fix(rc): warn and deny invalid Spektrum bind sub-type

Previously, an unrecognized param2 sub-type would silently leave
dsm_bind_pulses at 0 and return the generic UNSUPPORTED ACK. Add an
explicit else-branch that logs a PX4_WARN and returns DENIED so users
get clear feedback in QGC.

.clang-tidy

@@ -105,6 +105,79 @@ 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,
+                  -performance-enum-size,
+                  -readability-avoid-nested-conditional-operator,
+                  -cppcoreguidelines-prefer-member-initializer,
+                  -cppcoreguidelines-explicit-virtual-functions,
+                  -readability-convert-member-functions-to-static,
+                  -readability-make-member-function-const,
+                  -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-multi-level-implicit-pointer-conversion,
+                  -bugprone-signed-char-misuse,
+                  -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-redundant-casting,
+                  -readability-redundant-member-init,
+                  -readability-reference-to-constructed-temporary,
+                  -readability-simplify-boolean-expr,
+                  -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/instructions/docs.en.instructions.md

@@ -21,8 +21,10 @@ applyTo: "docs/en/**"
   - Do not apply bold or italic styling inside a heading.
 - **Formatting:** 
   - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
   - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+    Backticks are optional for hyperlinked CLI commands and tool names.
+  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
+    Emphasis is optional for hyperlinked applications.
 - **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
 
 ## Linking & Navigation

.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/commit_checks.yml

@@ -0,0 +1,148 @@
+name: Commit Quality
+
+on:
+  pull_request:
+    types: [opened, edited, synchronize, reopened]
+
+permissions:
+  contents: read
+  pull-requests: write
+  issues: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  PR_NUMBER: ${{ github.event.pull_request.number }}
+  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
+
+jobs:
+  pr-title:
+    name: PR Title
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check PR title
+        id: check
+        run: |
+          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
+          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
+            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
+          else
+            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
+          fi
+
+      - name: Result
+        if: steps.check.outputs.exit_code != '0'
+        run: |
+          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
+          exit 1
+
+  commit-messages:
+    name: Commit Messages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check commit messages
+        id: check
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh api \
+            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
+            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
+          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
+          # Check for warnings (non-empty markdown on exit 0)
+          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
+            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
+          else
+            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
+          fi
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
+          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
+          else
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
+          fi
+
+      - name: Result
+        if: steps.check.outputs.exit_code != '0'
+        run: |
+          echo "::error::Commit message errors found. See the PR comment for details."
+          exit 1
+
+  pr-body:
+    name: PR Description
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        if: env.IS_FORK == 'false'
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check PR body
+        id: check
+        env:
+          PR_BODY: ${{ github.event.pull_request.body }}
+        run: |
+          message=""
+          if [ -z "$PR_BODY" ]; then
+            message="PR description is empty. Please add a summary of the changes."
+            echo "::warning::PR description is empty."
+          else
+            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
+            if [ -z "$cleaned" ]; then
+              message="PR description contains only template comments. Please fill in the details."
+              echo "::warning::PR description contains only template comments."
+            fi
+          fi
+          echo "message=$message" >> "$GITHUB_OUTPUT"
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ -n "${{ steps.check.outputs.message }}" ]; then
+            printf '%s\n' \
+              "## PR Description (advisory)" \
+              "" \
+              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
+              "" \
+              "${{ steps.check.outputs.message }}" \
+              "" \
+              "A good PR description helps reviewers understand what changed and why." \
+              "" \
+              "---" \
+              "*This comment will be automatically removed once the issue is resolved.*" \
+            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
+          else
+            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
+          fi

.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/dev_container.yml

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

.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_crowdin_download.yml

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

.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/

.gitmodules

@@ -109,3 +109,9 @@
 [submodule "src/lib/rl_tools/rl_tools"]
 	path = src/lib/rl_tools/rl_tools
 	url = https://github.com/rl-tools/rl-tools.git
+[submodule "libmodal-json"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
+[submodule "libmodal-pipe"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git

.vscode/cmake-variants.yaml

@@ -336,6 +336,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x25-evo_default
+    cuav_x25-super_default:
+      short: cuav_x25-super
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_x25-super_default
     cubepilot_cubeorange_test:
       short: cubepilot_cubeorange
       buildType: MinSizeRel

