Fix wording in MAVLink messages documentation

Co-Authored-By: PX4 BuildBot <bot@px4.io>

.clang-tidy

@@ -105,6 +105,89 @@ Checks:          '*,
                   -readability-redundant-declaration,
                   -readability-static-accessed-through-instance,
                   -readability-static-definition-in-anonymous-namespace,
+                  -altera-struct-pack-align,
+                  -bugprone-easily-swappable-parameters,
+                  -concurrency-mt-unsafe,
+                  -cppcoreguidelines-avoid-const-or-ref-data-members,
+                  -cppcoreguidelines-macro-usage,
+                  -cppcoreguidelines-non-private-member-variables-in-classes,
+                  -hicpp-uppercase-literal-suffix,
+                  -llvm-qualified-auto,
+                  -misc-non-private-member-variables-in-classes,
+                  -misc-use-anonymous-namespace,
+                  -modernize-concat-nested-namespaces,
+                  -readability-const-return-type,
+                  -readability-identifier-length,
+                  -readability-isolate-declaration,
+                  -readability-qualified-auto,
+                  -readability-redundant-access-specifiers,
+                  -cppcoreguidelines-avoid-do-while,
+                  -misc-include-cleaner,
+                  -misc-const-correctness,
+                  -llvm-else-after-return,
+                  -readability-function-cognitive-complexity,
+                  -cppcoreguidelines-init-variables,
+                  -bugprone-reserved-identifier,
+                  -cert-dcl37-c,
+                  -cert-dcl51-cpp,
+                  -modernize-use-nodiscard,
+                  -misc-confusable-identifiers,
+                  -cert-err33-c,
+                  -readability-redundant-inline-specifier,
+                  -readability-uppercase-literal-suffix,
+                  -bugprone-narrowing-conversions,
+                  -cppcoreguidelines-narrowing-conversions,
+                  -bugprone-switch-missing-default-case,
+                  -cppcoreguidelines-avoid-goto,
+                  -hicpp-avoid-goto,
+                  -bugprone-branch-clone,
+                  -bugprone-unhandled-self-assignment,
+                  -cert-oop54-cpp,
+                  -performance-enum-size,
+                  -readability-avoid-nested-conditional-operator,
+                  -cppcoreguidelines-prefer-member-initializer,
+                  -cppcoreguidelines-explicit-virtual-functions,
+                  -cppcoreguidelines-virtual-class-destructor,
+                  -readability-convert-member-functions-to-static,
+                  -readability-make-member-function-const,
+                  -bugprone-assignment-in-if-condition,
+                  -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-incorrect-roundings,
+                  -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,
+                  -hicpp-named-parameter,
+                  -misc-header-include-cycle,
+                  -misc-no-recursion,
+                  -performance-no-int-to-ptr,
+                  -readability-avoid-return-with-void-value,
+                  -readability-avoid-unconditional-preprocessor-if,
+                  -readability-delete-null-pointer,
+                  -readability-duplicate-include,
+                  -readability-redundant-casting,
+                  -readability-redundant-member-init,
+                  -readability-reference-to-constructed-temporary,
+                  -readability-simplify-boolean-expr,
+                  -bugprone-unsafe-functions,
+                  -cert-msc24-c,
+                  -cert-msc32-c,
+                  -cert-msc33-c,
+                  -cert-msc51-cpp,
+                  -cert-str34-c,
+                  -cppcoreguidelines-macro-to-enum,
+                  -modernize-macro-to-enum,
+                  -abseil-string-find-str-contains,
+                  -bugprone-suspicious-include,
+                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
+                  -clang-analyzer-optin.core.EnumCastOutOfRange,
+                  -modernize-type-traits,
+                  -misc-definitions-in-headers,
+                  -bugprone-casting-through-void,
+                  -readability-redundant-string-init,
                  '
 WarningsAsErrors: '*'
 CheckOptions:

.github/workflows/build_all_targets.yml

@@ -2,6 +2,37 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+#
+# ===================================================================================
+# RELEASE UPLOAD LOGIC
+# ===================================================================================
+# This workflow handles building firmware and uploading to S3 + GitHub Releases.
+#
+# S3 Bucket Structure (s3://px4-travis/Firmware/):
+#   - master/          <- Latest main branch build (for QGC compatibility)
+#   - stable/          <- Latest stable release, controlled by 'stable' branch
+#   - beta/            <- Latest pre-release, controlled by 'beta' branch
+#   - vX.Y.Z/          <- Archived stable release
+#   - vX.Y.Z-beta1/    <- Archived pre-release
+#
+# Trigger Behavior:
+#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
+#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
+#   - Branch main        -> Upload to: master/ (for QGC compatibility)
+#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
+#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
+#   - Branch release/**  -> Build only, no S3 upload (CI validation)
+#   - Pull requests      -> Build only, no S3 upload (CI validation)
+#
+# GitHub Releases:
+#   - All version tags create a draft GitHub Release
+#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
+#
+# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
+# corresponding branch pushes control those directories. This prevents
+# pre-release tags from accidentally overwriting stable firmware (#26340)
+# and avoids race conditions between tag and branch builds.
+# ===================================================================================
 
 name: Build all targets
 
@@ -29,6 +60,7 @@ concurrency:
 permissions:
   contents: write
   actions: read
+  packages: read
 
 jobs:
   group_targets:
@@ -94,6 +126,9 @@ jobs:
       fail-fast: false
     container:
       image: ${{ matrix.container }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     steps:
       - uses: runs-on/action@v2
       - uses: actions/checkout@v4
@@ -159,6 +194,13 @@ jobs:
           path: ~/.ccache
           key: ${{ steps.cc_restore.outputs.cache-primary-key }}
 
+  # ===========================================================================
+  # ARTIFACT UPLOAD JOB
+  # ===========================================================================
+  # Uploads build artifacts to S3 and creates GitHub Releases.
+  # Runs for version tags (v*), main, stable, and beta branch pushes.
+  # See header comments for full upload logic documentation.
+  # ===========================================================================
   artifacts:
     name: Upload Artifacts
     # runs-on: ubuntu-latest
@@ -177,31 +219,31 @@ jobs:
       - name: Choose Upload Location
         id: upload-location
         run: |
-          # Determine upload location based on branch or tag with the following considerations:
-          # Destination: AWS S3 bucket px4-travis in folder Firmware/
-          # - If branch is main -> upload to master/
-          #   - Older versions of QGC are hardocded to look for master/
-          # - If branch is stable or beta -> upload to stable/ or beta/
-          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
-          #   - Also update stable/ to point to the same version
-          #.  - Older versions of QGC are hardocded to look for stable/
-          # - If a pull request -> do not upload
           set -euo pipefail
 
           ref="${GITHUB_REF}"
           branch=${{ needs.group_targets.outputs.branchname  }}
           location="$branch"
+          is_prerelease="false"
 
+          # Main branch uploads to "master" for QGC backward compatibility
           if [[ "$branch" == "main" ]]; then
             location="master"
           fi
 
+          # Version tags: upload to versioned directory (e.g., v1.16.1/)
           if [[ "$ref" == refs/tags/v[0-9]* ]]; then
             tag="${ref#refs/tags/}"
             location="$tag"
+
+            # Pre-release tags contain -alpha, -beta, or -rc suffix
+            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
+              is_prerelease="true"
+            fi
           fi
 
           echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
 
       - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
@@ -215,28 +257,13 @@ jobs:
           SOURCE_DIR: artifacts/
           DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-      # if we are uploading artifacts to a versioned folder
-      # we should also update the stable folder in the s3 bucket
-      - name: Uploading Artifacts to S3 [stable]
-        uses: jakejarvis/s3-sync-action@master
-        if: startsWith(github.ref, 'refs/tags/v')
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/stable/
-
-      # if build is a release triggered by a versioned tag then create a github release
-      # and upload the build artifacts. A draft release is created so that the release
-      # can be reviewed before publishing
+      # Create a draft GitHub Release for all version tags
+      # Pre-releases are automatically marked as such
       - name: Upload Artifacts to GitHub Release
         uses: softprops/action-gh-release@v2
         if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
+          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
           files: artifacts/*.px4
           name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/checks.yml

@@ -19,6 +19,10 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       fail-fast: false
       matrix:
@@ -35,20 +39,17 @@ jobs:
           "px4_sitl_allyes",
           "module_documentation",
         ]
+
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Building [${{ matrix.check }}]
-        uses: addnab/docker-run-action@v3
-        with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make ${{ matrix.check }}
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          make ${{ matrix.check }}
 
       - name: Uploading Coverage to Codecov.io
         if: contains(matrix.check, 'coverage')

.github/workflows/clang-tidy.yml

@@ -1,4 +1,4 @@
-name: Clang Tidy
+name: Static Analysis
 
 on:
   push:
@@ -11,20 +11,59 @@ on:
       - '**'
     paths-ignore:
       - 'docs/**'
+
+permissions:
+  contents: read
+
 jobs:
-  build:
-    runs-on: ubuntu-latest
+  clang_tidy:
+    name: Clang-Tidy
+    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
+    container:
+      image: px4io/px4-dev:v1.17.0-beta1
     steps:
+    - uses: runs-on/action@v2
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
+        fetch-tags: true
 
-    - name: Testing (clang-tidy)
-      uses: addnab/docker-run-action@v3
+    - name: Configure Git Safe Directory
+      run: git config --system --add safe.directory '*'
+
+    - name: Restore Compiler Cache
+      id: cc_restore
+      uses: actions/cache/restore@v4
       with:
-        image: px4io/px4-dev-clang:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make clang-tidy
+        path: ~/.ccache
+        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
+        restore-keys: |
+          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
+          ccache-clang-tidy-main-
+          ccache-clang-tidy-
+
+    - name: Configure Compiler Cache
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = 120M" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z
+
+    - name: Run Clang-Tidy Analysis
+      run: make -j16 clang-tidy
+
+    - name: Compiler Cache Stats
+      if: always()
+      run: ccache -s
+
+    - name: Save Compiler Cache
+      if: always()
+      uses: actions/cache/save@v4
+      with:
+        path: ~/.ccache
+        key: ${{ steps.cc_restore.outputs.cache-primary-key }}

.github/workflows/compile_macos.yml

@@ -42,7 +42,7 @@ jobs:
       shell: cmake -P {0}
       run: |
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
+        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
     - name: ccache cache files
       uses: actions/cache@v4
       with:

