[refactor] using less verbose convenience method instead of vehicle_status fields directly

[del] remove boat CA entries
Merge branch 'main' into pr_boat_decoupling
2026-06-03 04:30:04 +08:00 · 2025-03-06 11:10:50 +01:00 · 2025-03-06 11:10:15 +01:00 · 2025-03-06 10:47:56 +01:00 · 2025-03-05 17:37:16 -07:00 · 2025-03-05 16:37:26 +01:00
434 changed files with 14652 additions and 9358 deletions
@@ -96,6 +96,6 @@ jobs:
          platforms: |
            linux/amd64
          provenance: mode=max
-          push: true
+          push: ${{ github.event_name != 'pull_request' }}
          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
@@ -1,5 +1,10 @@
 name: FLASH usage analysis

+permissions:
+  contents: read
+  pull-requests: write
+  issues: write
+
 on:
  push:
    branches:
@@ -83,59 +88,63 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT

-  post_pr_comment:
-    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [analyze_flash]
-    env:
-      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
-      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
-      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
-      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: ${{ github.event.pull_request }}
-    steps:
-      - name: Find Comment
-        uses: peter-evans/find-comment@v3
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+  # TODO:
+  # This part of the workflow is causing errors, we should find a way to fix this and enable this test again
+  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
+  #
+  #post_pr_comment:
+    #name: Publish Results
+    #runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    #needs: [analyze_flash]
+    #env:
+      #V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
+      #V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
+      #V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
+      #V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
+    #if: ${{ github.event.pull_request }}
+    #steps:
+      #- name: Find Comment
+        #uses: peter-evans/find-comment@v3
+        #id: fc
+        #with:
+          #issue-number: ${{ github.event.pull_request.number }}
+          #comment-author: 'github-actions[bot]'
+          #body-includes: FLASH Analysis

-      - name: Set Build Time
-        id: bt
-        run: |
-          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
+      #- name: Set Build Time
+        #id: bt
+        #run: |
+          #echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT

-      - name: Create or update comment
-        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
-        if: |
-          steps.fc.outputs.comment-id != '' ||
-          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+      #- name: Create or update comment
+        ## This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
+        #if: |
+          #steps.fc.outputs.comment-id != '' ||
+          #env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          #env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          #env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          #env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        #uses: peter-evans/create-or-update-comment@v4
+        #with:
+          #comment-id: ${{ steps.fc.outputs.comment-id }}
+          #issue-number: ${{ github.event.pull_request.number }}
+          #body: |
+            ### 🔎 FLASH Analysis
+            #<details>
+              #<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>

-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              #```
+            #</details>

-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+            #<details>
+              #<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>

-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              #```
+            #</details>

-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+            #**Updated: _${{ steps.bt.outputs.timestamp }}_**
+          #edit-mode: replace
@@ -0,0 +1,52 @@
+name: ROS Translation Node Tests
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+defaults:
+  run:
+    shell: bash
+jobs:
+  build_and_test:
+    name: Build and test
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {ros_version: "humble", ubuntu: "jammy"}
+          - {ros_version: "jazzy", ubuntu: "noble"}
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+    steps:
+      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.config.ros_version }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      # Workaround for https://github.com/actions/runner/issues/2033
+      - name: ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Check .msg file versioning
+        if: github.event_name == 'pull_request'
+        run: |
+          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
+
+      - name: Build and test
+        run: |
+          ros_ws=/ros_ws
+          mkdir -p $ros_ws/src
+          ./Tools/copy_to_ros_ws.sh $ros_ws
+          cd $ros_ws
+          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
+          source ./install/setup.sh
+          ./build/translation_node/translation_node_unit_tests
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.10 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -235,9 +235,9 @@ pipeline {
              sh('rm -f px4_msgs/srv/*.srv')
              sh('rm -f px4_msgs/srv/versioned/*.srv')
              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
              sh('cp srv/*.srv px4_msgs/srv/')
-              sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
              sh('rm -rf px4_msgs')
@@ -73,13 +73,6 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