CITATION.cff

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

CLAUDE.md

@@ -1,467 +0,0 @@
-# Bitbang DShot Prototype - Design Specification
-
-## Goal
-
-Implement bitbang DShot (including bidirectional) as an alternative to the existing DMA burst/capture approach in the STM32H7 platform layer. The implementation is generic - it works on any STM32H7 board by dynamically discovering port/pin groupings from `timer_io_channels[]` at init time. The **ARK FPV** board is the test target.
-
-Bitbang DShot uses a pacer timer to trigger DMA transfers to/from GPIO registers (BSRR for output, IDR for input), instead of using timer PWM channels with DMA burst to CCR registers. This decouples motor signal generation from timer channel hardware and enables simultaneous capture of all motors on a GPIO port (eliminating round-robin).
-
-## Key Advantage Over Current Approach
-
-The current BDShot implementation captures **one motor per timer per cycle** (round-robin) because each capture channel needs its own DMA stream. At 200Hz update rate, each motor gets RPM updates at only 50Hz (200/4).
-
-Bitbang capture reads the entire GPIO IDR register on every sample, capturing **all motors on a port simultaneously**. Every cycle produces RPM data for every motor - a 4x improvement in per-motor RPM update rate.
-
-## Architecture Overview
-
-### Current (DMA Burst/Capture)
-```
-Timer (PWM mode) ──► CCR1-CCR4 (via DMA burst to DMAR) ──► Pin AF output
-Timer (Capture mode) ──► CCR edge timestamps (via per-channel DMA) ──► one channel at a time
-```
-
-### Bitbang
-```
-Timer (counter mode) ──► Update event triggers DMA ──► writes BSRR words to GPIO port
-Timer (counter mode) ──► Update event triggers DMA ──► reads IDR from GPIO port (all pins)
-```
-
-## Port Group Discovery
-
-At init time, the implementation iterates `timer_io_channels[]` and groups channels by GPIO port. The port and pin are extracted from the existing `gpio_out` field using NuttX bit encoding:
-
-```c
-#include <stm32_gpio.h>  // GPIO_PORT_MASK, GPIO_PORT_SHIFT, GPIO_PIN_MASK, GPIO_PIN_SHIFT
-
-// Extract port index and pin number from timer_io_channels[ch].gpio_out
-uint8_t port_index = (gpio_out & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;  // 0=A, 1=B, ... 7=H, 8=I
-uint8_t pin_number = (gpio_out & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;    // 0-15
-
-// Get GPIO peripheral base address from NuttX lookup table
-uint32_t gpio_base = g_gpiobase[port_index];  // e.g., STM32_GPIOH_BASE = 0x58021C00
-```
-
-### Port Group Init Algorithm
-
-```c
-// Pseudocode for up_dshot_init()
-for (uint8_t ch = 0; ch < MAX_TIMER_IO_CHANNELS; ch++) {
-    if (!(channel_mask & (1 << ch))) continue;
-
-    uint32_t gpio_out = timer_io_channels[ch].gpio_out;
-    uint8_t port_index = (gpio_out & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
-    uint8_t pin_num = (gpio_out & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
-    uint8_t timer_index = timer_io_channels[ch].timer_index;
-
-    // Find or create port group for this GPIO port
-    port_group_t *pg = find_or_create_port_group(port_index);
-    pg->gpio_base = g_gpiobase[port_index];
-    pg->pin_mask |= (1 << pin_num);
-    pg->moder_mask |= (3 << (pin_num * 2));
-    pg->moder_output |= (1 << (pin_num * 2));  // 01 = output mode
-    pg->pin_numbers[pg->pin_count] = pin_num;
-    pg->output_channels[pg->pin_count] = ch;
-    pg->pin_count++;
-
-    // Assign a pacer timer - use the first timer associated with any motor on this port.
-    // On H7 with DMAMUX the timer just needs a TIMx_UP DMA mapping; any timer works.
-    if (pg->timer_index == UINT8_MAX) {
-        pg->timer_index = timer_index;
-    }
-}
-```
-
-This works on any board. Motors on the same GPIO port share a port group regardless of which timer they were originally assigned to.
-
-### ARK FPV Example (test target)
-
-On the ARK FPV, the above algorithm produces two port groups:
-
-| Motor   | GPIO  | Pin | Port Group | Pacer Timer |
-|---------|-------|-----|------------|-------------|
-| FMU_CH1 | PI0   | 0   | Port I     | TIM5 (first timer seen on Port I) |
-| FMU_CH2 | PH12  | 12  | Port H     | TIM5        |
-| FMU_CH3 | PH11  | 11  | Port H     | TIM5        |
-| FMU_CH4 | PH10  | 10  | Port H     | TIM5        |
-| FMU_CH5 | PI5   | 5   | Port I     | (already assigned) |
-| FMU_CH6 | PI6   | 6   | Port I     | (already assigned) |
-| FMU_CH7 | PI7   | 7   | Port I     | (already assigned) |
-| FMU_CH8 | PI2   | 2   | Port I     | (already assigned) |
-
-- **Port H group**: 3 motors, pin_mask=0x1C00, pacer=TIM5
-- **Port I group**: 5 motors, pin_mask=0xE5, pacer=TIM5 (first timer found; could also be TIM8)
-
-Note: The pacer timer just needs a valid `dma_map_up` entry. The first timer encountered for a port group is used. Since DMAMUX on H7 can route any timer update event to any DMA stream, any timer with DMA configured works as a pacer.
-
-## GPIO Registers (STM32H7)
-
-```
-Offset 0x00: MODER   - Mode register (2 bits/pin: 00=input, 01=output, 10=AF, 11=analog)
-Offset 0x10: IDR     - Input data register (read-only, bits [15:0] = pin state)
-Offset 0x14: ODR     - Output data register
-Offset 0x18: BSRR    - Bit set/reset register (write-only, atomic)
-                        Bits [15:0]  = SET (writing 1 sets pin HIGH)
-                        Bits [31:16] = RESET (writing 1 sets pin LOW)
-                        Writing 0 = no change
-```
-
-GPIO base addresses are looked up at runtime via `g_gpiobase[port_index]` (NuttX global array).
-
-### MODER Manipulation
-
-Pin masks and MODER masks are computed dynamically during port group init from the discovered pin numbers:
-
-```c
-// For each pin in the port group:
-pg->pin_mask |= (1 << pin_num);                 // for BSRR set/reset
-pg->moder_mask |= (3 << (pin_num * 2));         // which MODER bits to touch
-pg->moder_output |= (1 << (pin_num * 2));       // 01 = general purpose output
-// moder_input is always 0 (clear the bits = input mode)
-```
-
-To switch to output: `modifyreg32(gpio_base + STM32_GPIO_MODER_OFFSET, pg->moder_mask, pg->moder_output)`
-To switch to input:  `modifyreg32(gpio_base + STM32_GPIO_MODER_OFFSET, pg->moder_mask, 0)`
-
-## DMA Configuration
-
-The DMA request source (DMAMUX) stays the same as current - TIMx_UP triggers each DMA transfer. The only change is the **peripheral address** and **transfer direction**.
-
-### Output DMA (Memory → GPIO BSRR)
-```c
-// Peripheral address is GPIO BSRR instead of TIM DMAR
-px4_stm32_dmasetup(pg->dma_handle,
-    pg->gpio_base + STM32_GPIO_BSRR_OFFSET,       // e.g., 0x58021C18 for Port H
-    (uint32_t)bsrr_output_buffer[pg_index],
-    SUBPERIODS_PER_BIT * DSHOT_FRAME_BITS,          // 20 * 16 = 320 transfers (+ 1 trailing zero)
-    DMA_SCR_PRIHI | DMA_SCR_MSIZE_32BITS | DMA_SCR_PSIZE_32BITS |
-    DMA_SCR_MINC | DMA_SCR_DIR_M2P | DMA_SCR_TCIE);
-```
-
-### Input DMA (GPIO IDR → Memory)
-```c
-px4_stm32_dmasetup(pg->dma_handle,
-    pg->gpio_base + STM32_GPIO_IDR_OFFSET,          // e.g., 0x58021C10 for Port H
-    (uint32_t)idr_capture_buffer[pg_index],
-    CAPTURE_SAMPLE_COUNT,                            // enough samples for GCR frame (~512)
-    DMA_SCR_PRIHI | DMA_SCR_MSIZE_16BITS | DMA_SCR_PSIZE_16BITS |
-    DMA_SCR_MINC | DMA_SCR_DIR_P2M | DMA_SCR_TCIE);
-```
-
-### DMAMUX Routing (unchanged)
-
-Each port group uses its pacer timer's `dma_map_up` for DMAMUX routing:
-```c
-pg->dma_handle = stm32_dmachannel(io_timers[pg->timer_index].dshot.dma_map_up);
