT_ACT	0	6
+1	1	COM_MOT_TEST_EN	1	6
 1	1	COM_OBC_LOSS_T	5.000000000000000000	9
 1	1	COM_OBL_RC_ACT	0	6
 1	1	COM_OBS_AVOID	0	6
@@ -476,6 +479,11 @@
 1	1	EKF2_WIND_NSD	0.050000000745058060	9
 1	1	EV_TSK_RC_LOSS	0	6
 1	1	EV_TSK_STAT_DIS	0	6
+1	1	FD_ACT_EN	1	6
+1	1	FD_ACT_MOT_C2T	2.000000000000000000	9
+1	1	FD_ACT_MOT_THR	0.200000002980232239	9
+1	1	FD_ACT_MOT_TOUT	100	6
+1	1	FD_ESCS_EN	1	6
 1	1	FD_EXT_ATS_EN	0	6
 1	1	FD_EXT_ATS_TRIG	1900	6
 1	1	FD_FAIL_P	60	6

docs/en/SUMMARY.md

@@ -759,7 +759,6 @@
       - [Receiving Messages](mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](mavlink/custom_messages.md)
       - [Message Signing](mavlink/message_signing.md)
-      - [Security Hardening](mavlink/security_hardening.md)
       - [Protocols/Microservices](mavlink/protocols.md)
         - [Standard Modes Protocol](mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)

docs/en/advanced/pps_time_sync.md

@@ -129,5 +129,5 @@ See also:
 The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
 
 ::: warning
-If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `SENS_GPS0_DELAY` will be used instead for estimating the latency.
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
 :::

docs/en/assembly/_assembly.md

@@ -413,6 +413,7 @@ They recommend sensors, power systems, and other components from the same manufa
 - [Holybro Pixhawk 6X Wiring Quickstart](../assembly/quick_start_pixhawk6x.md)
 - [Holybro Pixhawk 5X Wiring Quickstart](../assembly/quick_start_pixhawk5x.md)
 - [Holybro Pixhawk 4 Wiring Quickstart](../assembly/quick_start_pixhawk4.md)
+- [Holybro Pixhawk 4 Mini (Discontinued) Wiring Quickstart](../assembly/quick_start_pixhawk4_mini.md)
 - [Holybro Durandal Wiring Quickstart](../assembly/quick_start_durandal.md)
 - [Holybro Pix32 v5 Wiring Quickstart](../assembly/quick_start_holybro_pix32_v5.md)
 - [Cube Wiring Quickstart](../assembly/quick_start_cube.md) (All cube variants)

docs/en/assembly/mount_gps_compass.md

@@ -20,7 +20,7 @@ For more information see [Setting the Compass Orientation](../config/flight_cont
 
 ## Position
 
-In order to compensate for the relative motion between the receiver and the CoG, you should [configure](../advanced_config/parameters.md) the following parameters to set the offsets: [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ).
+In order to compensate for the relative motion between the receiver and the CoG, you should [configure](../advanced_config/parameters.md) the following parameters to set the offsets: [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z).
 
 This is important because the body frame estimated by the EKF will converge on the location of the GNSS module and assume it to be at the CoG. If the GNSS module is significantly offset from the CoG, then rotation around the COG will be interpreted as an altitude change, which in some flight modes (such as position mode) will result in unnecessary corrections.
 