-    config BOARD_ROOTFSDIR
-        string "Root directory"
-        depends on PLATFORM_POSIX
-        default "."
-        help
-            Configure the root directory in the file system for PX4 files
-
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -0,0 +1,42 @@
+Maintainers
+===========
+
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
+
+**Active Maintainers**
+
+| Name                    | Sector | GitHub | Chat | email
+|-------------------------|--------|--------|------|----------------
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+
+
+**Documentation Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+
+**Release Managers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+
+**Retired Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+|  |  |  |
@@ -404,7 +404,7 @@ check_newlines:

 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
 .PHONY: rostest python_coverage

 tests:
@@ -457,10 +457,6 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test

-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
-
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
@@ -17,17 +17,19 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
  * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)

+## Releases
+
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).

 ## Building a PX4 based drone, rover, boat or robot

-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


-## Changing code and contributing
+## Changing Code and Contributing

 This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

@@ -35,7 +37,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
 See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


-### Weekly Dev Call
+## Weekly Dev Call

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

@@ -44,96 +46,17 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.

-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
-| Boat | x |
-
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).

 ## Supported Hardware

-Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
-
-For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
-
-### Pixhawk Standard Boards
-
-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
-
-* FMUv6X and FMUv6C
-  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
-  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
-  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
-  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
-* FMUv5 and FMUv5X (STM32F7, 2019/20)
-  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
-* FMUv4 (STM32F4, 2015)
-  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-* FMUv3 (STM32F4, 2014)
-  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-* FMUv2 (STM32F4, 2013)
-  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-
-### Manufacturer supported
-
-These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
-
-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
-* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
-* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-
-### Community supported
-
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
-
-### Experimental
-
-These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
-
-* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
-* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-
-## Project Roadmap
-
-**Note: Outdated**
-
-A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Governance

 The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.

-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
-<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
 <div style="padding:10px">&nbsp;</div>
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,8 +31,4 @@
 #
 ############################################################################

-px4_add_library(RoverMecanumGuidance
-	RoverMecanumGuidance.cpp
-)
-
-target_include_directories(RoverMecanumGuidance PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+add_subdirectory(init.d)
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,9 +31,6 @@
 #
 ############################################################################

-px4_add_library(bezier
-		BezierQuad.cpp
-		BezierN.cpp
+px4_add_romfs_files(
+	rcS
 )
-
-px4_add_unit_gtest(SRC BezierNTest.cpp LINKLIBS bezier)
@@ -0,0 +1,68 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Set the parameter file the board supports params on
+# MTD device.
+#
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+# if the board has a storage for (factory) calibration data
+if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+then
+	param load /fs/mtd_caldata
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Try to mount the microSD card.
+#
+mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ $? = 0 ]
+then
+	echo "SD card mounted at /fs/microsd"
+else
+	echo "No SD card found"
+fi
+
+unset R
+
+echo ""
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo ""
@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-param set-default COM_OBS_AVOID 1
@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -12,13 +12,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-
-
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -13,9 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 # TODO: Enable motor failure detection when the
@@ -14,12 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 # Commander Parameters
-param set-default COM_OBS_AVOID 0
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
@@ -11,35 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_DECEL 10
-param set-default RD_MAX_JERK 30
 param set-default RD_MAX_THR_YAW_R 1.5
-param set-default RD_YAW_RATE_P 0.25
-param set-default RD_YAW_RATE_I 0.01
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_SPEED 2
-param set-default RD_MAX_THR_SPD 2.15
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
-param set-default RD_MAX_YAW_RATE 180
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_MAX_YAW_ACCEL 1000

-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 30
+param set-default RO_MAX_THR_SPEED 2.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_ACCEL_LIM 120
+param set-default RO_YAW_DECEL_LIM 1000
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
@@ -11,11 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1