-```
-
-The DMAMUX determines **when** the DMA fires (on timer update events). The DMA stream registers determine **what** gets transferred (BSRR/IDR addresses). These are independent - the DMA request source and transfer target don't need to be the same peripheral.
-
-## Timer Configuration
-
-Each port group's pacer timer is configured as a simple upcounter. No PWM output, no capture-compare - just generate periodic update events.
-
-```c
-// Same prescaler as current DShot implementation
-rPSC(timer) = ((timer_clock_freq / dshot_pwm_freq) / DSHOT_MOTOR_PWM_BIT_WIDTH) - 1;
-rARR(timer) = DSHOT_MOTOR_PWM_BIT_WIDTH - 1;  // 19 (20 counts per sub-period)
-// Enable update DMA request
-rDIER(timer) |= ATIM_DIER_UDE;
-// Enable counter
-rCR1(timer) |= GTIM_CR1_CEN;
-```
-
-With `DSHOT_MOTOR_PWM_BIT_WIDTH = 20`, each timer update fires DMA once per sub-period. One DShot bit = 20 sub-periods.
-
-## Output Buffer Layout (BSRR Words)
-
-Each DShot frame is 16 bits. Each bit has 20 sub-periods. The buffer contains one 32-bit BSRR word per sub-period.
-
-**DShot bit waveform (sub-periods 0-19):**
-- Bit '1' (70% duty): SET at sub-period 0, RESET at sub-period 14, zeros elsewhere
-- Bit '0' (35% duty): SET at sub-period 0, RESET at sub-period 7, zeros elsewhere
-
-**Buffer structure per port:**
-```
-[bit0_subperiod0] [bit0_subperiod1] ... [bit0_subperiod19]
-[bit1_subperiod0] [bit1_subperiod1] ... [bit1_subperiod19]
-...
-[bit15_subperiod0] [bit15_subperiod1] ... [bit15_subperiod19]
-[trailing_zero]  ← ensures all pins return LOW at frame end
-```
-
-Total: (16 * 20) + 1 = 321 BSRR words = 1284 bytes per port.
-
-**Encoding example** (3 motors on pins 10, 11, 12 of some port, sending bits 1, 0, 1):
-```
-Sub-period 0:  BSRR = (1<<10) | (1<<11) | (1<<12)  = 0x00001C00  (SET all three)
-Sub-period 7:  BSRR = (1<<(11+16))                  = 0x00080000  (RESET pin11 only - it's '0')
-Sub-period 14: BSRR = (1<<(10+16)) | (1<<(12+16))   = 0x14000000  (RESET pin10, pin12 - they're '1')
-All other sub-periods: BSRR = 0x00000000 (no change)
-```
-
-### Motor Data Set Function
-
-The port group index and pin number for each output channel are determined at init time and stored in a lookup table. No per-frame discovery needed.
-
-```c
-// Populated during up_dshot_init() from timer_io_channels[ch].gpio_out
-static uint8_t _channel_to_port_group[MAX_TIMER_IO_CHANNELS];
-static uint8_t _channel_to_pin[MAX_TIMER_IO_CHANNELS];
-
-void dshot_motor_data_set(uint8_t output_channel, uint16_t packet)
-{
-    uint8_t pg_index = _channel_to_port_group[output_channel];
-    uint8_t pin_num = _channel_to_pin[output_channel];
-    uint32_t set_mask = (1 << pin_num);
-    uint32_t reset_mask = (1 << (pin_num + 16));
-
-    uint32_t *buffer = bsrr_output_buffer[pg_index];
-
-    for (int bit = 0; bit < 16; bit++) {
-        int base = bit * SUBPERIODS_PER_BIT;
-        bool is_one = (packet >> (15 - bit)) & 1;  // MSB first
-        int reset_point = is_one ? MOTOR_PWM_BIT_1 : MOTOR_PWM_BIT_0;
-
-        buffer[base + 0] |= set_mask;               // SET at start of bit
-        buffer[base + reset_point] |= reset_mask;    // RESET at duty cycle end
-    }
-}
-```
-
-Note: Buffer must be zeroed before building each frame, then all motors OR their masks into the shared per-port buffer.
-
-## Capture Buffer Layout (IDR Samples)
-
-After transmitting, GPIO pins switch to input mode. DMA samples the IDR register at the same timer rate (20 sub-periods per DShot bit period).
-
-**GCR response timing:**
-- GCR bit rate = DShot bit rate * 5/4 (750kHz for DShot600)
-- GCR bit period = 1.333us
-- Sample period = 83.3ns (at DShot600 with 20 sub-periods)
-- Samples per GCR bit = ~16 (heavy oversampling, good for edge detection)
-- GCR frame = 21 bits = ~336 samples minimum
-- Use 400-512 samples to be safe
-
-**Buffer:** Array of uint16_t, one per IDR sample.
-```
-[idr_sample_0] [idr_sample_1] ... [idr_sample_N]
-```
-
-Each sample contains all 16 pins of the port. Extract per-motor bitstream by masking:
-```c
-bool pin_state = (idr_sample >> pin_num) & 1;
-```
-
-### Capture Processing
-
-Convert IDR samples to edge intervals, then reuse existing GCR decoder:
-
-```c
-void process_bitbang_capture(uint8_t port_group, uint8_t pin_num, uint8_t output_channel)
-{
-    uint16_t *buffer = idr_capture_buffer[port_group];
-    uint32_t intervals[32];
-    unsigned interval_count = 0;
-
-    // Extract edges from IDR samples
-    bool prev_state = (buffer[0] >> pin_num) & 1;
-    unsigned last_edge = 0;
-
-    for (unsigned i = 1; i < CAPTURE_SAMPLE_COUNT; i++) {
-        bool state = (buffer[i] >> pin_num) & 1;
-        if (state != prev_state) {
-            // Edge detected
-            if (last_edge > 0 && interval_count < 32) {
-                intervals[interval_count++] = i - last_edge;
-            }
-            last_edge = i;
-            prev_state = state;
-        }
-    }
-
-    // Now decode using same GCR logic as existing code
-    // intervals[] contains sample counts between edges
-    // (equivalent to CCR timestamp differences in current impl)
-}
-```
-
-The existing `convert_edge_intervals_to_bitstream()` logic (adaptive base interval, bit counting, RLL/GCR decode, CRC check) can be reused with minor adaptation since the interval units are now sample counts instead of timer ticks. The ratio math is identical.
-
-## Sequence of Operations
-
-### Per-cycle flow (called from `up_dshot_trigger()`):
-
-```
-1. TRANSMIT PHASE
-   a. Zero the BSRR output buffers for all port groups
-   b. Build BSRR buffers (call dshot_motor_data_set for each motor)
-      - Each motor ORs its pin masks into its port group's shared buffer
-   c. Configure GPIO pins as output (MODER = 01) for each port group
-   d. Flush dcache on output buffers
-   e. For each port group:
-      - Allocate DMA via stm32_dmachannel(io_timers[pg->timer_index].dshot.dma_map_up)
-      - Setup DMA: memory→BSRR, 32-bit, 321 transfers
-      - Enable timer UDE (update DMA request)
-      - Start DMA with burst_finished_callback
-      - Enable timer counter
-   f. ~27us later (16 bits × 20 sub-periods × 83.3ns), DMA complete fires
-
-2. TRANSITION PHASE (in burst_finished_callback, per port group)
-   a. Stop DMA, free DMA handle
-   b. Disable timer
-   c. Switch GPIO pins to input mode (MODER = 00)
-   d. Schedule capture start via hrt_call_after(30us)
-
-3. CAPTURE PHASE (in capture_start_callback, per port group)
-   a. Zero capture buffer for this port group
-   b. Flush dcache
-   c. Allocate DMA via stm32_dmachannel(dma_map_up) [reuse same DMAMUX route]
-   d. Setup DMA: IDR→memory, 16-bit, 512 transfers
-   e. Enable timer UDE, start DMA, enable timer
-   f. Schedule capture_complete via hrt_call_after(frame_time + margin)
-
-4. PROCESSING PHASE (in capture_complete_callback, per port group)
-   a. Stop DMA, free DMA handle
-   b. Disable timer
-   c. Invalidate dcache on capture buffer
-   d. For EACH motor on the port (not round-robin!):
-      - Extract per-pin bitstream from IDR samples using pin_numbers[]
-      - Detect edges, compute intervals
-      - Decode GCR → eRPM/EDT
-   e. Switch GPIO back to output mode (MODER = 01)
-   f. Mark port group cycle complete
-
-```
-
-## File Structure
-
-### New file: `platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot_bitbang.c`
-
-Implements the same `up_dshot_*` API as `dshot.c`:
-- `up_dshot_init()` - Initialize port groups, allocate DMA, configure timers
-- `up_dshot_trigger()` - Start the TX→wait→RX→process cycle