docs/en/assembly/quick_start_pixhawk4_mini.md

@@ -0,0 +1,161 @@
+# _Pixhawk 4 Mini_ Wiring Quick Start
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
+:::
+
+This quick start guide shows how to power the [_Pixhawk<sup>&reg;</sup> 4 Mini_](../flight_controller/pixhawk4_mini.md) flight controller and connect its most important peripherals.
+
+![Pixhawk4 mini](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_iso_1.png)
+
+## Wiring Chart Overview
+
+The image below shows where to connect the most important sensors and peripherals (except for motors and servos).
+
+![*Pixhawk 4 Mini* Wiring Overview](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_wiring_overview.png)
+
+:::tip
+More information about available ports can be found here: [_Pixhawk 4 Mini_ > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces).
+:::
+
+## Mount and Orient Controller
+
+_Pixhawk 4 Mini_ should be mounted on your frame using vibration-damping foam pads (included in the kit).
+It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.
+
+![*Pixhawk 4 Mini* Orientation](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_orientation.png)
+
+::: info
+If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
+:::
+
+## GPS + Compass + Buzzer + Safety Switch + LED
+
+Attach the provided GPS with integrated compass, safety switch, buzzer, and LED to the **GPS MODULE** port. The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
+
+![Connect compass/GPS to Pixhawk 4](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_gps.png)
+
+::: info
+The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
+To disable the safety press and hold the safety switch for 1 second.
+You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
+:::
+
+## Power
+
+The Power Management Board (PMB) serves the purpose of a power module as well as a power distribution board.
+In addition to providing regulated power to _Pixhawk 4 Mini_ and the ESCs, it sends information to the autopilot about the battery’s voltage and current draw.
+
+Connect the output of the PMB that comes with the kit to the **POWER** port of the _Pixhawk 4 Mini_ using a 6-wire cable.
+The connections of the PMB, including power supply and signal connections to the ESCs and servos, are explained in the image below.
+
+![Pixhawk 4 - Power Management Board](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_power_management.png)
+
+::: info
+The image above only shows the connection of a single ESC and a single servo.
+Connect the remaining ESCs and servos similarly.
+:::
+
+| Pin(s) or Connector | Function                                                                   |
+| ------------------- | -------------------------------------------------------------------------- |
+| B+                  | Connect to ESC B+ to power the ESC                                         |
+| GND                 | Connect to ESC Ground                                                      |
+| PWR                 | JST-GH 6-pin Connector, 5V 3A output<br> connect to _Pixhawk 4 Mini_ POWER |
+| BAT                 | Power Input, connect to 2~12s LiPo Battery                                 |
+
+The pinout of the _Pixhawk 4 Mini_ **POWER** port is shown below.
+The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default.
+The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default.
+The VCC lines have to offer at least 3A continuous and should default to 5.1V. A lower voltage of 5V is still acceptable, but discouraged.
+
+| Pin      | Signal  | Volt  |
+| -------- | ------- | ----- |
+| 1(red)   | VCC     | +5V   |
+| 2(black) | VCC     | +5V   |
+| 3(black) | CURRENT | +3.3V |
+| 4(black) | VOLTAGE | +3.3V |
+| 5(black) | GND     | GND   |
+| 6(black) | GND     | GND   |
+
+::: info
+If using a plane or rover, the 8 pin power (+) rail of **MAIN OUT** will need to be separately powered in order to drive servos for rudders, elevons, etc.
+To do this, the power rail needs to be connected to a BEC equipped ESC, a standalone 5V BEC, or a 2S LiPo battery.
+Be careful with the voltage of servo you are going to use here.
+:::
+
+<!--In the future, when Pixhawk 4 kit is available, add wiring images/videos for different airframes.-->
+
+::: info
+Using the Power Module that comes with the kit you will need to configure the _Number of Cells_ in the [Power Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) but you won't need to calibrate the _voltage divider_.
+You will have to update the _voltage divider_ if you are using any other power module (e.g. the one from the Pixracer).
+:::
+
+## Radio Control
+
+A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
+
+The instructions below show how to connect the different types of receivers to _Pixhawk 4 Mini_:
+
+- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input.
+
+  ![Pixhawk 4 Mini - Radio port for Spektrum receivers](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_dsmsbus.png)
+
+- PPM receivers connect to the **PPM RC** input port.
+
+  ![Pixhawk 4 Mini - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_ppm.png)
+
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+
+For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
+
+## Telemetry Radio (Optional)
+
+Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
+
+The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
+The other radio is connected to your ground station computer or mobile device (usually by USB).
+
+![Pixhawk 4 Mini Telemetry](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_telemetry.png)
+
+## microSD Card (Optional)
+
+SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
+Insert the card (included in the kit) into _Pixhawk 4 Mini_ as shown below.
+
+![Pixhawk 4 Mini SD Card](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_sdcard.png)
+
+:::tip
+For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
+:::
+
+## Motors
+
+Motors/servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). See [_Pixhawk 4 Mini_ > Supported Platforms](../flight_controller/pixhawk4_mini.md#supported-platforms) for more information.
+
+::: info
+This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).
+:::
+
+:::warning
+The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
+Make sure to use the correct mapping for your vehicle.
+:::
+
+## Other Peripherals
+
+The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
+
+## Configuration
+
+General configuration information is covered in: [Autopilot Configuration](../config/index.md).
+
+QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
+
+<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
+
+## Further information
+
+- [_Pixhawk 4 Mini_](../flight_controller/pixhawk4_mini.md)