.github/workflows/docs-orchestrator.yml

@@ -0,0 +1,416 @@
+# Docs - Orchestrator
+#
+# Trigger paths:
+#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
+#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
+#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
+#
+# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
+# require safe.directory + fetch-depth: 0 for git operations.
+
+name: Docs - Orchestrator
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/**"
+      - "src/**"
+      - "msg/**"
+      - "ROMFS/**"
+      - "Tools/module_config/**"
+      - ".github/workflows/docs-orchestrator.yml"
+  pull_request:
+    paths:
+      - "docs/**"
+      - ".github/workflows/docs-orchestrator.yml"
+  workflow_dispatch:
+
+concurrency:
+  group: docs-orchestrator-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  # =============================================================================
+  # Detect Changes (PR only)
+  # =============================================================================
+  detect-changes:
+    name: "T1: Detect Changes"
+    if: github.event_name == 'pull_request'
+    permissions:
+      contents: read
+    runs-on: ubuntu-latest
+    outputs:
+      source_changed: ${{ steps.changes.outputs.source }}
+      docs_changed: ${{ steps.changes.outputs.docs }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dorny/paths-filter@v3
+        id: changes
+        with:
+          filters: |
+            source:
+              - 'src/**'
+              - 'msg/**'
+              - 'ROMFS/**'
+              - 'Tools/module_config/**'
+            docs:
+              - 'docs/**'
+
+  # =============================================================================
+  # PR Metadata Regen (conditional - only when PR touches source files)
+  # =============================================================================
+  pr-metadata-regen:
+    name: "T2: PR Metadata"
+    needs: [detect-changes]
+    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
+    permissions:
+      contents: read
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    container:
+      image: px4io/px4-dev:v1.17.0-beta1
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Cache Restore - ccache
+        id: cache-ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: ~/.ccache
+          key: ccache-docs-metadata-${{ github.sha }}
+          restore-keys: |
+            ccache-docs-metadata-
+
+      - name: Setup ccache
+        run: |
+          mkdir -p ~/.ccache
+          echo "max_size = 1G" > ~/.ccache/ccache.conf
+
+      - name: Build px4_sitl_default
+        run: |
+          make px4_sitl_default
+        env:
+          CCACHE_DIR: ~/.ccache
+
+      - name: Cache Save - ccache
+        uses: actions/cache/save@v4
+        if: always()
+        with:
+          path: ~/.ccache
+          key: ccache-docs-metadata-${{ github.sha }}
+
+      - name: Generate and sync metadata
+        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
+        env:
+          CCACHE_DIR: ~/.ccache
+
+      - name: Upload metadata artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: pr-metadata
+          path: docs/
+          retention-days: 1
+
+  # =============================================================================
+  # Push Metadata Regen (main/release branches)
+  # =============================================================================
+  metadata-regen:
+    name: "T2: Metadata Sync"
+    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
+    permissions:
+      contents: write
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    container:
+      image: px4io/px4-dev:v1.17.0-beta1
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Cache Restore - ccache
+        id: cache-ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: ~/.ccache
+          key: ccache-docs-metadata-${{ github.sha }}
+          restore-keys: |
+            ccache-docs-metadata-
+
+      - name: Setup ccache
+        run: |
+          mkdir -p ~/.ccache
+          echo "max_size = 1G" > ~/.ccache/ccache.conf
+
+      - name: Build px4_sitl_default
+        run: |
+          make px4_sitl_default
+        env:
+          CCACHE_DIR: ~/.ccache
+
+      - name: Cache Save - ccache
+        uses: actions/cache/save@v4
+        if: always()
+        with:
+          path: ~/.ccache
+          key: ccache-docs-metadata-${{ github.sha }}
+
+      - name: Generate and sync metadata
+        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
+        env:
+          CCACHE_DIR: ~/.ccache
+
+      - name: Install Node.js and Yarn
+        run: |
+          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
+          apt-get install -y nodejs
+          corepack enable
+
+      - name: Format markdown with Prettier
+        run: |
+          cd docs
+          yarn install --frozen-lockfile
+          yarn prettier --write "en/**/*.md"
+
+      - name: Commit and push changes
+        run: |
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+          git add docs/
+          if git diff --staged --quiet; then
+            echo "No changes to commit"
+          else
+            git commit -m "docs: auto-sync metadata [skip ci]
+
+            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
+            git push
+          fi
+
+  # =============================================================================
+  # Link Check
+  # =============================================================================
+  link-check:
+    name: "T2: Link Check"
+    needs: [detect-changes, pr-metadata-regen]
+    if: always() && (github.event_name == 'pull_request')
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: 0
+
+      - name: Download metadata artifact
+        if: needs.pr-metadata-regen.result == 'success'
+        uses: actions/download-artifact@v4
+        with:
+          name: pr-metadata
+          path: docs/
+
+      - name: Get changed doc files
+        id: changed-files
+        uses: tj-actions/changed-files@v46.0.5
+        with:
+          json: true
+          write_output_files: true
+          output_dir: ./logs
+          base_sha: ${{ github.event.pull_request.base.sha }}
+          sha: ${{ github.event.pull_request.head.sha }}
+          files: |
+            docs/en/**/*.md
+
+      - name: Save changed files list
+        run: |
+          mv ./logs/all_changed_files.json ./logs/prFiles.json
+          echo "Changed files:"
+          cat ./logs/prFiles.json
+
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+
+      - name: Run filtered link checker (changed files)
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
+            markdown_link_checker_sc \
+              -r "$GITHUB_WORKSPACE" \
+              -d docs \
+              -e en \
+              -f ./logs/prFiles.json \
+              -i assets \
+              -u docs.px4.io/main/ \
+              > ./logs/filtered-link-check-results.md || true
+          fi
+          if [ ! -s ./logs/filtered-link-check-results.md ]; then
+            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
+          fi
+          cat ./logs/filtered-link-check-results.md
+
+      - name: Run full link checker
+        run: |
+          markdown_link_checker_sc \
+            -r "$GITHUB_WORKSPACE" \
+            -d docs \
+            -e en \
+            -i assets \
+            -u docs.px4.io/main/ \
+            > ./logs/link-check-results.md || true
+          cat ./logs/link-check-results.md
+
+      - name: Post PR comment with link check results
+        if: github.event.pull_request.head.repo.full_name == github.repository
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          header: flaws
+          path: ./logs/filtered-link-check-results.md
+
+      - name: Upload link check results
+        uses: actions/upload-artifact@v4
+        with:
+          name: link-check-results
+          path: logs/
+          retention-days: 7
+
+  # =============================================================================
+  # Build Site
+  # =============================================================================
+  build-site:
+    name: "T3: Build Site"
+    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
+    if: >-
+      always() &&
+      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
+      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
+      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
+    permissions:
+      contents: read
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
+
+      - name: Download metadata artifact (PR)
+        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
+        uses: actions/download-artifact@v4
+        with:
+          name: pr-metadata
+          path: docs/
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          elif [[ "$branch" =~ ^release/ ]]; then
+            version="v${branch#release/}"
+          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
+            version="main"
+          else
+            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
+            exit 1
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  # =============================================================================
+  # Deploy to AWS (push + workflow_dispatch)
+  # =============================================================================
+  deploy-aws:
+    name: "T4: Deploy"
+    needs: [metadata-regen, build-site]
+    if: >-
+      always() &&
+      needs.metadata-regen.result == 'success' &&
+      needs.build-site.result == 'success' &&
+      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
+    permissions:
+      id-token: write
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_deploy_aws.yml

@@ -1,116 +0,0 @@
-name: Docs - Deploy PX4 User Guide to AWS
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-  pull_request:
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-
-  workflow_dispatch:
-
-permissions:
-  contents: read
-  actions: read
-  id-token: write # for AWS OIDC
-
-concurrency:
-  group: docs-deploy
-  cancel-in-progress: false
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          else
-            version="v${branch#release/}"
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_flaw_checker.yml

@@ -1,85 +0,0 @@
-name: Docs - Check for flaws in PX4 Guide Source
-# So far:
-  # Modifications of translations files
-  # Broken internal links
-
-on:
-  pull_request_target:
-    types: [opened, edited, synchronize]
-    paths:
-      - 'docs/en/**'
-
-jobs:
-  check_flaws:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-
-      - name: Install Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: '18'
-
-      - name: Create logs directory
-        run: |
-          mkdir logs
-
-      - name: Get changed english doc files
-        id: get_changed_markdown_english
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          base_sha: "${{ github.event.pull_request.base.sha }}"
-          sha: "${{ github.event.pull_request.head.sha }}"
-          # Below are used to output files to a directory. May use in flaw checker.
-          # write_output_files: true
-          # output_dir: "./logs"
-          files: |
-            docs/en/**/*.md
-
-      - name: Save JSON file containing files to link check
-        run: |
-          echo "$ALL_CHANGED_FILES"
-          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
-          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
-        env:
-          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
-
-      - name: Run link checker
-        id: link-check
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -f ./logs/prFiles.json \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/errorsFilteredByPrPages.md
-          mkdir -p ./pr
-          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./logs/errorsFilteredByPrPages.md
-
-      - name: Echo Errors by Page
-        run: echo "$ERRORS"
-        env:
-          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
-
-      - name: Save PR number
-        run: echo "$PR_NUMBER" > ./pr/pr_number
-        env:
-          PR_NUMBER: ${{ github.event.number }}
-
-      - uses: actions/upload-artifact@v4
-        with:
-          name: pr_number
-          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -1,111 +0,0 @@
-name: Docs - Comment Workflow
-on:
-  workflow_run:
-    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
-    types:
-      - completed
-
-jobs:
-  comment:
-    permissions:
-      pull-requests: write # for marocchino/sticky-pull-request-comment
-    name: Comments
-    runs-on: ubuntu-latest
-    steps:
-      - name: 'Download PR artifact'
-        uses: actions/github-script@v6
-        with:
-          script: |
-            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               run_id: context.payload.workflow_run.id,
-            });
-            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
-              return artifact.name == "pr_number"
-            })[0];
-            let download = await github.rest.actions.downloadArtifact({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               artifact_id: matchArtifact.id,
-               archive_format: 'zip',
-            });
-            let fs = require('fs');
-            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
-
-      - name: 'Unzip artifact'
-        run: unzip pr_number.zip
-
-      # Doesn't work across workflows
-      #- name: Get artifacts from flaw checker workflow
-      #  uses: actions/download-artifact@v3
-      #  with:
-      #    name: logs_and_errors
-      #    #path: ./logs
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./errorsFilteredByPrPages.md
-
-      - name: Read PR number
-        id: read-error-pr-number
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./pr_number
-
-      - name: File detail info
-        run: |
-          echo "$ERRORS"
-          echo "$PRNUM"
-        env:
-          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
-          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
-
-      - name: Create or update comment
-        id: comment_to_pr
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          recreate: true
-          number: ${{ steps.read-error-pr-number.outputs.content }}
-          header: flaws
-          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
-
-      #- name: Dump GitHub context
-      #  env:
-      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
-      #  run: echo "$GITHUB_CONTEXT"
-
-      # Would like to do this, but it doesn't work (for me).
-      # Moving to time-based, or triggering on workflow
-      #- name: Wait for artifacts upload to succeed
-      #  uses: lewagon/wait-on-check-action@v1.3.1
-      #  with:
-      #    ref: ${{ github.ref }}
-      #    check-name: 'Archive production artifacts'
-      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
-      #    wait-interval: 80
-
-      # Not needed for now - trying to trigger off the workflow
-      #- name: Sleep for 80 seconds
-      #  run: sleep 80s
-      #  shell: bash
-      #- name: Find Comment
-      #  uses: peter-evans/find-comment@v2
-      #  id: fc
-      #  with:
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    comment-author: 'github-actions[bot]'
-      #    body-includes: Flaws (may be none)
-
-      #- name: Create or update comment
-      #  uses: peter-evans/create-or-update-comment@v3
-      #  with:
-      #    comment-id: ${{ steps.fc.outputs.comment-id }}
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    body: |
-      #      Flaws (may be none)
-      #      ${{ steps.read-errors-by-page.outputs.content }}
-      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -15,21 +15,21 @@ concurrency:
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
 
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
           make tests TESTFILTER=EKF
 
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there is a functional change
+        run: git diff --exit-code
+        working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -8,40 +8,47 @@ on:
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
 
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
           make tests TESTFILTER=EKF
 
-    - name: Check if there exists diff and save result in variable
-      id: diff-check
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there exists diff and save result in variable
+        id: diff-check
+        working-directory: src/modules/ekf2/test/change_indication
+        run: |
+          if git diff --quiet; then
+            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
+          else
+            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
+          fi
 
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-        commit_message: |
-          '[AUTO COMMIT] update change indication'
+      - name: auto-commit any changes to change indication
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        uses: stefanzweifel/git-auto-commit-action@v4
+        with:
+          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
+          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
+          commit_message: |
+            [AUTO COMMIT] update change indication
 
-          See .github/workflopws/ekf_update_change_indicator.yml for more details
+            See .github/workflows/ekf_update_change_indicator.yml for more details
 
-    - name: if there is a functional change, fail check
-      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
-      run: exit 1
+      - name: if there is a functional change, fail check
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -19,25 +19,27 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
     strategy:
       fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box"}
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build SITL and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_test_mission.test \
+                mission:=MC_mission_box \
+                vehicle:=iris
+            '

.github/workflows/mavros_offboard_tests.yml

@@ -19,27 +19,26 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
+
     strategy:
       fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build PX4 and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_tests_offboard_posctl.test \
+                vehicle:=iris
+            '

.github/workflows/nuttx_env_config.yml

@@ -19,27 +19,28 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       matrix:
-        config: [
-          px4_fmu-v5_default,
-          ]
+        config:
+          - px4_fmu-v5_default
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build PX4 and Run Test [${{ matrix.config }}]
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build PX4 and Run Test [${{ matrix.config }}]
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
           echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+
           make ${{ matrix.config }} nuttx_context
+
           echo "Check that the config option is set"
           grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/sitl_tests.yml

@@ -33,8 +33,10 @@ jobs:
       matrix:
         config:
           - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
+          # transitions). Re-enable once the test infrastructure is stabilized.
+          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
     steps:
       - uses: actions/checkout@v4

.gitignore

@@ -109,3 +109,6 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
+
+# metadata
+_emscripten_sdk/

Makefile

@@ -412,7 +412,7 @@ tests:
 	$(call cmake-build,px4_sitl_test)
 
 # work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
+LCOBUG = --ignore-errors mismatch,negative
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@@ -492,13 +492,29 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
+# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
+# - All submodules (external code we consume, not edit)
+# - Test code (allowed looser style)
+# - Example code (educational, not production)
+# - Vendored third-party code (e.g., CMSIS_5)
+# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
+# - GPIO excluded here (NuttX platform headers)
+# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
+#   because CMake Unity Builds merge sources into a generated .cxx under build/
+#
+# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
+# Submodules are automatically excluded - no action needed when adding new ones.
+CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
+CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
+CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
+
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -598,3 +614,10 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
+
+# Generate reference documentation for uORB messages
+.PHONY: msg_docs
+msg_docs:
+	$(call colorecho,'Generating uORB message reference docs')
+	@mkdir -p build/msg_docs
+	@./Tools/msg/generate_msg_docs.py -d build/msg_docs

README.md

@@ -1,62 +1,109 @@
-# PX4 Drone Autopilot
+<p align="center">
+  <a href="https://px4.io">
+    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
+  </a>
+</p>
 
-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+<p align="center">
+  <em>The autopilot stack the industry builds on.</em>
+</p>
 
-[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+<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://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
+  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
+  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
+</p>
 
-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+---
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+## About
 
-PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
+PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
+## Why PX4
 
-## Releases
+**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
 
-Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
+**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
 
-## Building a PX4 based drone, rover, boat or robot
+**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
-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!
+**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
 
+## Supported Vehicles
 
-## Changing Code and Contributing
+<table>
+  <tr>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_multicopter/">
+        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
+        <sub>Multicopter</sub>
+      </a>
+    </td>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_plane/">
+        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
+        <sub>Fixed Wing</sub>
+      </a>
+    </td>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_vtol/">
+        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
+        <sub>VTOL</sub>
+      </a>
+    </td>
+    <td align="center">
+      <a href="https://docs.px4.io/main/en/frames_rover/">
+        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
+        <sub>Rover</sub>
+      </a>
+    </td>
+  </tr>
+</table>
 
-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.
+<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
 
-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+## Quick Start
 
+```bash
+git clone https://github.com/PX4/PX4-Autopilot.git --recursive
+cd PX4-Autopilot
+make px4_sitl
+```
 
-## Weekly Dev Call
+> [!NOTE]
+> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+## Documentation & Resources
 
-> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
+| Resource | Description |
+| --- | --- |
+| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
+| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
+| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
+| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
+| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
+| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |
 