@@ -11,35 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-# Rover parameters
 param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 3
-param set-default RA_MAX_DECEL 6
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_LAT_ACCEL 4
-param set-default RA_MAX_SPEED 3
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MAX_THR_SPEED 3.1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_STR_RATE_LIM 360
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 3
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
+param set-default RO_SPEED_P 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1

-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
 param set-default SIM_GZ_WH_MIN1 0
@@ -11,34 +11,41 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-# Rover parameters
-param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_YAW_RATE_I 0.1
-param set-default RM_YAW_RATE_P 0.1
-param set-default RM_MAX_ACCEL 3
-param set-default RM_MAX_DECEL 5
-param set-default RM_MAX_JERK 5
-param set-default RM_MAX_SPEED 2
-param set-default RM_MAX_THR_SPD 2.2
-param set-default RM_MAX_THR_YAW_R 1.2
-param set-default RM_YAW_P 5
-param set-default RM_YAW_I 0.1
-param set-default RM_MAX_YAW_RATE 120
-param set-default RM_MAX_YAW_ACCEL 240
-param set-default RM_MISS_VEL_GAIN 1
-param set-default RM_SPEED_I 0.01
-param set-default RM_SPEED_P 0.1
+param set-default NAV_ACC_RAD 0.5

-# Pure pursuit parameters
+# Mecanum Parameters
+param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 5
+param set-default RO_JERK_LIM 30
+param set-default RO_MAX_THR_SPEED 2.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_ACCEL_LIM 240
+param set-default RO_YAW_DECEL_LIM 1000
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 0.5
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 0.5

 # Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0

 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
@@ -13,12 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-
 param set-default MAV_TYPE 20

 param set-default CA_AIRFRAME 4
@@ -13,11 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
 param set-default MAV_TYPE 21

 param set-default CA_AIRFRAME 3
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Gazebo x500 with downward optical flow and distance sensor
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+echo "Disabling Sim GPS"
+param set-default SYS_HAS_GPS 0
+param set-default SIM_GPS_USED 0
+param set-default EKF2_GPS_CTRL 0
@@ -15,8 +15,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}

 param set-default SIM_GZ_EN 1

-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?
@@ -83,9 +83,6 @@ param set-default CA_ROTOR7_AY -0.211325
 param set-default CA_ROTOR7_AZ -0.57735

 param set-default SIM_GZ_EN 1
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1

 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
@@ -39,8 +39,6 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
@@ -93,6 +91,7 @@ px4_add_romfs_files(
 	4018_gz_quadtailsitter
 	4019_gz_x500_gimbal
 	4020_gz_tiltrotor
+	4021_gz_x500_flow

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -73,13 +73,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			exit 1
 		fi

-		# look for running ${gz_command} gazebo world
+		# Look for an already running world
 		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )

 		# shellcheck disable=SC2153
 		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then

-			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+			# Setup gz environment variables
 			if [ -f ./gz_env.sh ]; then
 				. ./gz_env.sh

@@ -87,62 +87,125 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 				. ../gz_env.sh
 			fi

-			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+			echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"

-			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+			${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

 			if [ -z "${HEADLESS}" ]; then
-				# HEADLESS not set, starting gui
-				${gz_command} ${gz_sub_command} -g &
+				echo "INFO  [init] Starting gz gui"
+				${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
 			fi
-
 		else
-			# Gazebo is already running, do not start the simulator, nor the GUI
+			# Gazebo is already running
 			echo "INFO  [init] gazebo already running world: ${gz_world}"
 			PX4_GZ_WORLD=${gz_world}
 		fi
+
 	else
 		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
 	fi

-	# start gz_bridge
+	# Start gz_bridge - either spawn a model or connect to existing one
 	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# model specified, gz_bridge will spawn model
+		# Spawn a model
+		MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
+		MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"