docs/en/complete_vehicles_mc/holybro_kopis2.md

@@ -28,7 +28,7 @@ In addition you will need:
 The _Kopis 2_ comes preinstalled with Betaflight.
 
 Before loading PX4 firmware you must first install the PX4 bootloader.
-Download the [kakutef7_bl.hex](https://raw.githubusercontent.com/PX4/PX4-Autopilot/release/1.17/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex?download=true) bootloader binary and read [PX4 Bootloader Flashing onto Betaflight Systems](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+Instructions for installing the bootloader can be found in the [Kakute F7](../flight_controller/kakutef7.md#bootloader) topic (this is the flight controller board on the _Kopis 2_).
 
 :::tip
 You can always [reinstall Betaflight](../advanced_config/bootloader_update_from_betaflight.md#reinstall-betaflight) later if you want!

docs/en/config/actuators.md

@@ -660,6 +660,7 @@ For each of the tilt servos:
 - If a safety button is used, it must be pressed before actuator testing is allowed.
 - The kill-switch can still be used to stop motors immediately.
 - Servos do not actually move until the corresponding slider is changed.
+- The parameter [COM_MOT_TEST_EN](../advanced_config/parameter_reference.md#COM_MOT_TEST_EN) can be used to completely disable actuator testing.
 - On the shell, [actuator_test](../modules/modules_command.md#actuator-test) can be used as well for actuator testing.
 - VTOLs will automatically turn off motors pointing upwards during **fixed-wing flight**:
   - Standard VTOL : Motors defined as multicopter motors will be turned off

docs/en/config/safety.md

@@ -364,7 +364,11 @@ This section lists the available emergency switches.
 
 A kill switch immediately stops all motor outputs — if flying, the vehicle will start to fall!
 
-The motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.
+[By default](#COM_KILL_DISARM) the motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.
+
+| Parameter                                                                                                | Description                                                                     |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
+| <a id="COM_KILL_DISARM"></a>[COM_KILL_DISARM](../advanced_config/parameter_reference.md#COM_KILL_DISARM) | Timeout value for disarming after kill switch is engaged. Default: `5` seconds. |
 
 ::: info
 There is also a [Kill Gesture](#kill-gesture), which cannot be reverted.
@@ -406,7 +410,7 @@ A return switch can be used to immediately engage [Return mode](../flight_modes/
 
 A kill gesture immediately stops all motor outputs — if flying, the vehicle will start to fall!
 
-The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds).
+The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within the time period defined by [COM_KILL_DISARM](#COM_KILL_DISARM)).
 
 | Parameter                                                                                                | Description                                                                                          |
 | -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------- |

docs/en/config_mc/filter_tuning.md

@@ -72,7 +72,7 @@ The ESC RPM feedback is used to track the rotor blade pass frequency and its har
 
 ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
 Before enabling, make sure that the ESC RPM is correct.
-You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT_POL12`).
+You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).
 