+## Community
 
-## Maintenance Team
+- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
+- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
+- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
+- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
+- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
 
-See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
+## Contributing
 
-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).
+We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
 
-## Supported Hardware
+## Governance
 
-For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
 
-## Project Governance
-
-The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
-
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
-<div style="padding:10px">&nbsp;</div>
+<p align="center">
+  <a href="https://www.dronecode.org/">
+    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
+  </a>
+</p>

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

@@ -101,6 +101,7 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
+param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -22,6 +22,9 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+# Overwrite DDS AG IP to `192.168.0.1`
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 # param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -10,9 +10,6 @@ set VEHICLE_TYPE uuv
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
 
-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281

Tools/ci/generate_board_targets_json.py

@@ -36,11 +36,20 @@ if args.filter:
         target_filter.append(target)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
+voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = ['qurt']
+excluded_platforms = []
+
+# Container overrides for platforms/boards that need a non-default container
+platform_container_overrides = {
+    'qurt': voxl2_container,
+}
+board_container_overrides = {
+    'modalai_voxl2': voxl2_container,
+}
 excluded_labels = [
     'stackcheck',
     'nolockstep', 'replay', 'test',
@@ -88,7 +97,20 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         container = default_container
-        if platform == 'posix':
+
+        # Extract board name (manufacturer_board) from target name
+        board_name = '_'.join(target_name.split('_')[:2])
+
+        # Apply container overrides for specific platforms or boards
+        if platform in platform_container_overrides:
+            container = platform_container_overrides[platform]
+        if board_name in board_container_overrides:
+            container = board_container_overrides[board_name]
+
+        # Boards with container overrides get their own group
+        if board_name in board_container_overrides or platform in platform_container_overrides:
+            group = 'voxl2'
+        elif platform == 'posix':
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
@@ -203,7 +225,7 @@ if (args.group):
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
     for arch in grouped_targets:
-        runner = 'x64' if arch == 'nuttx' else 'arm64'
+        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
         temp_group = []

Tools/ci/metadata_sync.sh

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

Tools/ci/package_build_artifacts.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
 
 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+cp **/**/*.px4 artifacts/ 2>/dev/null || true
+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#*/}

Tools/ci/test_metadata_sync.sh

@@ -0,0 +1,163 @@
+#!/usr/bin/env bash
+#
+# test_metadata_sync.sh - Test metadata_sync.sh locally using Docker
+#
+# Usage:
+#   Tools/ci/test_metadata_sync.sh [OPTIONS] [TYPES...]
+#
+# Options:
+#   --shell       Drop into interactive shell instead of running sync
+#   --verbose     Pass --verbose to metadata_sync.sh
+#   --skip-build  Skip SITL build (use existing build artifacts)
+#   --help        Show this help
+#
+# Types:
+#   Same as metadata_sync.sh: parameters, airframes, modules, msg_docs, uorb_graphs, failsafe_web, all
+#
+# Examples:
+#   # Test full regeneration
+#   Tools/ci/test_metadata_sync.sh all
+#
+#   # Test just parameters (faster)
+#   Tools/ci/test_metadata_sync.sh parameters
+#
+#   # Drop into shell for debugging
+#   Tools/ci/test_metadata_sync.sh --shell
+#
+#   # Skip build if you already have artifacts
+#   Tools/ci/test_metadata_sync.sh --skip-build --verbose all
+#
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
+
+DOCKER_IMAGE="px4io/px4-dev:v1.17.0-alpha1"
+CONTAINER_NAME="px4-metadata-test-$$"
+
+SHELL_MODE=false
+VERBOSE=""
+SKIP_BUILD=false
+TYPES=()
+
+show_help() {
+    head -n 28 "$0" | tail -n +2 | sed 's/^# \?//'
+    exit 0
+}
+
+cleanup() {
+    echo "[test] Cleaning up container..."
+    docker rm -f "$CONTAINER_NAME" 2>/dev/null || true
+}
+
+parse_args() {
+    while [[ $# -gt 0 ]]; do
+        case "$1" in
+            --shell)
+                SHELL_MODE=true
+                shift
+                ;;
+            --verbose)
+                VERBOSE="--verbose"
+                shift
+                ;;
+            --skip-build)
+                SKIP_BUILD=true
+                shift
+                ;;
+            --help|-h)
+                show_help
+                ;;
+            -*)
+                echo "Unknown option: $1" >&2
+                exit 1
+                ;;
+            *)
+                TYPES+=("$1")
+                shift
+                ;;
+        esac
+    done
+
+    # Default to all types
+    if [[ ${#TYPES[@]} -eq 0 ]]; then
+        TYPES=("all")
+    fi
+}
+
+main() {
+    parse_args "$@"
+
+    cd "$REPO_ROOT"
+
+    echo "[test] Using Docker image: $DOCKER_IMAGE"
+    echo "[test] Repository root: $REPO_ROOT"
+
+    # Pull image if not present
+    if ! docker image inspect "$DOCKER_IMAGE" >/dev/null 2>&1; then
+        echo "[test] Pulling Docker image..."
+        docker pull "$DOCKER_IMAGE"
+    fi
+
+    trap cleanup EXIT
+
+    # Handle git worktrees: the .git file points to the main repo's .git directory
+    # We need to mount that directory too so git works inside the container
+    local git_mounts=()
+    if [[ -f "$REPO_ROOT/.git" ]]; then
+        # It's a worktree - read the gitdir path and mount it
+        local gitdir
+        gitdir=$(grep '^gitdir:' "$REPO_ROOT/.git" | cut -d' ' -f2)
+        if [[ -n "$gitdir" ]]; then
+            # Mount the gitdir at the same path so the .git file reference works
+            git_mounts+=("-v" "$gitdir:$gitdir:ro")
+            # Also need the main .git directory (parent of worktrees/)
+            local main_git_dir
+            main_git_dir=$(dirname "$(dirname "$gitdir")")
+            git_mounts+=("-v" "$main_git_dir:$main_git_dir:ro")
+            echo "[test] Detected git worktree, mounting git directories"
+        fi
+    fi
+
+    if [[ "$SHELL_MODE" == "true" ]]; then
+        echo "[test] Starting interactive shell..."
+        echo "[test] Run: Tools/ci/metadata_sync.sh --generate --sync all"
+        docker run -it --rm \
+            --name "$CONTAINER_NAME" \
+            -v "$REPO_ROOT:/src" \
+            "${git_mounts[@]}" \
+            -w /src \
+            "$DOCKER_IMAGE" \
+            /bin/bash
+    else
+        echo "[test] Running metadata sync for: ${TYPES[*]}"
+
+        # Build the command
+        local cmd=""
+
+        if [[ "$SKIP_BUILD" == "false" ]]; then
+            cmd="Tools/ci/metadata_sync.sh --generate --sync $VERBOSE ${TYPES[*]}"
+        else
+            cmd="Tools/ci/metadata_sync.sh --sync $VERBOSE ${TYPES[*]}"
+        fi
+
+        echo "[test] Command: $cmd"
+
+        docker run --rm \
+            --name "$CONTAINER_NAME" \
+            -v "$REPO_ROOT:/src" \
+            "${git_mounts[@]}" \
+            -w /src \
+            "$DOCKER_IMAGE" \
+            /bin/bash -c "$cmd"
+
+        echo ""
+        echo "[test] Done! Check git status for changes:"
+        echo "  git status -s docs/"
+        echo ""
+        echo "[test] To see what changed:"
+        echo "  git diff docs/"
+    fi
+}
+
+main "$@"

Tools/docker_run.sh

@@ -1,47 +1,27 @@
 #! /bin/bash
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi
 
-# otherwise default to nuttx
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
-fi
-
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
-PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=$PWD/../
+SCRIPT_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=${SCRIPT_DIR}/../
 
 CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"
 
 docker run -it --rm -w "${SRC_DIR}" \
 	--user="$(id -u):$(id -g)" \
-	--env=AWS_ACCESS_KEY_ID \
-	--env=AWS_SECRET_ACCESS_KEY \
-	--env=BRANCH_NAME \
 	--env=CCACHE_DIR="${CCACHE_DIR}" \
-	--env=CI \
-	--env=CODECOV_TOKEN \
-	--env=COVERALLS_REPO_TOKEN \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
 	--env=PX4_UBSAN \
-	--env=TRAVIS_BRANCH \
-	--env=TRAVIS_BUILD_ID \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+	${PX4_DOCKER_REPO} /bin/bash -c "$@"

Tools/run-clang-tidy.py

@@ -144,6 +144,8 @@ def main():
                       help='number of tidy instances to be run in parallel.')
   parser.add_argument('files', nargs='*', default=['.*'],
                       help='files to be processed (regex on path)')
+  parser.add_argument('-exclude', dest='exclude', default=None,
+                      help='regular expression matching files to exclude')
   parser.add_argument('-fix', action='store_true', help='apply fix-its')
   parser.add_argument('-format', action='store_true', help='Reformat code '
                       'after applying fixes')
@@ -192,6 +194,7 @@ def main():
 
   # Build up a big regexy filter from all command line arguments.
   file_name_re = re.compile('(' + ')|('.join(args.files) + ')')
+  exclude_re = re.compile(args.exclude) if args.exclude else None
 
   try:
     # Spin up a bunch of tidy-launching threads.
@@ -205,6 +208,8 @@ def main():
     # Fill the queue with files.
     for name in files:
       if file_name_re.search(name):
+        if exclude_re and exclude_re.search(name):
+          continue
         queue.put(name)
 
     # Wait for all threads to be done.

Tools/setup/docker-entrypoint.sh

@@ -4,7 +4,7 @@ GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
 SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
 
-echo -e "$SCRIPTID Starting"
+echo -e "$SCRIPTID $( uname -m ) | $(date -u +%FT%TZ)"
 
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
@@ -22,6 +22,4 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-echo -e "$SCRIPTID ($( uname -m ))"
-
 exec "$@"

Tools/setup/ubuntu.sh

@@ -6,9 +6,9 @@ set -e
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for nuttx, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+## - Gazebo Harmonic simulator (omit with arg: --no-sim-tools)
 ##
 
 INSTALL_NUTTX="true"
@@ -207,37 +207,18 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		bc \
 		;
 
-	# Gazebo / Gazebo classic installation
-	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-		# Update list, since new gazebo-stable.list has been added
-		sudo apt-get update -y --quiet
+	# Gazebo Harmonic installation (Ubuntu 22.04+)
+	echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+	# Add Gazebo binary repository
+	sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+	sudo apt-get update -y --quiet
 
-		# Install Gazebo classic
-		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-			gazebo_classic_version=9
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		else
-			# default and Ubuntu 20.04
-			gazebo_classic_version=11
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		fi
-	else
-		# Expects Ubuntu 22.04 > by default
-		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-		echo "[ubuntu.sh] Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-		sudo apt-get update -y --quiet
+	# Install Gazebo
+	gazebo_packages="gz-harmonic libunwind-dev"
 
-		# Install Gazebo
-		gazebo_packages="gz-harmonic libunwind-dev"
-
-		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
-			gazebo_packages="$gazebo_packages cppzmq-dev"
-		fi
+	if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+		gazebo_packages="$gazebo_packages cppzmq-dev"
 	fi
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \

boards/cuav/fmu-v6x/init/rc.board_sensors

@@ -66,15 +66,15 @@ then
 	fi
 fi
 
+iim42652 -R 6 -s -C 32768 start
 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
-iim42652 -R 6 -s -C 32768 start
 icm45686 -R 2 -s start
 
 rm3100 -I -b 4 start
 
-icp201xx -I -a 0x64 start
 bmp581 -b 2 -X -a 0x47 start
+icp201xx -I -a 0x64 start
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

boards/cuav/nora/src/board_config.h

@@ -127,8 +127,8 @@
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
 
-#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
+#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN4)
 
 /* Power switch controls ******************************************************/
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))

boards/modalai/voxl2/cmake/init.cmake

@@ -31,4 +31,34 @@
 #
 ############################################################################
 
+# Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
+execute_process(
+	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+)
+
 include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)
+
+# Build libfc_sensor.so stub library automatically if not already built
+set(FC_SENSOR_LIB ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so)
+if(NOT EXISTS ${FC_SENSOR_LIB})
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BOARD_DIR}/libfc-sensor-api/build
+	)
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} ..
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+		RESULT_VARIABLE FC_SENSOR_CMAKE_RESULT
+	)
+	if(NOT FC_SENSOR_CMAKE_RESULT EQUAL 0)
+		message(FATAL_ERROR "Failed to configure libfc_sensor stub library")
+	endif()
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} --build .
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+		RESULT_VARIABLE FC_SENSOR_BUILD_RESULT
+	)
+	if(NOT FC_SENSOR_BUILD_RESULT EQUAL 0)
+		message(FATAL_ERROR "Failed to build libfc_sensor stub library")
+	endif()
+endif()

boards/px4/fmu-v6x/default.px4board

@@ -23,9 +23,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y

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

@@ -180,7 +180,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 
 	initSPIFmumID(V6X_16, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),

boards/px4/fmu-v6xrt/default.px4board

@@ -19,6 +19,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y

docs/.gitignore

@@ -16,6 +16,9 @@ logs
 #Yarn log
 yarn-error.log
 
+# npm lockfile (project uses yarn)
+package-lock.json
+
 
 # Generated alternative _summary.md
 # **/*/_summary.md

docs/.prettierrc

@@ -0,0 +1,8 @@
+{
+  "proseWrap": "preserve",
+  "tabWidth": 2,
+  "useTabs": false,
+  "printWidth": 9999,
+  "endOfLine": "lf",
+  "embeddedLanguageFormatting": "off"
+}

docs/.vitepress/config.mjs

@@ -254,7 +254,63 @@ export default defineConfig({
       head.push(["link", { rel: "canonical", href: canonicalUrlToAdd }]);
     }
 