+		POSE_ARG=""
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-			# model pose provided: [x, y, z, roll, pitch, yaw]
+			pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+			pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+			pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+			pos_x=${pos_x:-0}
+			pos_y=${pos_y:-0}
+			pos_z=${pos_z:-0}

-			# Clean potential input line formatting.
-			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
-
-		else
-			# model pose not provided, origin will be used
-
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
-			model_pose="0,0,0,0,0,0"
+			POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+			echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
 		fi

-		# start gz bridge with pose arg.
-		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+		echo "INFO  [init] Spawning model"
+		# Spawn model
+		${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+
+		# Start gz_bridge
+		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
 			echo "ERROR [init] gz_bridge failed to start and spawn model"
 			exit 1
 		fi

-	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-		# model name specificed, gz_bridge will attach to existing model
+		# Set physics parameters for faster-than-realtime simulation if needed
+		check_scene_info() {
+			SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
+			if echo "$SERVICE_INFO" | grep -q "Service providers"; then
+				return 0
+			else
+				return 1
+			fi
+		}

+		ATTEMPTS=30
+		while [ $ATTEMPTS -gt 0 ]; do
+			if check_scene_info; then
+				echo "INFO  [init] Gazebo world is ready"
+				break
+			fi
+			ATTEMPTS=$((ATTEMPTS-1))
+			if [ $ATTEMPTS -eq 0 ]; then
+				echo "ERROR [init] Timed out waiting for Gazebo world"
+				exit 1
+			fi
+			echo "INFO  [init] Waiting for Gazebo world..."
+			sleep 1
+		done
+
+		if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
+			echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
+			${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
+						--reptype gz.msgs.Boolean --timeout 5000 \
+						--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
+		fi
+
+
+		# Set up camera to follow the model if requested
+		if [ -n "${PX4_GZ_FOLLOW}" ]; then
+
+			# Wait for model to spawn
+			sleep 1
+
+			echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
+
+			# Set camera to follow the model
+			${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
+			# Set default camera offset if not specified
+			follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
+			follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
+			follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
+
+			# Set camera offset
+			${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+
+			echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
+		fi
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+		# Connect to existing model
 		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
 			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
 			exit 1
 		fi
-
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+		echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
 		exit 1
 	fi
-
 	# Start the sensor simulator modules
 	if param compare -s SENS_EN_BAROSIM 1
 	then
@@ -337,6 +337,11 @@ then
 	payload_deliverer start
 fi

+if param compare -s ICE_EN 1
+then
+	internal_combustion_engine_control start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -21,26 +21,37 @@ param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels

-# Rover parameters
+
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 3
-param set-default RD_MAX_DECEL 4
-param set-default RD_MAX_JERK 5
-param set-default RD_MAX_SPEED 1.6
-param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
-param set-default RD_MAX_YAW_ACCEL 600
-param set-default RD_MAX_YAW_RATE 250
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0.01

-# Pure pursuit parameters
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 4
+param set-default RO_JERK_LIM 5
+param set-default RO_MAX_THR_SPEED 1.9
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 250
+param set-default RO_YAW_ACCEL_LIM 600
+param set-default RO_YAW_DECEL_LIM 600
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 1.6
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 1
@@ -14,24 +14,33 @@
 . ${R}etc/init.d/rc.rover_ackermann_defaults

 param set-default BAT1_N_CELLS 3
-
-# Rover parameters
 param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_DECEL 10
-param set-default RA_MAX_JERK 20
-param set-default RA_MAX_LAT_ACCEL 3
-param set-default RA_MAX_SPEED 2.5
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 270
-param set-default RA_MAX_THR_SPEED 2.8
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_STR_RATE_LIM 270
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 1.5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 20
+param set-default RO_MAX_THR_SPEED 2.8
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 0
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1

 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -488,11 +488,14 @@ else
 	rc_input start $RC_INPUT_ARGS