 The following parameters should be set to enable and configure dynamic notch filters:
 

docs/en/debug/system_console.md

@@ -23,10 +23,16 @@ The sections below outline/link to the wiring and system console information for
 
 ### Board-Specific Wiring
 
-The System Console UART pinouts/debug ports are typically documented in the affected [autopilot overview pages](../flight_controller/index.md).
-For example, see [mRo Pixhawk](../flight_controller/mro_pixhawk.md#console-port) and [Pixracer](../flight_controller/pixracer.md#debug-port).
+The System Console UART pinouts/debug ports are typically documented in [autopilot overview pages](../flight_controller/index.md) (some are linked below):
 
-### Pixhawk Debug Port {#pixhawk_debug_port}
+- [3DR Pixhawk v1 Flight Controller](../flight_controller/pixhawk.md#console-port) (also applies to
+  [mRo Pixhawk](../flight_controller/mro_pixhawk.md#debug-ports), [Holybro pix32](../flight_controller/holybro_pix32.md#debug-port))
+- [Pixhawk 3](../flight_controller/pixhawk3_pro.md#debug-port)
+- [Pixracer](../flight_controller/pixracer.md#debug-port)
+
+<a id="pixhawk_debug_port"></a>
+
+### Pixhawk Debug Port
 
 Pixhawk flight controllers usually come with a [Pixhawk Connector Standard Debug Port](../debug/swd_debug.md#pixhawk-connector-standard-debug-ports) which will be either the 10 pin [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) or 6 pin [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) port.
 

docs/en/dronecan/ark_g5_rtk_gps.md

@@ -97,7 +97,7 @@ There is also CAN built-in bus termination via [CANNODE_TERM](../advanced_config
 You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
 
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
-- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK G5 RTK GPS from the vehicle's centre of gravity.
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK GPS from the vehicle's centre of gravity.
 
 ## LED Meanings
 

docs/en/dronecan/ark_g5_rtk_heading_gps.md

@@ -99,7 +99,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
-- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK G5 RTK HEADING GPS from the vehicle's centre of gravity.
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK HEADING GPS from the vehicle's centre of gravity.
 
 ### Parameter references
 

docs/en/dronecan/ark_gps.md

@@ -91,7 +91,7 @@ If the sensor is not centred within the vehicle you will also need to define sen
 
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
-- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
 
 ### ARK GPS Configuration
 

docs/en/dronecan/ark_rtk_gps.md

@@ -84,9 +84,8 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
-- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
-- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
 
 ### ARK RTK GPS Configuration
 
@@ -137,7 +136,6 @@ Setup via CAN:
 - On the _Moving Base_, set the following:
   - [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `4`.
   - [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) to `1`.
-- On the _Flight Controller_, set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ (see [PX4 Configuration](#px4-configuration)).
 
 Setup via UART:
 
@@ -156,7 +154,6 @@ Setup via UART:
   - [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to `0` if your _Rover_ is in front of your _Moving Base_, `90` if _Rover_ is right of _Moving Base_, `180` if _Rover_ is behind _Moving Base_, or `270` if _Rover_ is left of _Moving Base_.
 - On the _Moving Base_, set the following:
   - [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `2`.
-- On the _Flight Controller_, set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ (see [PX4 Configuration](#px4-configuration)).
 
 For more information see [Rover and Moving Base](../dronecan/index.md#rover-and-moving-base) in the DroneCAN guide.
 

docs/en/dronecan/ark_rtk_gps_l1_l2.md

@@ -85,7 +85,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
-- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS L1 L5 from the vehicles centre of gravity.
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS L1 L5 from the vehicles centre of gravity.
 
 ### ARK RTK GPS L1 L5 Configuration
 

docs/en/dronecan/ark_x20_rtk_gps.md

@@ -88,7 +88,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
-- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK X20 RTK GPS from the vehicles centre of gravity.
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK X20 RTK GPS from the vehicles centre of gravity.
 
 ### ARK X20 RTK GPS Configuration
 

docs/en/dronecan/holybro_m8n_gps.md

@@ -94,4 +94,4 @@ If the sensor is not centred within the vehicle you will also need to define sen
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
-- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.