-    // Add any other custom head tags you might want later
+    // Build version-aware site URL for OG tags
+    const branch = process.env.BRANCH_NAME || "main";
+    const siteUrl = `https://docs.px4.io/${branch}`;
+
+    // OG image — same image for all pages, but URL includes version base
+    const ogImage =
+      pageData.frontmatter.ogImage || `${siteUrl}/og-image.png`;
+
+    // Build the actual page URL (version-aware, includes locale prefix)
+    let ogPath = pageData.relativePath.replace(/\.md$/, "");
+    if (ogPath === "index") ogPath = "";
+    else if (ogPath.endsWith("/index"))
+      ogPath = ogPath.slice(0, -"/index".length);
+    const ogUrl = `${siteUrl}/${ogPath}`;
+
+    // Open Graph
+    head.push(
+      [
+        "meta",
+        {
+          property: "og:title",
+          content: pageData.title || "PX4 Autopilot",
+        },
+      ],
+      [
+        "meta",
+        {
+          property: "og:description",
+          content:
+            pageData.description ||
+            "Open-source flight stack for drones and autonomous vehicles.",
+        },
+      ],
+      ["meta", { property: "og:url", content: ogUrl }],
+      ["meta", { property: "og:image", content: ogImage }],
+    );
+
+    // Twitter Card
+    head.push(
+      [
+        "meta",
+        {
+          name: "twitter:title",
+          content: pageData.title || "PX4 Autopilot",
+        },
+      ],
+      [
+        "meta",
+        {
+          name: "twitter:description",
+          content:
+            pageData.description ||
+            "Open-source flight stack for drones and autonomous vehicles.",
+        },
+      ],
+      ["meta", { name: "twitter:image", content: ogImage }],
+    );
 
     // Return head that will be merged.
     return head;
@@ -276,6 +332,14 @@ export default defineConfig({
       gtag('js', new Date());
       gtag('config', 'G-91EWVWRQ93');`,
     ],
+    // Open Graph
+    ["meta", { property: "og:site_name", content: "PX4 Autopilot" }],
+    ["meta", { property: "og:type", content: "website" }],
+    ["meta", { property: "og:image:width", content: "1200" }],
+    ["meta", { property: "og:image:height", content: "630" }],
+    ["meta", { property: "og:image:type", content: "image/png" }],
+    // Twitter Card
+    ["meta", { name: "twitter:card", content: "summary_large_image" }],
   ],
 
   vue: {

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

@@ -1056,9 +1056,6 @@
 1	1	UAVCAN_EC_REV	0	6
 1	1	UAVCAN_ENABLE	2	6
 1	1	UAVCAN_LGT_ANTCL	2	6
-1	1	UAVCAN_LGT_LAND	0	6
-1	1	UAVCAN_LGT_NAV	3	6
-1	1	UAVCAN_LGT_STROB	1	6
 1	1	UAVCAN_NODE_ID	1	6
 1	1	UAVCAN_PUB_ARM	0	6
 1	1	UAVCAN_PUB_MBD	0	6

docs/assets/simulation/px4_sitl_overview.svg

@@ -653,7 +653,7 @@
          id="tspan2761"
          x="-83.335098"
          y="147.11555"
-         style="font-size:3.88056px;writing-mode:lr-tb;stroke-width:0.264583px">simulator_mavlink.cpp</tspan></text>
+         style="font-size:3.88056px;writing-mode:lr-tb;stroke-width:0.264583px">SimulatorMavlink.cpp</tspan></text>
     <path
        style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.79375;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:1.5875, 0.79375;stroke-dashoffset:2.46063;stroke-opacity:1;marker-start:url(#marker3113)"
        d="m -42.713286,146.11223 h 8.466662"

docs/assets/site/dronecode_logo.svg

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 24.2.3, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 612 335.8" style="enable-background:new 0 0 612 335.8;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#4D4E4E;}
+	.st1{fill:#27B373;}
+	.st2{fill:#5DC4CD;}
+	.st3{fill:#1E8756;}
+</style>
+<g>
+	<g>
+		<path class="st0" d="M66.1,232.6l-0.4-95.9h24c16.3,0,25.6,6.5,28,19.4c0.6,3,0.9,12.3,1,27.9c0.1,16.7-0.3,27-1.4,30.7
+			c-1.8,6.3-4.8,10.8-9.1,13.6c-4.2,2.8-10.2,4.2-18.1,4.2H66.1z M72.5,226h17.7c6.8,0,11.8-1.1,15-3.3c2.7-1.9,4.6-5.1,5.9-9.8
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docs/en/SUMMARY.md

@@ -253,8 +253,9 @@
       - [Benewake TFmini Lidar](sensor/tfmini.md)
       - [LeddarOne Lidar](sensor/leddar_one.md)
       - [Lidar-Lite](sensor/lidar_lite.md)
-      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
+      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
         - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
+        - [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md)
       - [TeraRanger](sensor/teraranger.md)
       - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
       - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
@@ -908,6 +909,7 @@
   - [Terminology/Notation](contribute/notation.md)
   - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
+  - [Release Process](releases/release_process.md)
   - [main (alpha)](releases/main.md)
   - [1.17 (alpha)](releases/1.17.md)
   - [1.16 (stable)](releases/1.16.md)

docs/en/advanced/px4_metadata.md

@@ -31,6 +31,7 @@ For more information see the topics for each data type:
 - [Parameters & Configurations > Creating/Defining Parameters](../advanced/parameters_and_configurations.md#creating-defining-parameters)
 - [Events Interface](../concept/events_interface.md)
 - [Actuator Metadata](#actuator-metadata) (below)
+
 ## Metadata Toolchain
 
 The process for handling metadata is the same for all metadata types.
@@ -69,6 +70,7 @@ The parameter XML file of the main branch is copied into the QGC source tree via
 The following diagram shows how actuator metadata is assembled from the source code and used by QGroundControl:
 
 ![Actuators Metadata](../../assets/diagrams/actuator_metadata_processing.svg)
+
 <!-- Source: https://docs.google.com/drawings/d/1hMQmIijdFjr21rREcXj50qz0C1b47JW0OEa6p5P231k/edit -->
 
 - **Left**: the metadata is defined in `module.yml` files in different modules.

docs/en/advanced_config/advanced_flight_controller_orientation_leveling.md

@@ -34,4 +34,3 @@ You can locate the parameters in QGroundControl as shown below:
   Positive angles increase in CCW direction, negative angles increase in CW direction.
 - [SENS_BOARD_Z_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Z_OFF): Rotation, in degrees, around PX4FMU's Z axis Yaw axis.
   Positive angles increase in CCW direction, negative angles increase in CW direction.
-  

docs/en/advanced_config/bootloader_update_v6xrt.md

@@ -63,7 +63,6 @@ The tool is available for Windows, Linux and macOS.
    ![Flash bootloader through Secure provisioning - Step 6](../../assets/advanced_config/bootloader_6xrt/bootloader_update_v6xrt_step6.png)
 
    To get the Pixhawk V6X-RT into "ISP bootloader mode" there are 2 options:
-
    1. Launch QGC connect the Pixhawk select **Analayze Tools** and then **MAVLINK Console**.
       On the console type `reboot -i`.
       This will put the Pixhawk V6X-RT into "ISP bootloader mode"

docs/en/advanced_config/esc_calibration.md

@@ -89,7 +89,6 @@ To calibrate the ESCs:
    :::
 
    Verify the following values:
-
    - The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.
 
      You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.

docs/en/companion_computer/ark_jetson_pab_carrier.md

@@ -12,19 +12,16 @@ The [ARK Jetson Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook
 ## Specifications
 
 - **Power Requirements**
-
   - 5V
   - 4A minimum (dependent on usage and peripherals)
 
 - **Additional Features**
-
   - Pixhawk Autopilot Bus (PAB) Form Factor ([PAB Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf))
   - MicroSD Slot
   - USA-built, NDAA compliant
   - Integrated 1W heater for sensor stability in extreme conditions
 
 - **Physical Details**
-
   - Weight:
     - Without Jetson and Flight Controller – 80g
     - With Jetson, no heatsink or Flight Controller – 108g

docs/en/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md

@@ -18,7 +18,6 @@ The board follows the [Pixhawk Connector Standard](https://github.com/pixhawk/Pi
 - [Holybro Pixhawk RPi CM4 Baseboard](https://holybro.com/products/pixhawk-rpi-cm4-baseboard) (www.holybro.com)
 
   The baseboard can be purchased with or without an RPi CM4 and/or flight controller:
-
   - The Raspberry Pi CM4 (CM4008032) supplied by Holybro has the following specification:
     - RAM: 8GB
     - eMMC: 32GB
@@ -167,7 +166,6 @@ To enable this MAVLink instance on the FC:
    ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)
 
 1. [Set the parameters](../advanced_config/parameters.md):
-
    - `MAV_1_CONFIG` = `102`
    - `MAV_1_MODE = 2`
    - `SER_TEL2_BAUD` = `921600`
@@ -180,7 +178,6 @@ On the RPi side:
 
 1. Connect to the RPi (using WiFi, a router, or a WiFi Dongle).
 1. Enable the RPi serial port by running `RPi-config`
-
    - Go to `3 Interface Options`, then `I6 Serial Port`.
      Then choose:
      - `login shell accessible over serial → No`

docs/en/companion_computer/pixhawk_rpi.md

@@ -91,7 +91,7 @@ During PX4 setup and configuration the USB connection with your ground station l
 
 These instructions work on PX4 v1.14 and later.
 
-If you need to update the firmware then connect the Pixhawk to your laptop/desktop via the `USB` port and use QGroundControl to update the firmware as described [Firmware > Install Stable PX4](../config/firmware.md#install-stable-px4). 
+If you need to update the firmware then connect the Pixhawk to your laptop/desktop via the `USB` port and use QGroundControl to update the firmware as described [Firmware > Install Stable PX4](../config/firmware.md#install-stable-px4).
 If you want the latest developer version then update the firmware to the "main" as described in [Firmware > Installing PX4 Master, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware).
 
 ::: info
@@ -143,7 +143,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
    ```
 
 1. Go to the **Interface Option** and then click **Serial Port**.
-
    - Select **No** to disable serial login shell.
    - Select **Yes** to enable the serial interface.
    - Click **Finish** and restart the RPi.
@@ -162,7 +161,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
    ```
 
 1. Then save the file and restart the RPi.
-
    - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.
 
 1. Check that the serial port is available.

docs/en/computer_vision/collision_prevention.md

@@ -60,7 +60,7 @@ Configure collision prevention by [setting the following parameters](../advanced
 | <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY)                | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below.                                                                                                                                                                                                   |
 | <a id="CP_GUIDE_ANG"></a>[CP_GUIDE_ANG](../advanced_config/parameter_reference.md#CP_GUIDE_ANG)    | Set the angle (to both sides of the commanded direction) within which the vehicle may deviate if it finds fewer obstacles in that direction. See [Guidance Tuning](#angle_change_tuning) below.                                                                                                 |
 | <a id="CP_GO_NO_DATA"></a>[CP_GO_NO_DATA](../advanced_config/parameter_reference.md#CP_GO_NO_DATA) | Set to 1 to allow the vehicle to move in directions where there is no sensor coverage (default is 0/`False`).                                                                                                                                                                                   |
-| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Must be set to `Acceleration based`.                                                                                                                                                                                                                                                           |
+| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Must be set to `Acceleration based`.                                                                                                                                                                                                                                                            |
 
 ## Algorithm Description
 
@@ -213,7 +213,6 @@ The steps are:
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
    In the **Script Editor** tab, add following scripts in the appropriate sections:
-
    - **Global code, executed once:**
 
      ```lua

docs/en/concept/flight_tasks.md

@@ -32,7 +32,6 @@ The instructions below might be used to create a task named _MyTask_:
    - FlightTaskMyTask.hpp
    - FlightTaskMyTask.cpp
 3. Update **CMakeLists.txt** for the new task
-
    - Copy the contents of the **CMakeLists.txt** for another task - e.g. [Orbit/CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt)
    - Update the copyright to the current year
 
@@ -135,7 +134,6 @@ The instructions below might be used to create a task named _MyTask_:
    Usually a parameter is used to select when a particular flight task should be used.
 
    For example, to enable our new `MyTask` in multicopter Position mode:
-
    - Update `MPC_POS_MODE` ([multicopter_position_mode_params.c](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.c)) to add an option for selecting "MyTask" if the parameter has a previously unused value like 5:
 
      ```c

docs/en/concept/sd_card_layout.md

@@ -14,7 +14,7 @@ The directory structure/layout is shown below.
 | `/etc/`                 | Extra config. See [System Startup > Replacing the System Startup][replace system start]. |
 | `/log/`                 | Full [flight logs](../dev_log/logging.md)                                                |
 | `/mission_log/`         | Reduced flight logs                                                                      |
-| `/fw/`                  | [DroneCAN](../dronecan/index.md) firmware                                               |
+| `/fw/`                  | [DroneCAN](../dronecan/index.md) firmware                                                |
 | `/uavcan.db/`           | DroneCAN DNA server DB + logs                                                            |
 | `/params`               | Parameters (if not in FRAM/FLASH)                                                        |
 | `/dataman`              | Mission storage file                                                                     |

docs/en/config/_autotune.md

@@ -82,14 +82,9 @@ The test steps are:
    If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
 
    </div></div>
-
    1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
 
-      ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
-
-   2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
-   3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
-   4. Read the warning popup and click on **OK** to start tuning.
+   ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.
 