 	# Manages USB interface
-	if ! cdcacm_autostart start
+	if param greater -s SYS_USB_AUTO -1
 	then
-		sercon
-		echo "Starting MAVLink on /dev/ttyACM0"
-		mavlink start -d /dev/ttyACM0
+		if ! cdcacm_autostart start
+		then
+			sercon
+			echo "Starting MAVLink on /dev/ttyACM0"
+			mavlink start -d /dev/ttyACM0
+		fi
 	fi

 	#
@@ -555,6 +558,11 @@ else
 		payload_deliverer start
 	fi

+	if param compare -s ICE_EN 1
+	then
+		internal_combustion_engine_control start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -136,9 +136,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_atomic_bitset(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))

-    def test_bezier(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
-
    def test_bitset(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))

@@ -8,10 +8,12 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
+    -path msg/translation_node -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/ins/vectornav/libvnc -prune -o \
    -path src/drivers/uavcan/libdronecan -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/cyphal/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -0,0 +1,76 @@
+#! /bin/bash
+# Copy a git diff between two commits if msg versioning is added
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+PX4_SRC_DIR="$DIR/.."
+
+BASE_COMMIT="$1"
+HEAD_COMMIT="$2"
+if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
+then
+  echo "Usage: $0 <base_commit> <head_commit>"
+  exit 1
+fi
+
+failed=0
+
+# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
+modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+all_files="$(     git --no-pager diff --no-color --name-only                 "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+for file in ${modified_files}
+do
+  if [[ "$file" == msg/versioned/*.msg ]]; then
+    echo "Modified msg file: ${file}"
+    # A modified versioned .msg file requires:
+    # - Incrementing the version
+    # - An old .msg version exists
+    # - A translation header exists and is included
+
+    # Ignore changes to comments or constants
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    if [ "${content_a}" == "${content_b}" ]; then
+      echo "No version update required for ${file}"
+      continue
+    fi
+
+    diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
+    old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+    new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+
+    # Check that the version is incremented
+    if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
+      echo "ERROR: Missing version update for ${file}"
+      failed=1
+    else
+      if [ $((new_version-old_version)) -ne 1 ]; then
+        echo "ERROR: Version not incremented by +1 for ${file}"
+        failed=1
+      fi
+    fi
+
+    # Check that an old version exists
+    filename=$(basename -- "$file")
+    filename="${filename%.*}"
+    old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
+    if [[ "${all_files}" != *"${old_version_file}"* ]]; then
+      echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
+      failed=1
+    fi
+
+    # Check that a translation header got added by checking for a modification to all_translations.h
+    # If it is changed, we assume a new header got added too, so we don't explicitly check for that
+    if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
+      echo "ERROR: missing modification to translations/all_translations.h"
+      failed=1
+    fi
+  fi
+done
+
+if [ ${failed} -ne 0 ]; then
+  echo ""
+  echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
+  echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
+  exit 1
+fi
@@ -69,7 +69,7 @@ def process_target(px4board_file, target_name):
    group = None

    if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("recovery.px4board") or \
+        px4board_file.endswith("performance-test.px4board") or \
        px4board_file.endswith("bootloader.px4board"):
        kconf.load_config(px4board_file, replace=True)
    else: # Merge config with default.px4board
@@ -0,0 +1,33 @@
+#! /bin/bash
+# Copy msgs and the message translation node into a ROS workspace directory
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+PX4_SRC_DIR="$DIR/.."
+
+WS_DIR="$1"
+if [ ! -e "${WS_DIR}" ]
+then
+	echo "Usage: $0 <ros_ws_dir>"
+	exit 1
+fi
+WS_DIR="$WS_DIR"/src
+if [ ! -e "${WS_DIR}" ]
+then
+	echo "'src' directory not found inside ROS workspace (${WS_DIR})"
+	exit 1
+fi
+
+cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
+cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
+PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
+if [ ! -e "${PX4_MSGS_DIR}" ]
+then
+  git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
+  rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
+  rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
+  rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
+fi
+cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
+cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg
+cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv
@@ -47,6 +47,7 @@ CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"