-- `dshot_motor_data_set()` - Build BSRR words into port group buffers
-- `up_dshot_arm()` - Enable/disable GPIO output
-- `up_bdshot_get_erpm()` - Return captured eRPM (unchanged)
-- `up_bdshot_channel_online()` - Return online status (unchanged)
-- `up_bdshot_status()` - Print diagnostics
-
-### New/modified: `platforms/nuttx/src/px4/stm/stm32_common/dshot/CMakeLists.txt`
-
-Add build option to select `dshot.c` vs `dshot_bitbang.c`.
-
-### Board-level config
-
-No board-specific changes needed. The bitbang implementation reads the same `io_timers[]` and `timer_io_channels[]` structures that every board already defines. It extracts GPIO port/pin from `timer_io_channels[].gpio_out` (which `initIOTimerChannel()` already populates with `getGPIOPort(pin.port) | getGPIOPin(pin.pin)`) and the DMA mapping from `io_timers[].dshot.dma_map_up`.
-
-A board opts into bitbang mode via a build flag or Kconfig option that selects `dshot_bitbang.c` instead of `dshot.c`.
-
-### What stays the same
-- `drv_dshot.h` API - no changes
-- `DShot.cpp` / `DShot.h` (the driver module) - no changes
-- `DShotTelemetry.cpp` / `DShotTelemetry.h` - no changes
-- GCR decoding logic - copied/adapted from dshot.c but the core algorithm is identical
-- All higher-level consumers of eRPM data
-
-## Data Structures
-
-```c
-#define MAX_PORT_GROUPS 4  // Max distinct GPIO ports with motor pins (typically 1-3)
-#define MAX_PINS_PER_GROUP 8
-
-// Port group: one per GPIO port that has motor pins. Built dynamically at init.
-typedef struct port_group_t {
-    uint32_t gpio_base;                          // GPIO port base address (from g_gpiobase[])
-    uint8_t  port_index;                         // NuttX port index (0=A, 7=H, 8=I, etc.)
-    uint32_t pin_mask;                           // Bitmask of motor pins on this port
-    uint32_t moder_mask;                         // MODER register mask for mode switching
-    uint32_t moder_output;                       // MODER value for output mode (01 per pin)
-    uint8_t  pin_count;                          // Number of motor pins on this port
-    uint8_t  pin_numbers[MAX_PINS_PER_GROUP];    // Pin numbers (0-15)
-    uint8_t  output_channels[MAX_PINS_PER_GROUP]; // Corresponding output channel indices
-    uint8_t  timer_index;                        // Pacer timer index (into io_timers[])
-    DMA_HANDLE dma_handle;                       // DMA stream handle (reused between TX/RX)
-    bool     bidirectional;                      // BDShot enabled for this group
-    bool     cycle_complete;                     // Ready for next trigger
-} port_group_t;
-
-static port_group_t _port_groups[MAX_PORT_GROUPS] = {};
-static uint8_t _num_port_groups = 0;
-
-// Per-channel lookup tables (populated at init from timer_io_channels[].gpio_out)
-static uint8_t _channel_to_port_group[MAX_TIMER_IO_CHANNELS];
-static uint8_t _channel_to_pin[MAX_TIMER_IO_CHANNELS];
-```
-
-## DMA Resource Usage Comparison
-
-### Current (DMA burst + capture)
-- **Output**: 1 DMA stream per timer = N_timers streams
-- **Capture**: 1 DMA stream per captured channel (round-robin, 1 at a time per timer)
-- DMA streams are freed/reallocated between burst and capture phases
-
-### Bitbang
-- **Output**: 1 DMA stream per port group = N_ports streams
-- **Capture**: 1 DMA stream per port group (same streams, reconfigured)
-- DMA streams freed/reallocated between phases (same pattern as current)
-
-DMA resource usage is equivalent (typically N_timers == N_ports or close). The DMAMUX routing uses the same timer update event mappings.
-
-## Memory Usage
-
-### Current
-- Output: ~272 bytes per timer (4 channels * 17 words * 4 bytes, cache-aligned)
-- Capture: ~256 bytes per timer (4 channels * 32 samples * 2 bytes)
-
-### Bitbang
-- Output: ~1284 bytes per port group (321 words * 4 bytes, cache-aligned)
-- Capture: ~1024 bytes per port group (512 samples * 2 bytes, cache-aligned)
-- Scales with number of port groups, not number of motors
-- Higher per-group cost, but acceptable for H7 (1MB+ SRAM)
-
-## Open Questions / Risks
-
-1. **GPIO output speed**: BSRR writes through AHB4 bus on H7. At 83.3ns per DMA transfer (12MHz), is there enough bus bandwidth? Should be fine - AHB4 runs at 240MHz, and BSRR writes are single-cycle.
-
-2. **DMA priority vs other peripherals**: SPI1 (IMU) is on DMA1. Timer DMA is already high priority. No change expected.
-
-3. **GPIO input threshold**: When reading IDR for bidir, the input threshold depends on GPIO input configuration (Schmitt trigger, pull-up/down). The current capture approach uses timer input capture which has different input characteristics. May need to configure GPIO pull-up to match idle-high behavior.
-
-4. **Signal integrity**: Timer PWM output has precise edge timing locked to the timer clock. BSRR writes via DMA may have slight jitter due to bus arbitration. This is likely negligible (< 10ns on H7) but should be verified.
-
-5. **OTYPER configuration**: For bidirectional DShot, the pin needs to be open-drain (or at least not actively driven when in input mode). The MODER switch to input (00) handles this, but verify that switching MODER during/after a frame doesn't cause glitches.
-
-6. **Cache coherency**: BSRR output buffers need dcache clean before DMA. IDR capture buffers need dcache invalidate after DMA. Same pattern as current code.
-
-## Implementation Order
-
-1. **Port group initialization**: Parse `timer_io_channels[]` to build `port_group_t` structures grouped by GPIO port instead of timer
-2. **Output-only DShot**: Implement BSRR buffer building and DMA output. Verify with logic analyzer that DShot frames are correct
-3. **Bidirectional capture**: Implement IDR sampling and per-pin edge extraction. Verify GCR decode produces valid eRPM
-4. **Integration**: Wire up to the existing `up_dshot_*` API so `DShot.cpp` works unchanged
-5. **Testing**: Compare eRPM data quality (CRC error rate, update rate) vs current implementation
-
-## Reference: Betaflight Bitbang Implementation
-
-- [Betaflight dshot_bitbang.c](https://github.com/betaflight/betaflight/blob/master/src/platform/STM32/dshot_bitbang.c)
-- [Betaflight dshot_bitbang_impl.h](https://github.com/betaflight/betaflight/blob/master/src/main/drivers/dshot_bitbang_impl.h)
-- [Original GPIO banging PR #7446](https://github.com/betaflight/betaflight/pull/7446)
-- [Bidirectional bitbang PR #8779](https://github.com/betaflight/betaflight/pull/8779)
-
-## Reference: Current PX4 Implementation Files
-
-- DShot platform layer: `platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c`
-- IO timer layer: `platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c`
-- IO timer struct defs: `platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h`
-- GPIO/pin helpers: `platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h`
-- H7 timer/DMA descriptions: `platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/io_timer_hw_description.h`
-- H7 GPIO register defs: NuttX `arch/arm/src/stm32h7/stm32_gpio.h` (GPIO_PORT_MASK, GPIO_PIN_MASK, g_gpiobase[])
-- H7 GPIO HW registers: NuttX `arch/arm/src/stm32h7/hardware/stm32h7x3xx_gpio.h` (STM32_GPIO_MODER_OFFSET, etc.)
-- DShot API header: `src/drivers/drv_dshot.h`
-- DShot driver module: `src/drivers/dshot/DShot.cpp`
-
-## Reference: Test Target (ARK FPV)
-
-- Timer config: `boards/ark/fpv/src/timer_config.cpp`
-- DMA map: `boards/ark/fpv/nuttx-config/include/board_dma_map.h`
-- Board config: `boards/ark/fpv/src/board_config.h`