 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
 
@@ -197,11 +192,8 @@ By default, the autotune maneuvers ensure that a sufficient angular rate is reac
 
 If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
 
-
-
 </div>
 
-
 ### The drone oscillates after auto-tuning
 
 Due to effects not included in the mathematical model such as delays, saturation, slew-rate, airframe flexibility, the loop gain can be too high.

docs/en/config/flight_mode.md

@@ -4,15 +4,15 @@ This topic explains how to map [flight modes](../getting_started/px4_basic_conce
 
 :::tip
 In order to set up flight modes you must already have:
+
 - [Configured your radio](../config/radio.md)
 - [Setup your transmitter](#rc-transmitter-setup) to encode the physical positions of your mode switch(es) into a single channel.
-  We provide examples for the popular *Taranis* transmitter [below](#taranis-setup-3-way-switch-configuration-for-single-channel-mode) (check your documentation if you use a different transmitter).
-:::
-
+  We provide examples for the popular _Taranis_ transmitter [below](#taranis-setup-3-way-switch-configuration-for-single-channel-mode) (check your documentation if you use a different transmitter).
+  :::
 
 ## What Flight Modes and Switches Should I Set?
 
-Flight Modes provide different types of *autopilot-assisted flight*, and *fully autonomous flight*.
+Flight Modes provide different types of _autopilot-assisted flight_, and _fully autonomous flight_.
 You can set any (or none) of the flight modes [available to your vehicle](../flight_modes/index.md#flight-modes).
 
 Most users should set the following modes and functions, as these make the vehicle easier and safer to fly:
@@ -33,26 +33,25 @@ You can also separately specify channels for mapping a kill switch, return to la
 
 To configure single-channel flight mode selection:
 
-1. Start *QGroundControl* and connect the vehicle.
+1. Start _QGroundControl_ and connect the vehicle.
 1. Turn on your RC transmitter.
 1. Select **"Q" icon > Vehicle Setup > Flight Modes** (sidebar) to open _Flight Modes Setup_.
 
    ![Flight modes single-channel](../../assets/qgc/setup/flight_modes/flight_modes_single_channel.jpg)
 
-1. Specify *Flight Mode Settings*:
-   * Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
-   * Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
-     The mode slot matching your current switch position will be highlighted (above this is *Flight Mode 1*).
+1. Specify _Flight Mode Settings_:
+   - Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
+   - Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
+     The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
      ::: info
      While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
      :::
-   * Select the flight mode that you want triggered for each switch position.
-1. Specify *Switch Settings*:
-   * Select the channels that you want to map to specific actions - e.g.: *Return* mode, *Kill switch*, *offboard* mode, etc. (if you have spare switches and channels on your transmitter).
-   
+   - Select the flight mode that you want triggered for each switch position.
+1. Specify _Switch Settings_:
+   - Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
 1. Test that the modes are mapped to the right transmitter switches:
-   * Check the *Channel Monitor* to confirm that the expected channel is changed by each switch.
-   * Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on *QGroundControl* for the active mode).
+   - Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
+   - Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
 
 All values are automatically saved as they are changed.
 
@@ -61,7 +60,6 @@ All values are automatically saved as they are changed.
 This section contains a small number of possible setup configurations for taranis.
 QGroundControl _may_ have [setup information for other transmitters here](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#transmitter-setup).
 
-
 <a id="taranis_setup"></a>
 
 ### Taranis Setup: 3-way Switch Configuration for Single-Channel Mode
@@ -70,7 +68,7 @@ If you only need to support selecting between two or three modes then you can ma
 Below we show how to map the Taranis 3-way "SD" switch to channel 5.
 
 ::: info
-This example shows how to set up the popular *FrSky Taranis* transmitter.
+This example shows how to set up the popular _FrSky Taranis_ transmitter.
 Transmitter setup will be different on other transmitters.
 :::
 
@@ -78,15 +76,14 @@ Open the Taranis UI **MIXER** page and scroll down to **CH5**, as shown below:
 
 ![Taranis - Map channel to switch](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_1.png)
 
-Press **ENT(ER)** to edit the **CH5** configuration then change the **Source** to be the *SD* button.
+Press **ENT(ER)** to edit the **CH5** configuration then change the **Source** to be the _SD_ button.
 
 ![Taranis - Configure channel](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_2.png)
 
 That's it!
 Channel 5 will now output 3 different PWM values for the three different **SD** switch positions.
 
-The *QGroundControl* configuration is then as described in the previous section.
-
+The _QGroundControl_ configuration is then as described in the previous section.
 
 ### Taranis Setup: Multi-Switch Configuration for Single-Channel Mode
 
@@ -96,19 +93,18 @@ Commonly this is done by encoding the positions of a 2- and a 3-position switch
 On the FrSky Taranis this process involves assigning a "logical switch" to each combination of positions of the two real switches.
 Each logical switch is then assigned to a different PWM value on the same channel.
 
-The video below shows how this is done with the *FrSky Taranis* transmitter.
+The video below shows how this is done with the _FrSky Taranis_ transmitter.
 
 <!-- [youtube](https://youtu.be/scqO7vbH2jo) Video has gone private and is no longer available -->
 <!-- @[youtube](https://youtu.be/BNzeVGD8IZI?t=427) - video showing how to set the QGC side - at about 7mins and 3 secs -->
 
 <lite-youtube videoid="TFEjEQZqdVA" title="Taranis Mode Switches"/>
 
-The *QGroundControl* configuration is then [as described above](#flight-mode-selection).
-
+The _QGroundControl_ configuration is then [as described above](#flight-mode-selection).
 
 ## Further Information
 
-* [Flight Modes Overview](../flight_modes/index.md)
-* [QGroundControl > Flight Modes](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#px4-pro-flight-mode-setup)
-* [PX4 Setup Video - @6m53s](https://youtu.be/91VGmdSlbo4?t=6m53s) (Youtube)
-* [Radio switch parameters](../advanced_config/parameter_reference.md#radio-switches) - Can be used to set mappings via parameters
+- [Flight Modes Overview](../flight_modes/index.md)
+- [QGroundControl > Flight Modes](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#px4-pro-flight-mode-setup)
+- [PX4 Setup Video - @6m53s](https://youtu.be/91VGmdSlbo4?t=6m53s) (Youtube)
+- [Radio switch parameters](../advanced_config/parameter_reference.md#radio-switches) - Can be used to set mappings via parameters

docs/en/config/level_horizon_calibration.md

@@ -18,7 +18,6 @@ To level the horizon:
    You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
    :::
 1. Place the vehicle in its level flight orientation on a level surface:
-
    - For planes this is the position during level flight (planes tend to have their wings slightly pitched up!)
    - For copters this is the hover position.
 

docs/en/config/safety.md

@@ -128,10 +128,10 @@ Additional (and underlying) parameter settings are shown below.
 
 | Parameter                                                                                             | Setting                     | Description                                                                                                                                                                                                                                                                                                                                                                                              |
 | ----------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers.                                                                                                                                              |
+| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers.                                                                                                                                                |
 | <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay     | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
 | <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT)          | Failsafe Action             | Disabled, Loiter, Return, Land, Disarm, Terminate.                                                                                                                                                                                                                                                                                                                                                       |
-| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions          | Set modes in which manual control loss is ignored.                                                                                                                                                                                                                                                                                                                        |
+| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions          | Set modes in which manual control loss is ignored.                                                                                                                                                                                                                                                                                                                                                       |
 
 ## Data Link Loss Failsafe
 
@@ -142,11 +142,11 @@ Users that want to disable this failsafe in specific modes can do so using the p
 
 The settings and underlying parameters are shown below.
 
-| Setting                | Parameter                                                                | Description                                                                       |
-| ---------------------- | ------------------------------------------------------------------------ | --------------------------------------------------------------------------------- |
-| Data Link Loss Timeout | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | Amount of time after losing the data connection before the failsafe will trigger. |
-| Failsafe Action        | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)     | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate.                   |
-| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes in which data link loss is ignored. |
+| Setting                                                     | Parameter                                                                  | Description                                                                       |
+| ----------------------------------------------------------- | -------------------------------------------------------------------------- | --------------------------------------------------------------------------------- |
+| Data Link Loss Timeout                                      | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T)   | Amount of time after losing the data connection before the failsafe will trigger. |
+| Failsafe Action                                             | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)       | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate.                   |
+| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes in which data link loss is ignored.                                     |
 
 ## Geofence Failsafe
 
@@ -181,17 +181,22 @@ The following settings also apply, but are not displayed in the QGC UI.
 | <a id="GF_PREDICT"></a>Preemptive geofence triggering              | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT)           | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
 | <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | Enables/Disables flight termination action (disabled by default).                                                                                   |
 
-## Position (GNSS) Loss Failsafe
+## Position Estimation Failsafes
+
+This section describes failsafes related to the quality of the vehicle's position estimate.
+
+### Position Loss Failsafe
 
 The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
-The sections below cover first the trigger and then the failsafe action taken by the controller.
 
 ### Position Loss Failsafe Trigger
 
-There are basically two mechanisms in PX4 to trigger position failsafes:
+The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
 
-- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
-- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
+- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements.
+  - Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
+- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
+  - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
 
 The relevant parameters shown below.
 
@@ -207,14 +212,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
 
-The relevant parameters for all vehicles shown below.
+The relevant parameters are:
 
-Parameters that only affect Fixed-wing vehicles:
+| Parameter                                                                                       | Description                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)       | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). Set to 0 to disable. |
+| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)          | Fixed roll/bank angle while circling.                                                                                                        |
+| <a id="NAV_FORCE_VT"></a>[NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe.                                                                         |
 
-| Parameter                                                                                 | Description                                                                                                 |
-| ----------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- |
-| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). Set to 0 to disable. |
-| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)    | Fixed roll/bank angle while circling.                                                                       |
+### Position Accuracy Low Failsafe
+
+In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
+
+| Parameter                                                                                                | Description                                                                   |
+| -------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------- |
+| <a id="COM_POS_LOW_EPH"></a>[COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken.           |
+| <a id="COM_POS_LOW_ACT"></a>[COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
+
+Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
 
 ## Offboard Loss Failsafe
 

docs/en/config/safety_intro.md

@@ -13,7 +13,7 @@ These are covered in the following topics:
 - [Safe Points (Rally)](../flying/plan_safety_points.md)
 - [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)
 - [Flight Termination Configuration](../advanced_config/flight_termination.md)
-- [First Flight Guidelines](../flying/first_flight_guidelines.md) 
+- [First Flight Guidelines](../flying/first_flight_guidelines.md)
 
 ::: tip
 Note that the [First Flight Guidelines](../flying/first_flight_guidelines.md) are listed _last_.

docs/en/config_heli/index.md

@@ -42,14 +42,12 @@ To setup and configure a helicopter:
    ![Geometry: helicopter](../../assets/config/actuators/qgc_geometry_helicopter.png)
 
    The motors have no configurable geometry:
-
    - `Rotor (Motor 1)`: The main rotor
    - `Yaw tail motor (Motor 2)`: The tail rotor
 
    Swash plate servos: `3` | `4` <!-- 4 provides additional stability -->
 
    For each servo set:
-
    - `Angle`: Clockwise angle in degree on the swash plate circle at which the servo arm is attached starting from `0` pointing forwards.
      Example for a typical setup where three servos are controlling the swash plate equally distributed over the circle (360° / 3 =) 120° apart each which results in the angles:
 
@@ -65,7 +63,6 @@ To setup and configure a helicopter:
    - `Trim`: Offset individual servo positions. This is only needed in rare case when the swash plate is not level even though all servos are centered.
 
    Additional settings:
-
    - `Yaw compensation scale based on collective pitch`: How much yaw is feed forward compensated based on the current collective pitch.
    - `Main rotor turns counter-clockwise`: `Disabled` (clockwise rotation) | `Enabled`
    - `Throttle spoolup time`: Set value (in seconds) greater than the achievable minimum motor spool up time.
@@ -73,12 +70,10 @@ To setup and configure a helicopter:
 
 1. Remove the rotor blades and propellers
 1. Assign motors and servos to outputs and test (also in [Actuator configuration](../config/actuators.md)):
-
    1. Assign the [motors and servos to the outputs](../config/actuators.md#actuator-outputs).
    1. Power the vehicle with a battery and use the [actuator testing sliders](../config/actuators.md#actuator-testing) to validate correct servo and motor assignment and direction.
 
 1. Using an RC in [Acro mode](../flight_modes_mc/acro.md), verify the correct movement of the swash-plate. With most airframes you need to see the following:
-
    - Moving the roll stick to the right should tilt the swash-plate to the right.
    - Moving the pitch stick forward should tilt the swash-plate forward.
 
@@ -144,7 +139,6 @@ The rate controller should be tuned in [Acro mode](../flight_modes_mc/acro.md),
 
 3. Then enable the PID gains.
    Start off with following values:
-
    - [MC_ROLLRATE_P](../advanced_config/parameter_reference.md#MC_ROLLRATE_P), [MC_PITCHRATE_P](../advanced_config/parameter_reference.md#MC_PITCHRATE_P) a quarter of the value you found to work well as the corresponding feed forward value in the previous step. `P = FF / 4`
 
    ```sh

docs/en/config_mc/index.md

@@ -123,14 +123,12 @@ Tuning is the final step, carried out only after most other setup and configurat
   ::: info
   Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
   It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
-  
+
   Manual tuning using these guides are only needed if there is a problem with autotune:
-  
   - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
   - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
-  
-  :::
 
+  :::
 
 - [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.
 - [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)

docs/en/config_mc/pid_tuning_guide_multicopter_basic.md

@@ -46,7 +46,6 @@ Then adjust the sliders (as discussed below) to improve the tracking of the resp
   These need to be set low, but such that the **motors never stop** when the vehicle is armed.
 