 docker run -it --rm -w "${SRC_DIR}" \
+	--user="$(id -u):$(id -g)" \
 	--env=AWS_ACCESS_KEY_ID \
 	--env=AWS_SECRET_ACCESS_KEY \
 	--env=BRANCH_NAME \
@@ -54,7 +55,6 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--env=CI \
 	--env=CODECOV_TOKEN \
 	--env=COVERALLS_REPO_TOKEN \
-	--env=LOCAL_USER_ID="$(id -u)" \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
@@ -74,6 +74,7 @@ exception_list_sitl = [
    'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
    'SYSTEMCMDS_DMESG', # Not supported in SITL
    'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
+    'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]

@@ -708,7 +708,7 @@ class uploader:
                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144

                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
+                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
        else:
            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
            # have the silicon errata and therefore need to flash px4_fmu-v2
@@ -1,6 +1,5 @@
 #!/bin/bash

-echo "[docker-entrypoint.sh] Starting entrypoint"
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
@@ -17,17 +16,4 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

-echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
-
-# Use the LOCAL_USER_ID if passed in at runtime
-if [ -n "${LOCAL_USER_ID}" ]; then
-	echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
-	# modify existing user's id
-	usermod -u $LOCAL_USER_ID user
-
-	# run as user
-	# exec gosu user "$@"
-	exec "$@"
-else
-	exec "$@"
-fi
+exec "$@"
@@ -116,6 +116,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		binutils-dev \
 		bison \
 		build-essential \
+		curl \
 		flex \
 		g++-multilib \
 		gcc-arm-none-eabi \
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -7,7 +7,7 @@ param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
 param set-default GPS_1_GNSS 63
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -3,6 +3,7 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 pwm_out start
@@ -150,8 +150,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -32,7 +32,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTID=0x003A
 CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -76,7 +76,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTID=0x003A
 CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 tone_alarm start
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -139,7 +139,7 @@ private:

 	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
 	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
-	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE};

 	int32_t _rssi;
 	battery_state _bstate;
@@ -142,8 +142,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -102,8 +102,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -124,8 +124,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -129,8 +129,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -139,8 +139,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -13,6 +13,7 @@ CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
+CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
@@ -207,15 +207,15 @@ void GhstRc::Run()

 	if (new_bytes > 0) {
 		_bytes_rx += new_bytes;
-		int8_t ghst_rssi = -1;
-		bool rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], new_bytes, &_raw_rc_values[0], &ghst_rssi,
+		ghstLinkStatistics_t link_stats = { .rssi_pct = -1, .rssi_dbm = NAN, .link_quality = 0 };
+		bool rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], new_bytes, &_raw_rc_values[0], &link_stats,
 					     &_raw_rc_count, GHST_MAX_NUM_CHANNELS);

 		if (rc_updated) {
 			_last_packet_seen = time_now_us;
 			// we have a new GHST frame. Publish it.
 			_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
-			fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
+			fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, link_stats.rssi_pct);

 			// ghst telemetry works on fmu-v5
 			// on other Pixhawk (-related) boards we cannot write to the RC UART
@@ -1,7 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
-CONFIG_BOARD_ROOTFSDIR="/data/px4"
+CONFIG_BOARD_ROOT_PATH="/data/px4"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -106,13 +106,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

-	/**
-	 * On resets invoked from system (not boot) insure we establish a low
-	 * output state (discharge the pins) on PWM pins before they become inputs.
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
 	 */
-
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -120,8 +120,13 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -120,8 +120,13 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -134,8 +134,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -0,0 +1,31 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_ROMFSROOT="performance-test"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_MFT_CFG=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -137,8 +137,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }

--- a/Show More
+++ b/Show More