CONTRIBUTING.md

@@ -1,44 +1,170 @@
-# Contributing to PX4 Firmware
+# Contributing to PX4-Autopilot
 
-We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
 
-### Fork the project, then clone your repo
+## Fork the project, then clone your repo
 
-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
 
-### Create a feature branch
+## Create a feature branch
 
-*Always* branch off main for new features.
+Always branch off `main` for new features.
 
 ```
 git checkout -b mydescriptivebranchname
 ```
 
-### Edit and build the code
+## Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
 
-### Commit your changes
+### Coding standards
 
-Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
+All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
 
-**Example:**
+Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
+
+## Commit message convention
+
+PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
+
+### Format
 
 ```
-Change how the attitude controller works
-
-- Fixes rate feed forward
-- Allows a local body rate override
-
-Fixes issue #123
+type(scope): short description of the change
 ```
 
-### Test your changes
+| Part | Rule |
+|------|------|
+| **type** | Category of change (see types table below) |
+| **scope** | The module, driver, board, or area of PX4 affected |
+| **`!`** (optional) | Append before `:` to mark a breaking change |
+| **description** | What the change does, at least 5 characters, written in imperative form |
 
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+### Types
 
-### Push your changes
+| Type | Description |
+|------|-------------|
+| `feat` | A new feature |
+| `fix` | A bug fix |
+| `docs` | Documentation only changes |
+| `style` | Formatting, whitespace, no code change |
+| `refactor` | Code change that neither fixes a bug nor adds a feature |
+| `perf` | Performance improvement |
+| `test` | Adding or correcting tests |
+| `build` | Build system or external dependencies |
+| `ci` | CI configuration files and scripts |
+| `chore` | Other changes that don't modify src or test files |
+| `revert` | Reverts a previous commit |
 
-Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
+### Scopes
+
+The scope identifies which part of PX4 is affected. Common scopes:
+
+| Scope | Area |
+|-------|------|
+| `ekf2` | Extended Kalman Filter (state estimation) |
+| `mavlink` | MAVLink messaging protocol |
+| `commander` | Commander and mode management |
+| `navigator` | Mission, RTL, Land, and other navigation modes |
+| `sensors` | Sensor drivers and processing |
+| `drivers` | Hardware drivers |
+| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
+| `mc_att_control` | Multicopter attitude control |
+| `mc_pos_control` | Multicopter position control |
+| `fw_att_control` | Fixed-wing attitude control |
+| `vtol` | VTOL-specific logic |
+| `actuators` | Mixer and actuator output |
+| `battery` | Battery monitoring and estimation |
+| `logger` | On-board logging |
+| `param` | Parameter system |
+| `simulation` | SITL, Gazebo, SIH |
+| `ci` | Continuous integration and workflows |
+| `docs` | Documentation |
+| `build` | CMake, toolchain, build system |
+| `uorb` | Inter-module messaging |
+
+For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
+
+### Breaking changes
+
+Append `!` before the colon to indicate a breaking change:
+
+```
+feat(ekf2)!: remove deprecated height fusion API
+```
+
+### Good commit messages
+
+```
+feat(ekf2): add height fusion timeout
+fix(mavlink): correct BATTERY_STATUS_V2 parsing
+refactor(navigator): simplify RTL altitude logic
+ci(workflows): migrate to reusable workflows
+docs(ekf2): update tuning guide
+feat(boards/px4_fmu-v6x)!: remove deprecated driver API
+perf(mc_rate_control): reduce loop latency
+```
+
+### Commits to avoid
+
+These will be flagged by CI and should be squashed or reworded before merging:
+
+```
+fix                                    # too vague, no type or scope
+update                                 # too vague, no type or scope
+ekf2: fix something                   # missing type prefix
+apply suggestions from code review     # squash into parent commit
+do make format                         # squash into parent commit
+WIP: trying something                  # not ready for main
+oops                                   # not descriptive
+```
+
+### PR titles
+
+The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
+
+### Merge policy
+
+Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
+
+### Cleaning up commits
+
+If CI flags your commit messages, you can fix them with an interactive rebase:
+
+```bash
+# Squash all commits into one:
+git rebase -i HEAD~N   # replace N with the number of commits
+# mark all commits except the first as 'squash' or 'fixup'
+# reword the remaining commit to follow the format
+git push --force-with-lease
+
+# Or reword specific commits:
+git rebase -i HEAD~N
+# mark the bad commits as 'reword'
+git push --force-with-lease
+```
+
+## Test your changes
+
+PX4 is safety-critical software. All contributions must include adequate testing where practical:
+
+- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
+- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
+- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
+
+### Types of tests
+
+| Test type | When to use | How to run |
+|-----------|-------------|------------|
+| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
+| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
+| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
+
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+
+## Push your changes
+
+Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
 
 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

Makefile

@@ -332,6 +332,7 @@ bootloaders_update: \
 	cuav_7-nano_bootloader \
 	cuav_fmu-v6x_bootloader \
 	cuav_x25-evo_bootloader \
+	cuav_x25-super_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -412,7 +413,7 @@ 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 +493,29 @@ 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 +615,10 @@ 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 +1,110 @@
-# 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://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
+  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
+  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
+  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
+</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/10040_sihsim_quadx

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

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

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

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

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

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

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

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

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

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

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

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

@@ -101,6 +101,6 @@ 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-posix/airframes/4006_gz_px4vision

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

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

@@ -26,7 +26,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -42,23 +41,21 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
 
-param set-default CA_ROTOR0_AX -1
-param set-default CA_ROTOR0_AY 1
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
-#param set-default CA_ROTOR0_PZ 0.0
 
-param set-default CA_ROTOR1_AX -1
-param set-default CA_ROTOR1_AY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
-#param set-default CA_ROTOR1_PZ 0.0
 
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -67,7 +64,6 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
-#param set-default CA_ROTOR2_PZ 0.0
 
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -79,7 +75,7 @@ param set-default CA_ROTOR3_PZ 0.06
 
 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ 1
+param set-default CA_ROTOR4_AZ -1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -103,7 +99,7 @@ param set-default CA_ROTOR6_PZ 0
 
 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ 1
+param set-default CA_ROTOR7_AZ -1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22

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

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

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

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

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

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

ROMFS/px4fmu_common/init.d-posix/rcS

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

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

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

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

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

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -2,7 +2,7 @@
 #
 # @name HolyBro QAV250
 #
-# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini
 #
 # @type Quadrotor x
 # @class Copter

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

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

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
+# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1
 #
 # @type Rover
 # @class Rover

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

ROMFS/px4fmu_common/init.d/rcS

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

SECURITY.md

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

Tools/astyle/files_to_check_code_style.sh

@@ -39,6 +39,8 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
     -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-json -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-pipe -prune -o \
     -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
     -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
     -path src/drivers/ins/sbgecom/sbgECom -prune -o \