   This can be tested in [Acro mode](../flight_modes_mc/acro.md) or in [Stabilized mode](../flight_modes_mc/manual_stabilized.md):
-
   - Remove propellers
   - Arm the vehicle and lower the throttle to the minimum
   - Tilt the vehicle to all directions, about 60 degrees
@@ -77,7 +76,6 @@ The tuning procedure is:
    As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.
 
    The thrust curve value can be used to compensate for this non-linearity:
-
    - For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
    - For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).
 
@@ -120,7 +118,6 @@ The tuning procedure is:
      :::
 1. Repeat the tuning process for the attitude controller on all the axes.
 1. Repeat the tuning process for the velocity and positions controllers (on all the axes).
-
    - Use Position mode when tuning these controllers
    - Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)
 

docs/en/config_rover/index.md

@@ -18,27 +18,37 @@ A drive mode will only work properly if all the configuration for the preceding
 
 ## Flashing the Rover Build
 
-Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
+Rover is built as a [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets), and must be installed as "Custom Firmware" in QGC (other vehicles are present in the default variant).
 
-1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).
+The release versions of Rover firmware for different boards are attached to the associated GitHub release tag.
+For example, you can find `px4_fmu-v5x_rover.px4` on [PX4-Autopilot/releases/tag/v1.16.1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.16.1).
+For the `main` branch version of Rover you will need to [build the firmware](#building-rover).
 
-   To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
-   For example, to build rover for px4_fmu-v6x boards, you would use the command:
+Load the firmware onto your flight controller as "Custom Firmware" (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
 
-   ```sh
-   make px4_fmu-v6x_rover
-   ```
+## Building Rover
 
-   ::: info
-   You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+Rover is built as the `rover` [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets).
+What this means is that when building the firmware with the `make` command, you replace the `_default` suffix in the configuration target with `_rover`.
 
-   ```sh
-   CONFIG_MODULES_ROVER_ACKERMANN=y
-   CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-   CONFIG_MODULES_ROVER_MECANUM=y
-   ```
+For example, to build rover for `px4_fmu-v6x` boards, you would use the following command:
 
-   Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
-   :::
+```sh
+make px4_fmu-v6x_rover
+```
 
-2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
+
+The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+
+::: info
+You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+
+```sh
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+```
+
+Adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
+:::

docs/en/config_rover/rate_tuning.md

@@ -15,13 +15,11 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
    Small rovers especially can be prone to rolling over when steering aggressively at high speeds.
 
    If this is the case:
-
    1. In [Acro mode](../flight_modes_rover/manual.md#acro-mode), set [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to a small value, drive the rover at full throttle and steer all the way to the left or right.
    2. Increase [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) until the wheels of the rover start to lift up.
    3. Set [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to the highest value that does not cause the rover to lift up.
 
    If you see no need to limit the yaw rate, set this parameter to the maximum yaw rate the rover can achieve:
-
    1. In [Manual mode](../flight_modes_rover/manual.md#manual-mode) drive the rover at full throttle and with the maximum steering angle.
    2. Plot the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) and enter the highest observed value for [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM).
 
@@ -51,7 +49,6 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
 
    :::tip
    To tune this parameter:
-
    1. Put the rover in [Acro mode](../flight_modes_rover/manual.md#acro-mode) and hold the throttle stick and the right stick at a few different levels for a couple of seconds each.
    1. Disarm the rover and from the flight log plot the `adjusted_yaw_rate_setpoint` and the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) over each other.
    1. Increase [RO_YAW_RATE_P](#RO_YAW_RATE_P) if the measured value does not track the setpoint fast enough or decrease it if the measurement overshoots the setpoint by too much.

docs/en/config_vtol/vtol_ice_shedding.md

@@ -14,7 +14,8 @@ seconds. In each cycle, the rotors are spun for two seconds at a motor output of
 :::warning
 When enabling the feature on a new airframe, there is the risk of producing
 torques that disturb the fixed-wing rate controller. To mitigate this risk:
- - Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
-   produces 1% thrust
- - Be prepared to take control and switch back to multicopter
-:::
+
+- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
+  produces 1% thrust
+- Be prepared to take control and switch back to multicopter
+  :::

docs/en/config_vtol/vtol_without_airspeed_sensor.md

@@ -66,7 +66,7 @@ Set the minimum front transition time ([VT_TRANS_MIN_TM](../advanced_config/para
 
 Because the risk of stalling is real, it is recommended to set the 'fixed-wing minimum altitude' (a.k.a. 'quad-chute') threshold ([VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT)).
 
-This will cause the VTOL to transition back to multicopter mode and initiate the [Return mode](../flight_modes_vtol/return.md) below a certain altitude. 
+This will cause the VTOL to transition back to multicopter mode and initiate the [Return mode](../flight_modes_vtol/return.md) below a certain altitude.
 You could set this to 15 or 20 meters to give the multicopter time to recover from a stall.
 
 The position estimator tested for this mode is EKF2, which is enabled by default (for more information see [Switching State Estimators](../advanced/switching_state_estimators.md#how-to-enable-different-estimators) and [EKF2_EN ](../advanced_config/parameter_reference.md#EKF2_EN)).

docs/en/dev_airframes/adding_a_new_frame.md

@@ -306,7 +306,6 @@ If the airframe is for a **new group** you additionally need to:
    ```
 
 1. Update _QGroundControl_:
-
    - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images)
    - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below:
 

docs/en/dev_log/logging.md

@@ -33,12 +33,12 @@ The logging system is configured by default to collect sensible logs for [flight
 Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
 The parameters you are most likely to change are listed below.
 
-| Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                                                      |
-| ------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                       |
+| ------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
-| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.
-| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                             |
-| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                        |
+| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.                                                                                                                                                  |
+| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                              |
+| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                         |
 
 Useful settings for specific cases:
 

docs/en/dev_setup/building_px4.md

@@ -39,15 +39,6 @@ Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gaz
 make px4_sitl gz_x500
 ```
 
-::: details  If you installed Gazebo Classic
-Start  [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command:
-
-```sh
-make px4_sitl gazebo-classic
-```
-
-:::
-
 This will bring up the PX4 console:
 
 ![PX4 Console](../../assets/toolchain/console_gazebo.png)
@@ -88,6 +79,16 @@ cd PX4-Autopilot
 make px4_fmu-v5_default
 ```
 
+:::tip
+You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally.
+From the PX4-Autopilot directory:
+
+```sh
+./Tools/docker_run.sh 'make px4_fmu-v5_default'
+```
+
+:::
+
 A successful run will end with similar output to:
 
 ```sh
@@ -126,7 +127,8 @@ The following list shows the build commands for the [Pixhawk standard](../flight
 - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default`
 
   :::warning
-  You **must** use a supported version of GCC to build this board (e.g. the same as used by [CI/docker](../test_and_ci/docker.md)) or remove modules from the build. Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
+  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build.
+  Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
   :::
 
 - Pixhawk 1 with 2 MB flash: `make px4_fmu-v3_default`
@@ -191,7 +193,7 @@ The `region 'flash' overflowed by XXXX bytes` error indicates that the firmware
 This is common for `make px4_fmu-v2_default` builds, where the flash size is limited to 1MB.
 
 If you're building the _vanilla_ master branch, the most likely cause is using an unsupported version of GCC.
-In this case, install the version specified in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.
+In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.
 
 If building your own branch, it is possible that you have increased the firmware size over the 1MB limit.
 In this case you will need to remove any drivers/modules that you don't need from the build.
@@ -204,7 +206,7 @@ The PX4 build system opens a large number of files, so you may exceed this numbe
 The build toolchain will then report `Too many open files` for many files, as shown below:
 
 ```sh
-/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
+arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
 ```
 
 The solution is to increase the maximum allowed number of open files (e.g. to 300).
@@ -227,34 +229,9 @@ xcode-select --install
 sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/
 ```
 
-### Ubuntu 18.04: Compile errors involving arm_none_eabi_gcc
-
-Build issues related to `arm_none_eabi_gcc`may be due to a broken g++ toolchain installation.
-You can verify that this is the case by checking for missing dependencies using:
-
-```sh
-arm-none-eabi-gcc --version
-arm-none-eabi-g++ --version
-arm-none-eabi-gdb --version
-arm-none-eabi-size --version
-```
-
-Example of bash output with missing dependencies:
-
-```sh
-arm-none-eabi-gdb --version
-arm-none-eabi-gdb: command not found
-```
-
-This can be resolved by removing and [reinstalling the compiler](https://askubuntu.com/questions/1243252/how-to-install-arm-none-eabi-gdb-on-ubuntu-20-04-lts-focal-fossa).
-
-### Ubuntu 18.04: Visual Studio Code is unable to watch for file changes in this large workspace
-
-See [Visual Studio Code IDE (VSCode) > Troubleshooting](../dev_setup/vscode.md#troubleshooting).
-
 ### Failed to import Python packages
 
-"Failed to import" errors when running the `make px4_sitl jmavsim` command indicates that some Python packages are not installed (where expected).
+"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected).
 
 ```sh
 Failed to import jinja2: No module named 'jinja2'
@@ -262,12 +239,12 @@ You may need to install it using:
     pip3 install --user jinja2
 ```
 
-If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 Python 3.8.3), and the module is not present in the version used by the build toolchain.
+If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain.
 
-You should be able to fix this by explicitly installing the dependencies as shown:
+You should be able to fix this by installing the dependencies from the repository's requirements file:
 
 ```sh
-pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging
+pip3 install --user -r Tools/setup/requirements.txt
 ```
 
 ## PX4 Make Build Targets

docs/en/dev_setup/config_initial.md

@@ -18,10 +18,9 @@ The equipment below is highly recommended:
   ::: info
   The listed computers have acceptable performance, but a more recent and powerful computer is recommended.
   :::
-
   - Lenovo Thinkpad with i5-core running Windows 11
   - MacBook Pro (early 2015 and later) with macOS 10.15 or later
-  - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later
+  - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later
 
 - **Ground control station** (computer or tablet):
   - iPad (may require Wifi telemetry adapter)
@@ -40,9 +39,9 @@ Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) for a
 To configure the vehicle:
 
 1. [Install PX4 firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) (including "custom" firmware with your own changes).
-1. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
-1. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
-1. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.
+2. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
+3. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
+4. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.
 
 ::: info
 

docs/en/dev_setup/dev_env.md

@@ -2,7 +2,7 @@
 
 The _supported platforms_ for PX4 development are:
 
-- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
+- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md)
 - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
 - [macOS](../dev_setup/dev_env_mac.md)
 
@@ -11,13 +11,13 @@ The _supported platforms_ for PX4 development are:
 The table below shows what PX4 targets you can build on each OS.
 
 | Target                                                                                                                                 | Linux (Ubuntu) | macOS | Windows |
-| -------------------------------------------------------------------------------------------------------------------------------------- | :------------: | :-: | :-----: |
-| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |       ✓        |  ✓  |    ✓    |
-| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |       ✓        |     |         |
-| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |       ✓        |  ✓  |    ✓    |
-| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |       ✓        |  ✓  |    ✓    |
-| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |       ✓        |     |    ✓    |
-| **Simulation:** ROS 2 with Gazebo                                                                                                      |       ✓        |     |    ✓    |
+| -------------------------------------------------------------------------------------------------------------------------------------- | :------------: | :---: | :-----: |
+| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |       ✓        |   ✓   |    ✓    |
+| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |       ✓        |       |         |
+| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |       ✓        |   ✓   |    ✓    |
+| **Simulation:** ROS 2 with Gazebo                                                                                                      |       ✓        |       |    ✓    |
+| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |                |   ✓   |    ✓    |
+| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |                |       |    ✓    |
 
 Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)
 

docs/en/dev_setup/dev_env_linux_centos.md

@@ -39,8 +39,9 @@ You may want to also install `python-pip` and `screen`.
 Execute the script below to install GCC 7-2017-q4:
 
 :::warning
-This version of GCC is out of date.
-At time of writing the current version on Ubuntu is `9-2020-q2-update` (see [focal nuttx docker file](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-focal#L28))
+This version of GCC is very outdated.
+PX4 now uses the `gcc-arm-none-eabi` package from the current Ubuntu LTS (GCC 13.2.1 on Ubuntu 24.04).
+This CentOS guide is community-maintained and may not produce working builds.
 :::
 
 ```sh

docs/en/dev_setup/dev_env_linux_ubuntu.md

@@ -4,20 +4,14 @@ The following instructions use a bash script to set up the PX4 development envir
 
 The environment includes:
 
-- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic")
-- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
-
-On Ubuntu 22.04:
-
-- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
-  Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.
+- [Gazebo Simulator](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
+- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards) using the `gcc-arm-none-eabi` compiler from the Ubuntu package manager.
 
 The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.
 
-::: details Can I use an older version of Ubuntu?
-PX4 supports the current and last Ubuntu LTS release where possible.
-Older releases are not supported (so you can't raise defects against them), but may still work.
-For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
+::: info
+PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported.
+Older Ubuntu versions are not supported and may not work.
 :::
 
 ## Simulation and NuttX (Pixhawk) Targets
@@ -50,19 +44,18 @@ To install the toolchain:
    - Acknowledge any prompts as the script progress.
    - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
 
-3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
-
-4. Restart the computer on completion.
+3. Restart the computer on completion.
 
 :::details Additional notes
 These notes are provided "for information only":
 
 - This setup is supported by the PX4 Dev Team.
   The instructions may also work on other Debian Linux based systems.
-- You can verify the NuttX installation by confirming the `gcc` version as shown:
+- You can verify the NuttX installation by confirming `gcc` is available.
+  The version depends on your Ubuntu release (e.g. GCC 13.2.1 on Ubuntu 24.04):
 
   ```sh
-  $arm-none-eabi-gcc --version
+  $ arm-none-eabi-gcc --version
 
   arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009
   Copyright (C) 2023 Free Software Foundation, Inc.

docs/en/dev_setup/dev_env_mac.md

@@ -107,7 +107,6 @@ To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) si
    sh macos.sh
    ```
 
-
 ## Next Steps
 
 Once you have finished setting up the command-line toolchain:

docs/en/dev_setup/dev_env_windows_wsl.md

@@ -58,20 +58,20 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
      wsl --install
      ```
 
-   - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
-
-     ```sh
-     wsl --install -d Ubuntu-20.04
-     ```
-
    - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
 
      ```sh
      wsl --install -d Ubuntu-22.04
      ```
 
+   - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
+
+     ```sh
+     wsl --install -d Ubuntu-24.04
+     ```
+
    ::: info
-   You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
+   You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings.
    :::
 
 1. WSL will prompt you for a user name and password for the Ubuntu installation.
@@ -106,7 +106,7 @@ To open a WSL shell using a command prompt:
    ```
 
    ```sh
-   wsl -d Ubuntu-20.04
+   wsl -d Ubuntu-24.04
    ```
 
    If you only have one version of Ubuntu, you can just use `wsl`.

docs/en/dev_setup/vscode.md

@@ -23,7 +23,6 @@ You must already have installed the command line [PX4 developer environment](../
 
 1. [Download and install VSCode](https://code.visualstudio.com/) (you will be offered the correct version for your OS).
 1. Open VSCode and add the PX4 source code:
-
    - Select _Open folder ..._ option on the welcome page (or using the menu: **File > Open Folder**):
 
      ![Open Folder](../../assets/toolchain/vscode/welcome_open_folder.jpg)
@@ -45,7 +44,6 @@ You must already have installed the command line [PX4 developer environment](../
    :::tip
    If the prompts disappear, click the little "alarm" icon on the right of the bottom blue bar.
    :::
-
    - If prompted to install a new version of _cmake_:
      - Say **No** (the right version is installed with the [PX4 developer environment](../dev_setup/dev_env.md)).
    - If prompted to sign into _github.com_ and add your credentials:
@@ -59,7 +57,6 @@ You must already have installed the command line [PX4 developer environment](../
 To build:
 
 1. Select your build target ("cmake build config"):
-
    - The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step).
      ![Select Cmake build target](../../assets/toolchain/vscode/cmake_build_config.jpg)
 
@@ -127,10 +124,10 @@ Once that is done you don't need to do anything else; the toolchain will automat
 
 This section includes guidance on setup and build errors.
 
-### Ubuntu 18.04: "Visual Studio Code is unable to watch for file changes in this large workspace"
+### "Visual Studio Code is unable to watch for file changes in this large workspace"
 
 This error surfaces on startup.
-On some systems, there is an upper-limit of 8192 file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
+On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
 
 You can increase this limit to avoid the error, at the expense of memory consumption.
 Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc).

docs/en/dronecan/ark_cannode.md

@@ -83,10 +83,10 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter
 
 On the ARK CANnode, you may need to configure the following parameters:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |
+| Parameter                                                                                                | Description                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination.                                                                                                         |
 
 ## LED Meanings
 

docs/en/dronecan/ark_flow.md

@@ -72,7 +72,6 @@ The Ark Flow will not boot if there is no SD card in the flight controller when
 
 ### Enable DroneCAN
 
-
 The steps are:
 
 - In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
@@ -111,10 +110,10 @@ When optical flow is the only source of horizontal position/velocity, then lower
 
 On the ARK Flow, you may need to configure the following parameters:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |
+| Parameter                                                                                                | Description                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination.                                                                                                         |
 
 ## LED Meanings
 

docs/en/dronecan/ark_flow_mr.md

@@ -1,6 +1,6 @@
 # ARK Flow MR
 
-ARK Flow MR ("Mid Range") is an open source [DroneCAN](index.md) [optical flow](../sensor/optical_flow.md), [distance sensor](../sensor/rangefinders.md), and IMU module. 
+ARK Flow MR ("Mid Range") is an open source [DroneCAN](index.md) [optical flow](../sensor/optical_flow.md), [distance sensor](../sensor/rangefinders.md), and IMU module.
 It is the next generation of the [Ark Flow](ark_flow.md), designed for mid-range applications.
 
 ![ARK Flow MR](../../assets/hardware/sensors/optical_flow/ark_flow_mr.jpg)
@@ -28,7 +28,7 @@ Order this module from:
 - Invensense IIM-42653 6-Axis IMU
 - Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
 - Pixhawk Standard Debug Connector (6 Pin JST SH)
-- Software controlled built-in CAN termination resistor via node parameter (CANNODE_TERM)  
+- Software controlled built-in CAN termination resistor via node parameter (CANNODE_TERM)
 - Small Form Factor
   - 3cm x 3cm x 1.4cm
 - LED Indicators
@@ -70,7 +70,6 @@ The Ark Flow MR will not boot if there is no SD card in the flight controller wh
 
 ### Enable DroneCAN
 
-
 The steps are:
 
 - In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
@@ -106,17 +105,16 @@ Set the following parameters in _QGroundControl_:
 
 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |
+| Parameter                                                                                                | Description                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination.                                                                                                         |
 
 ## LED Meanings
 
 - Blinking green is normal operation
 - Rapid blinking blue and red is firmware update
 
-
 If you see a solid red LED there is an error and you should check the following:
 
 - Make sure the flight controller has an SD card installed.

docs/en/dronecan/ark_gps.md

@@ -97,10 +97,10 @@ If the sensor is not centred within the vehicle you will also need to define sen
 
 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |
+| Parameter                                                                                                | Description                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                     |
 
 ## LED Meanings
 

docs/en/dronecan/ark_rtk_gps.md

@@ -91,10 +91,10 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 
 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |
+| Parameter                                                                                                | Description                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                     |
 
 ### Setting Up Rover and Fixed Base
 

docs/en/dronecan/holybro_h_rtk_zed_f9p_gps.md

@@ -100,7 +100,6 @@ In order to use dual ZED-F9P GPS heading in PX4, follow these steps:
 1. Components should be visible on the left panel.
    Click on the first `_Component_<ID#>` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_).
 1. Click on the _GPS_ subsection and configure the parameters listed below:
-
    - `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_.
      One F9P MUST be _rover_, and the other MUST be _base_.
    - `GPS_AUTO_CONFIG`: set to 1 for both the rover and base

docs/en/dronecan/index.md

@@ -281,6 +281,19 @@ PX4 DroneCAN parameters:
 Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
 Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
 
+### Lights
+
+PX4 can control LEDs via DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) messages.
+
+Configuration:
+
+1. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (0 disables). You might need to reopen the ground station to have parameters for new instances available.
+2. For each light slot (0 to NUM-1), set:
+   - `UAVCAN_LGT_IDx`: The `light_id` matching your peripheral.
+   - `UAVCAN_LGT_FNx`: `Status` for system status colours, or `Anti-collision` for white beacon.
+3. For anti-collision lights, [UAVCAN_LGT_ANTCL](../advanced_config/parameter_reference.md#UAVCAN_LGT_ANTCL) controls when they illuminate (off, armed, prearmed, always on).
+4. Reboot for any changes to take effect.
+
 ## QGC CANNODE Parameter Configuration
 
 QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.

docs/en/esc/ark_4in1_esc.md

@@ -32,12 +32,10 @@ Order this module from:
 - 10 Pin JST-SH Debug
 
 - Motor & Battery Connectors (with-connector version)
-
   - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
   - Four MR30 Motor Connectors
 
 - Dimensions (with connectors)
-
   - Size: 77.00mm x 42.00mm x 9.43mm
   - Mounting Pattern: 30.5mm
   - Weight: 24g

docs/en/flight_controller/airlink.md

@@ -26,7 +26,6 @@ AIRLink has two computers and integrated LTE Module:
 ## Specifications
 
 - **Sensors**
-
   - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss
   - GNSS, Rangefinders, Lidars, Optical Flow, Cameras
   - 3x-redundant IMU
@@ -34,7 +33,6 @@ AIRLink has two computers and integrated LTE Module:
   - Temperature stabilization
 
 - **Flight Controller**
-
   - STM32F7, ARM Cortex M7 with FPU, 216 MHz, 2MB Flash, 512 kB RAM
   - STM32F1, I/O co-processor
   - Ethernet, 10/100 Mbps
@@ -51,7 +49,6 @@ AIRLink has two computers and integrated LTE Module:
   - Safety switch / LED option
 
 - **AI Mission Computer**
-
   - 6-Core CPU: Dual-Core Cortex-A72 + Quad-Core Cortex-A53
   - GPU Mali-T864, OpenGL ES1.1/2.0/3.0/3.1
   - VPU with 4K VP8/9, 4K 10bits H265/H264 60fps Decoding
@@ -65,7 +62,6 @@ AIRLink has two computers and integrated LTE Module:
   - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera)
 
 - **LTE/5G Connectivity Module**
-
   - Up to 600 Mbps bandwidth
   - 5G sub-6 and mmWave, SA and NSA operations
   - 4G Cat 20, up to 7xCA, 256-QAM DL/UL, 2xCA UL
@@ -142,7 +138,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Left side](../../assets/flight_controller/airlink/airlink-interfaces-left.jpg)
 
 - **Left side interfaces:**
-
   - Power input with voltage & current monitoring
   - AI Mission Computer micro SD card
   - Flight Controller micro SD card
@@ -169,12 +164,12 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 - **RC Connector - JST GH SM06B-GHS-TB**
 
   | Pin number | Pin name | Direction | Voltage | Function    |
-  | ---------- | -------- | --------- | ------- | ----------- |
+  | ---------- | -------- | --------- | ------- | ----------- | --- | --- | ------ |
   | 1          | 5V       | OUT       | +5V     | 5V output   |
   | 2          | PPM_IN   | IN        | +3.3V   | PPM input   |
   | 3          | RSSI_IN  | IN        | +3.3V   | RSSI input  |
   | 4          | FAN_OUT  | OUT       | +5V     | Fan output  |
-  | 5          | SBUS_OUT | OUT       | +3.3V   | SBUS output | 6 | GND | Ground |
+  | 5          | SBUS_OUT | OUT       | +3.3V   | SBUS output | 6   | GND | Ground |
 
 * **FMU SD card - microSD**
 
@@ -183,7 +178,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Right side](../../assets/flight_controller/airlink/airlink-interfaces-right.jpg)
 
 - **Right side interfaces:**
-
   - Ethernet port with power output
   - Telemetry port
   - Second GPS port
@@ -247,7 +241,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Front side](../../assets/flight_controller/airlink/airlink-interfaces-front.jpg)
 
 - **Front side interfaces:**
-
   - Main GNSS and compass port
   - Main telemetry port
   - CSI camera input
@@ -305,7 +298,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Back side](../../assets/flight_controller/airlink/airlink-interfaces-back.jpg)
 
 - **Rear side interfaces:**
-
   - SBUS input
   - 16 PWM output channels
   - 2x LTE antenna sockets (MIMO)

docs/en/flight_controller/cuav_x25-evo.md

@@ -83,7 +83,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 
 ### Mechanical Data
 
- - Not provided.
+- Not provided.
 
 ## Purchase Channels
 
@@ -91,11 +91,11 @@ Order from [CUAV](https://store.cuav.net/).
 
 ## Assembly/Setup
 
- - Not provided.
+- Not provided.
 
 ## Pin Definitions
 
- - Not provided.
+- Not provided.
 
 ## Serial Port Mapping
 
@@ -112,11 +112,13 @@ Order from [CUAV](https://store.cuav.net/).
 ## Voltage Ratings
 
 The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
+
 - **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
 
 **Normal Operation Maximum Ratings**
 
 Under these conditions, all power sources will be used to power the system in the following order:
+
 1. **POWER C1** and **POWER C2** Inputs (10V to 18V)
 2. USB Input (4.75V to 5.25V)
 
@@ -143,14 +145,14 @@ make cuav_x25-evo_default
 
 The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
 
-| Pin      | Signal           | Volt  |
-| -------- | ---------------- | ----- |
-| 1 (red)  | 5V+              | +5V   |
-| 2 (blk)  | DEBUG TX (OUT)   | +3.3V |
-| 3 (blk)  | DEBUG RX (IN)    | +3.3V |
-| 4 (blk)  | FMU_SWDIO        | +3.3V |
-| 5 (blk)  | FMU_SWCLK        | +3.3V |
-| 6 (blk)  | GND              | GND   |
+| Pin     | Signal         | Volt  |
+| ------- | -------------- | ----- |
+| 1 (red) | 5V+            | +5V   |
+| 2 (blk) | DEBUG TX (OUT) | +3.3V |
+| 3 (blk) | DEBUG RX (IN)  | +3.3V |
+| 4 (blk) | FMU_SWDIO      | +3.3V |
+| 5 (blk) | FMU_SWCLK      | +3.3V |
+| 6 (blk) | GND            | GND   |
 
 ## Supported Platforms / Airframes
 

docs/en/flight_controller/gearup_airbrainh743.md

@@ -39,20 +39,20 @@ The pin order is different from the Pixhawk standard (compatible to the Betaflig
 
 Current UART configuration:
 
-| UART   | Device     | Function                     |
-| ------ | ---------- | ---------------------------- |
-| USART1 | /dev/ttyS0 | Console/Debug                |
-| USART2 | /dev/ttyS1 | RC Input                     |
-| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)               |
-| UART4  | /dev/ttyS3 | TEL1                         |
-| UART5  | /dev/ttyS4 | TEL2                         |
-| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry)         |
-| UART8  | /dev/ttyS6 | GPS1                         |
+| UART   | Device     | Function             |
+| ------ | ---------- | -------------------- |
+| USART1 | /dev/ttyS0 | Console/Debug        |
+| USART2 | /dev/ttyS1 | RC Input             |
+| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)       |
+| UART4  | /dev/ttyS3 | TEL1                 |
+| UART5  | /dev/ttyS4 | TEL2                 |
+| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry) |
+| UART8  | /dev/ttyS6 | GPS1                 |
 
 ### Motor/Servo Outputs
 
 | Connector | Pin | Function     |
-| ----------| ------------------ |
+| --------- | --- | ------------ |
 | ESC       | M1  | Motor 1      |
 | ESC       | M2  | Motor 2      |
 | ESC       | M3  | Motor 3      |

docs/en/flight_controller/kakuteh7-wing.md

@@ -1,4 +1,4 @@
-# Holybro Kakute H743-Wing 
+# Holybro Kakute H743-Wing
 
 <Badge type="tip" text="PX4 v1.16" />
 
@@ -9,7 +9,6 @@ Contact the [manufacturer](https://holybro.com/) for hardware support or complia
 
 The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is a fully featured flight controller specifically aimed at fixed-wing and VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports.
 