Tools/bdshot_analyzer.py

@@ -1,433 +0,0 @@
-#!/usr/bin/env python3
-"""
-BDShot Timing Jitter Analyzer
-
-Analyzes BDShot (Bidirectional DShot) signal timing from Saleae Logic Analyzer
-CSV exports. Measures scheduling consistency and jitter in PX4 flight controller
-DShot output timing.
-
-Usage:
-    python bdshot_analyzer.py capture.csv
-    python bdshot_analyzer.py capture.csv --dshot-rate 300 --loop-rate 800
-    python bdshot_analyzer.py capture.csv --channel-a 0 --channel-b 1
-
-Arguments:
-    input_file          Path to Saleae CSV export
-    --dshot-rate        DShot variant: 150/300/600/1200 (default: 300)
-    --loop-rate         Expected loop rate in Hz (default: 800)
-    --channel-a         CSV column index for first channel (default: 0)
-    --channel-b         CSV column index for second channel (default: 1)
-    --no-plots          Disable histogram display
-    --verbose           Enable verbose debugging output
-
-Capture Setup:
-    1. Connect Saleae to two BDShot signals from different timers
-       (e.g., Motor 1 from Timer1, Motor 5 from Timer2)
-    2. Sample rate: 24+ MS/s for DShot300
-    3. Export as CSV: File -> Export Raw Data -> CSV
-
-Interpreting Results:
-    - Frame Intervals: Should cluster tightly around expected loop period
-    - Inter-Channel Gap: Measures sequential DMA scheduling overhead
-    - Jitter: Small std dev is typical for well-behaved systems
-
-Dependencies: numpy, matplotlib
-"""
-
-import argparse
-import csv
-import sys
-from dataclasses import dataclass
-from pathlib import Path
-
-import numpy as np
-
-# Try to import matplotlib, but allow running without it
-try:
-    import matplotlib.pyplot as plt
-    HAS_MATPLOTLIB = True
-except ImportError:
-    HAS_MATPLOTLIB = False
-
-
-# DShot bit periods in microseconds
-DSHOT_BIT_PERIODS = {
-    150: 6.67,
-    300: 3.33,
-    600: 1.67,
-    1200: 0.83,
-}
-
-
-@dataclass
-class BDShotTransaction:
-    """Represents a single BDShot transaction (command + response)."""
-    start: float   # Timestamp of first falling edge (seconds)
-    end: float     # Timestamp of final rising edge before idle (seconds)
-
-    @property
-    def duration_us(self) -> float:
-        """Transaction duration in microseconds."""
-        return (self.end - self.start) * 1_000_000
-
-
-@dataclass
-class ChannelStats:
-    """Statistics for a single channel's frame intervals."""
-    channel_name: str
-    count: int
-    min_us: float
-    max_us: float
-    mean_us: float
-    std_us: float
-    expected_us: float
-
-    @property
-    def min_jitter_us(self) -> float:
-        return self.min_us - self.expected_us
-
-    @property
-    def max_jitter_us(self) -> float:
-        return self.max_us - self.expected_us
-
-    @property
-    def mean_jitter_us(self) -> float:
-        return self.mean_us - self.expected_us
-
-
-@dataclass
-class GapStats:
-    """Statistics for inter-channel gaps."""
-    count: int
-    min_us: float
-    max_us: float
-    mean_us: float
-    std_us: float
-
-
-def parse_csv(filepath: Path, channel_a_idx: int, channel_b_idx: int, verbose: bool = False):
-    """
-    Parse Saleae CSV export and extract edges for each channel.
-
-    Returns:
-        Tuple of (edges_a, edges_b) where each is a list of (timestamp, new_state) tuples.
-    """
-    edges_a, edges_b = [], []
-    prev_a, prev_b = None, None
-    ch_a_col, ch_b_col = channel_a_idx + 1, channel_b_idx + 1  # +1 for time column
-
-    with open(filepath, 'r', newline='') as f:
-        reader = csv.reader(f)
-        header = next(reader)
-
-        if verbose:
-            print(f"CSV Header: {header}")
-            print(f"Using columns: time=0, ch_a={ch_a_col} ({header[ch_a_col]}), "
-                  f"ch_b={ch_b_col} ({header[ch_b_col]})")
-
-        if ch_a_col >= len(header) or ch_b_col >= len(header):
-            raise ValueError(
-                f"Channel indices out of range. CSV has {len(header)-1} channels. "
-                f"Requested channel_a={channel_a_idx}, channel_b={channel_b_idx}"
-            )
-
-        for row_num, row in enumerate(reader, start=2):
-            try:
-                timestamp = float(row[0])
-                state_a, state_b = int(row[ch_a_col]), int(row[ch_b_col])
-
-                # Record edges (state changes) or initial LOW state
-                if (prev_a is not None and state_a != prev_a) or (prev_a is None and state_a == 0):
-                    edges_a.append((timestamp, state_a))
-                if (prev_b is not None and state_b != prev_b) or (prev_b is None and state_b == 0):
-                    edges_b.append((timestamp, state_b))
-
-                prev_a, prev_b = state_a, state_b
-
-            except (ValueError, IndexError) as e:
-                if verbose:
-                    print(f"Warning: Skipping malformed row {row_num}: {e}")
-
-    if verbose:
-        print(f"Parsed {len(edges_a)} edges for channel A, {len(edges_b)} edges for channel B")
-
-    return edges_a, edges_b
-
-
-def detect_transactions(edges, idle_threshold_us: float, verbose: bool = False):
-    """
-    Detect BDShot transactions from edge list.
-
-    A transaction starts with a falling edge after an idle period and ends
-    when the line returns HIGH and stays HIGH for > idle_threshold_us.
-    """
-    if not edges:
-        return []
-
-    idle_threshold_s = idle_threshold_us / 1_000_000
-    transactions = []
-    tx_start = None
-    last_rising = None
-
-    for i, (timestamp, state) in enumerate(edges):
-        if state == 0:  # Falling edge - start transaction if idle
-            if tx_start is None and (last_rising is None or timestamp - last_rising > idle_threshold_s):
-                tx_start = timestamp
-        elif tx_start is not None:  # Rising edge with active transaction
-            last_rising = timestamp
-            # Complete transaction if next edge is far away or this is the last edge
-            next_gap = edges[i + 1][0] - timestamp if i + 1 < len(edges) else float('inf')
-            if next_gap > idle_threshold_s:
-                transactions.append(BDShotTransaction(start=tx_start, end=timestamp))
-                tx_start = None
-        else:
-            last_rising = timestamp
-
-    if verbose:
-        print(f"Detected {len(transactions)} transactions")
-        if transactions:
-            durations = [tx.duration_us for tx in transactions]
-            print(f"  Duration range: {min(durations):.1f} - {max(durations):.1f} us")
-
-    return transactions
-
-
-def compute_channel_stats(transactions, channel_name: str, expected_interval_us: float):
-    """Compute frame interval statistics for a channel."""
-    if len(transactions) < 2:
-        raise ValueError(f"Need at least 2 transactions to compute intervals, got {len(transactions)}")
-
-    intervals_us = np.diff([tx.start for tx in transactions]) * 1_000_000
-
-    stats = ChannelStats(
-        channel_name=channel_name,
-        count=len(intervals_us),
-        min_us=float(np.min(intervals_us)),
-        max_us=float(np.max(intervals_us)),
-        mean_us=float(np.mean(intervals_us)),
-        std_us=float(np.std(intervals_us)),
-        expected_us=expected_interval_us,
-    )
-
-    return stats, intervals_us
-
-