-
 ::: info
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::
@@ -20,7 +19,6 @@ The board can be bought from one of the following shops (for example):
 
 - [Holybro](https://holybro.com/products/kakute-h743-wing)
 
-
 ## Connectors and Pins
 
 | Pin              | Function                          | PX4 default                |
@@ -69,15 +67,15 @@ Firmware can be manually installed in any of the normal ways:
 
 ## Serial Port Mapping
 
-| UART   | Device     | Port                  | Default function |
-| ------ | ---------- | --------------------- | ---------------- |
-| USART1 | /dev/ttyS0 | GPS 1                 | GPS1             |
-| USART2 | /dev/ttyS1 | R2, T2                | GPS2             |
-| USART3 | /dev/ttyS2 | R3, T3                | TELEM1           |
-| UART5  | /dev/ttyS3 | R5, T5                | TELEM2           |
-| USART6 | /dev/ttyS4 | R6, (T6)              | RC input         |
-| UART7  | /dev/ttyS5 | R7, T7, RTS, CTS      | TELEM3           |
-| UART8  | /dev/ttyS6 | R8, T8                | Console          |
+| UART   | Device     | Port             | Default function |
+| ------ | ---------- | ---------------- | ---------------- |
+| USART1 | /dev/ttyS0 | GPS 1            | GPS1             |
+| USART2 | /dev/ttyS1 | R2, T2           | GPS2             |
+| USART3 | /dev/ttyS2 | R3, T3           | TELEM1           |
+| UART5  | /dev/ttyS3 | R5, T5           | TELEM2           |
+| USART6 | /dev/ttyS4 | R6, (T6)         | RC input         |
+| UART7  | /dev/ttyS5 | R7, T7, RTS, CTS | TELEM3           |
+| UART8  | /dev/ttyS6 | R8, T8           | Console          |
 
 ## Debug Port
 

docs/en/flight_controller/pixhawk_series.md

@@ -102,21 +102,21 @@ At very high level, the main differences are:
 
 ### FMUv6 Comparison
 
-| Feature            | **FMUv6X-RT**         | **FMUv6X**        | **FMUv6C**        |
-| ------------------ | --------------------- | ----------------- | ------------------ |
-| **FMU MCU**        | NXP i.MX RT1176       | STM32H753         | STM32H743V         |
-| **RAM**            | 2 MB                  | 1 MB              | 1 MB               |
-| **Flash**          | 64 MB Octal SPI       | 2 MB internal     | 2 MB internal      |
-| **IO MCU**         | STM32F103             | STM32F103         | STM32F103          |
-| **Secure Element** | NXP SE051             | NXP SE051         | Not supported      |
-| **PAB Standard**   | Supported             | Supported         | Not supported      |
-| **Ethernet**       | Supported             | Supported         | Not supported      |
-| **IMUs**           | 3×                    | 3×                | 2×                 |
-| **Barometers**     | 2×                    | 2×                | 1×                 |
-| **Magnetometer**   | 1×                    | 1×                | 1×                 |
-| **FMU PWM**        | 12×                   | 8×                | 8×                 |
-| **IO PWM**         | 8×                    | 8×                | 8×                 |
-| **CAN Bus**        | 3×                    | 2×                | 2×                 |
+| Feature            | **FMUv6X-RT**   | **FMUv6X**    | **FMUv6C**    |
+| ------------------ | --------------- | ------------- | ------------- |
+| **FMU MCU**        | NXP i.MX RT1176 | STM32H753     | STM32H743V    |
+| **RAM**            | 2 MB            | 1 MB          | 1 MB          |
+| **Flash**          | 64 MB Octal SPI | 2 MB internal | 2 MB internal |
+| **IO MCU**         | STM32F103       | STM32F103     | STM32F103     |
+| **Secure Element** | NXP SE051       | NXP SE051     | Not supported |
+| **PAB Standard**   | Supported       | Supported     | Not supported |
+| **Ethernet**       | Supported       | Supported     | Not supported |
+| **IMUs**           | 3×              | 3×            | 2×            |
+| **Barometers**     | 2×              | 2×            | 1×            |
+| **Magnetometer**   | 1×              | 1×            | 1×            |
+| **FMU PWM**        | 12×             | 8×            | 8×            |
+| **IO PWM**         | 8×              | 8×            | 8×            |
+| **CAN Bus**        | 3×              | 2×            | 2×            |
 
 ### Licensing and Trademarks
 

docs/en/flight_controller/svehicle_e2.md

@@ -63,6 +63,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 Order from [S-Vehicle](https://svehicle.cn/).
 
 ## Radio Control
+
 A Radio Control (RC) 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 and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).

docs/en/flight_modes/offboard.md

@@ -228,7 +228,7 @@ The following MAVLink messages and their particular fields and field values are
 
     - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller).
 
-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
 
 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
   - The following input combinations are supported:
@@ -271,7 +271,7 @@ The following MAVLink messages and their particular fields and field values are
         - 12288: Loiter setpoint (fly a circle centred on setpoint).
         - 16384: Idle setpoint (zero throttle, zero roll / pitch).
 
-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
 
 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
   - The following input combinations are supported:
@@ -280,7 +280,29 @@ The following MAVLink messages and their particular fields and field values are
 
 ### Rover
 
-Rover does not support a MAVLink offboard API (ROS2 is supported).
+Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below.
+These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes.
+For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2.
+
+::: info
+Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages).
+:::
+
+- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
+  - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules).
+  - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
+  - `yaw`/`yaw_rate`:
+    - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction).
+    - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`.
+  - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules.
+
+- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
+  - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components).
+  - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
+
+- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
+  - Not supported for rover offboard control.
 
 ## Offboard Parameters
 

docs/en/flight_modes_fw/index.md

@@ -18,7 +18,7 @@ Manual-Easy:
 - [Altitude](../flight_modes_fw/altitude.md) — Easiest and safest _non-GPS_ manual mode.
   The only difference compared to _Position mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
 - Altitude Cruise mode — It behaves exactly like _Altitude mode_, with the only difference being that the manual control failsafe can be disabled. This is done by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, airspeed and heading (by leveling out the roll angle) are kept until the manual control link is regained or the mode is exited.
-It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
+  It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
 - [Stabilized mode](../flight_modes_fw/stabilized.md) — The pilot directly commands the roll and pitch angle and the vehicle keeps the setpoint until the sticks are moved again.
   Thrust is directly set by the pilot.
   Turn coordination is still handled by the controller.
@@ -35,6 +35,7 @@ Manual-Acrobatic
 Autonomous:
 All autonomous flight modes require a valid position estimate (GPS).
 Airspeed is actively controlled if an airspeed sensor is installed in any autonomous flight mode.
+
 - [Hold](../flight_modes_fw/hold.md) — Vehicle circles around the GPS hold position at the current altitude.
   The mode can be used to pause a mission or to help regain control of a vehicle in an emergency.
   It can be activated with a pre-programmed RC switch or the QGroundControl Pause button.

docs/en/flight_modes_fw/land.md

@@ -24,6 +24,7 @@ Where possible, instead use [Return mode](../flight_modes_fw/return.md) with a p
 - The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode.
 
 <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
+
 :::
 
 ## Technical Summary
@@ -40,12 +41,12 @@ The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/
 
 Land mode behaviour can be configured using the parameters below.
 
-| Parameter                                                                                             | Description                                                                  |
-| ----------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
-| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
-| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG)             | The flight path angle setpoint.                                              |
-| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD)    | The airspeed setpoint.                                                       |
-| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC)    | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN.
+| Parameter                                                                                                   | Description                                                                                                              |
+| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ |
+| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)       | The loiter radius that the controller tracks for the whole landing sequence.                                             |
+| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG)                   | The flight path angle setpoint.                                                                                          |
+| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD)          | The airspeed setpoint.                                                                                                   |
+| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN. |
 
 ## See Also
 

docs/en/flight_modes_fw/mission.md

@@ -28,7 +28,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:
 
 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
-
    - If flying the vehicle will loiter.
    - If landed the vehicle will "wait".
 
@@ -163,9 +162,9 @@ Mission Items:
 - [MAV_CMD_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
 - [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
 - [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
-   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
-   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
-     Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.
+  - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+  - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
+    Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.
 
 GeoFence Definitions
 

docs/en/flight_modes_fw/takeoff.md

@@ -85,6 +85,7 @@ The vehicle always respects normal FW max/min throttle settings during takeoff (
 In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
 On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
 Once it reaches [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) it will automatically switch to [Hold mode](../flight_modes_fw/hold.md) and loiter.
+It is possible to delay the activation of the motors and control surfaces separately, see parameters [FW_LAUN_MOT_DEL](#FW_LAUN_MOT_DEL), [FW_LAUN_CS_LK_DY](#FW_LAUN_CS_LK_DY) and [CA_CS_LAUN_LK](#CA_CS_LAUN_LK). The later is also exposed in the actuator configuration page under the advanced view.
 
 All RC stick movement is ignored during the full takeoff sequence.
 
@@ -105,6 +106,8 @@ The _launch detector_ is affected by the following parameters:
 | <a id="FW_LAUN_AC_THLD"></a>[FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD)    | Acceleration threshold (acceleration in body-forward direction must be above this value) |
 | <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T)             | Trigger time (acceleration must be above threshold for this amount of seconds)           |
 | <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL)    | Delay from launch detection to motor spin up                                             |
+| <a id="FW_LAUN_CS_LK_DY"></a>[FW_LAUN_CS_LK_DY](../advanced_config/parameter_reference.md#FW_LAUN_CS_LK_DY) | Delay from launch detection to unlocking the control surfaces                            |
+| <a id="CA_CS_LAUN_LK"></a>[CA_CS_LAUN_LK](../advanced_config/parameter_reference.md#CA_CS_LAUN_LK)          | Bitmask to select which control surfaces are to be locked during launch                  |
 
 ## Runway Takeoff {#runway_launch}
 

docs/en/flight_modes_mc/altitude.md

@@ -43,8 +43,8 @@ The horizontal position of the vehicle can move due to wind (or pre-existing mom
 
 The mode is affected by the following parameters:
 
-| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                         |
-| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                                                                                   |
-| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                                                                                  |
-| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                              |
+| Parameter                                                                                                   | Description                                                                                                                                                                                                                            |
+| ----------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                      |
+| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                     |
+| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |

docs/en/flight_modes_mc/follow_me.md

@@ -115,7 +115,6 @@ The altitude control mode determine whether the vehicle altitude is relative to
   The relative distance to the drone to the target will change as you ascend and descend (use with care in hilly terrain).
 
 - `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor.
-
   - If the vehicle does not have a distance sensor following will be identical to `2D tracking`.
   - Distance sensors aren't always accurate and vehicles may be "jumpy" when flying in this mode.
   - Note that that height is relative to the ground underneath the vehicle, not the follow target.
@@ -163,7 +162,6 @@ The follow-me behavior can be configured using the following parameters:
 
    <lite-youtube videoid="o3DhvCL_M1E" title="YUN0012 almostCinematic"/>
 
-
    This video demonstrates a Google-Earth view perspective, by adjusting the height to around 50 meters (high), distance to 1 meter (close). Which allows a perspective as shot from a satellite.
 
 ## Known Issues

docs/en/flight_modes_mc/mission.md

@@ -30,7 +30,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:
 
 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
-
    - If flying the vehicle will hold.
    - If landed the vehicle will "wait".
 
@@ -167,8 +166,8 @@ Mission Items:
   - `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored.
     Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.13: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
 - [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
-   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
-   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0) .
+  - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+  - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0) .
 
 GeoFence Definitions
 

docs/en/flight_modes_vtol/return.md

@@ -47,7 +47,6 @@ If returning as a fixed-wing, the vehicle:
   A mission landing pattern for a VTOL vehicle consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND).
 
 - If the destination is a rally point or home it will:
-
   - Loiter/spiral down to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT).
   - Circle for a short time, as defined by [RTL_LAND_DELAY](#RTL_LAND_DELAY).
   - Yaw towards the destination (centre of loiter).