-def compute_inter_channel_gaps(transactions_a, transactions_b, expected_interval_us: float,
-                               verbose: bool = False):
-    """Compute inter-channel gap statistics (CH_A end -> CH_B start)."""
-    gaps = []
-    max_reasonable_gap_us = expected_interval_us * 0.5
-    b_idx = 0
-
-    for tx_a in transactions_a:
-        # Find first CH_B transaction that starts after this CH_A ends
-        while b_idx < len(transactions_b) and transactions_b[b_idx].start <= tx_a.end:
-            b_idx += 1
-        if b_idx >= len(transactions_b):
-            break
-
-        gap_us = (transactions_b[b_idx].start - tx_a.end) * 1_000_000
-        if 0 < gap_us < max_reasonable_gap_us:
-            gaps.append(gap_us)
-
-    if verbose:
-        print(f"Inter-channel gap matching: {len(gaps)} matched")
-
-    if not gaps:
-        raise ValueError("No valid inter-channel gaps found")
-
-    gaps_arr = np.array(gaps)
-    stats = GapStats(
-        count=len(gaps_arr),
-        min_us=float(np.min(gaps_arr)),
-        max_us=float(np.max(gaps_arr)),
-        mean_us=float(np.mean(gaps_arr)),
-        std_us=float(np.std(gaps_arr)),
-    )
-
-    return stats, gaps_arr
-
-
-def _plot_histogram(ax, data, title: str, xlabel: str, expected_value=None, stats_text=None):
-    """Plot a histogram on the given axes."""
-    bin_count = min(100, max(20, len(data) // 100)) if np.ptp(data) > 0 else 20
-    ax.hist(data, bins=bin_count, edgecolor='black', alpha=0.7)
-    ax.set_title(title, fontsize=12, fontweight='bold')
-    ax.set_xlabel(xlabel, fontsize=10)
-    ax.set_ylabel('Count', fontsize=10)
-
-    if expected_value is not None:
-        ax.axvline(expected_value, color='red', linestyle='--', linewidth=2,
-                   label=f'Expected: {expected_value:.2f} us')
-    ax.axvline(np.mean(data), color='green', linestyle='-', linewidth=2,
-               label=f'Mean: {np.mean(data):.2f} us')
-
-    if stats_text:
-        ax.text(0.98, 0.97, stats_text, transform=ax.transAxes, fontsize=9,
-                verticalalignment='top', horizontalalignment='right',
-                bbox=dict(boxstyle='round', facecolor='wheat', alpha=0.8), family='monospace')
-
-    ax.legend(loc='upper left', fontsize=8)
-    ax.grid(True, alpha=0.3)
-
-
-def generate_combined_histogram(intervals_a, intervals_b, gaps, stats_a, stats_b,
-                                gap_stats, expected_interval_us: float, dshot_rate: int):
-    """Generate a combined figure with all histograms."""
-    if not HAS_MATPLOTLIB:
-        return None
-
-    fig = plt.figure(figsize=(14, 10))
-    gs = fig.add_gridspec(2, 2, height_ratios=[1, 1], hspace=0.3, wspace=0.25)
-    ax_a, ax_b, ax_gap = fig.add_subplot(gs[0, 0]), fig.add_subplot(gs[0, 1]), fig.add_subplot(gs[1, :])
-
-    def stats_text(s):
-        return format_stats_text(s.min_us, s.max_us, s.mean_us, s.std_us, s.count)
-
-    _plot_histogram(ax_a, intervals_a, "Channel A Frame Intervals", "Interval (us)",
-                    expected_value=expected_interval_us, stats_text=stats_text(stats_a))
-    _plot_histogram(ax_b, intervals_b, "Channel B Frame Intervals", "Interval (us)",
-                    expected_value=expected_interval_us, stats_text=stats_text(stats_b))
-
-    if len(gaps) > 0:
-        _plot_histogram(ax_gap, gaps, "Inter-Channel Gap (CH_A End -> CH_B Start)",
-                        "Gap (us)", stats_text=stats_text(gap_stats))
-    else:
-        ax_gap.text(0.5, 0.5, "No inter-channel gap data available",
-                    ha='center', va='center', transform=ax_gap.transAxes)
-        ax_gap.set_title("Inter-Channel Gap (CH_A End -> CH_B Start)")
-
-    fig.suptitle(f"BDShot Timing Analysis (DShot{dshot_rate})", fontsize=14, fontweight='bold', y=0.98)
-    return fig
-
-
-def format_stats_text(min_val: float, max_val: float, mean_val: float,
-                      std_val: float, count: int) -> str:
-    """Format statistics as a text block for histogram annotation."""
-    return (f"Count: {count}\n"
-            f"Min:   {min_val:.2f} us\n"
-            f"Max:   {max_val:.2f} us\n"
-            f"Mean:  {mean_val:.2f} us\n"
-            f"Std:   {std_val:.2f} us")
-
-
-def print_report(input_file: Path, dshot_rate: int, loop_rate: float,
-                 capture_duration: float, tx_count_a: int, tx_count_b: int,
-                 stats_a: ChannelStats, stats_b: ChannelStats, gap_stats: GapStats):
-    """Print the analysis report to console."""
-    bit_period = DSHOT_BIT_PERIODS.get(dshot_rate, 3.33)
-    expected_interval = 1_000_000 / loop_rate
-
-    print(f"""
-BDShot Timing Analysis
-{"=" * 60}
-Input: {input_file}
-DShot Rate: {dshot_rate} (bit period: {bit_period:.2f} us)
-Expected Loop Rate: {loop_rate:.0f} Hz ({expected_interval:.2f} us interval)
-Capture Duration: {capture_duration:.2f} s
-Transactions Detected: CH_A={tx_count_a}, CH_B={tx_count_b}
-""")
-
-    def print_channel_stats(name: str, s: ChannelStats):
-        print(f"{name} Frame Intervals")
-        print("-" * 40)
-        print(f"  Count:     {s.count}")
-        print(f"  Min:       {s.min_us:.2f} us  ({s.min_jitter_us:+.2f} us from nominal)")
-        print(f"  Max:       {s.max_us:.2f} us  ({s.max_jitter_us:+.2f} us from nominal)")
-        print(f"  Mean:      {s.mean_us:.2f} us  ({s.mean_jitter_us:+.2f} us from nominal)")
-        print(f"  Std Dev:   {s.std_us:.2f} us\n")
-
-    print_channel_stats("Channel A", stats_a)
-    print_channel_stats("Channel B", stats_b)
-
-    print(f"""Inter-Channel Gap (CH_A End -> CH_B Start)
-{"-" * 40}
-  Count:     {gap_stats.count}
-  Min:       {gap_stats.min_us:.2f} us
-  Max:       {gap_stats.max_us:.2f} us
-  Mean:      {gap_stats.mean_us:.2f} us
-  Std Dev:   {gap_stats.std_us:.2f} us
-""")
-
-
-def fatal(msg: str):
-    """Print error and exit."""
-    print(f"Error: {msg}", file=sys.stderr)
-    sys.exit(1)
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="Analyze BDShot timing from Saleae Logic Analyzer CSV exports",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-        epilog="Examples:\n  %(prog)s capture.csv\n  %(prog)s capture.csv --dshot-rate 300 --loop-rate 800"
-    )
-    parser.add_argument('input_file', type=Path, help='Path to Saleae CSV export')
-    parser.add_argument('--dshot-rate', type=int, default=300, choices=[150, 300, 600, 1200],
-                        help='DShot variant (default: 300)')
-    parser.add_argument('--loop-rate', type=float, default=800, help='Expected loop rate in Hz (default: 800)')
-    parser.add_argument('--channel-a', type=int, default=0, help='CSV column index for first channel (default: 0)')
-    parser.add_argument('--channel-b', type=int, default=1, help='CSV column index for second channel (default: 1)')
-    parser.add_argument('--no-plots', action='store_true', help='Disable histogram display')
-    parser.add_argument('--verbose', '-v', action='store_true', help='Enable verbose output for debugging')
-    args = parser.parse_args()
-
-    if not args.input_file.exists():
-        fatal(f"Input file not found: {args.input_file}")
-
-    # Calculate timing parameters
-    bit_period_us = DSHOT_BIT_PERIODS.get(args.dshot_rate, 3.33)
-    idle_threshold_us = max(50.0, bit_period_us * 15)  # Must exceed turnaround gap (~25-30us)
-    expected_interval_us = 1_000_000 / args.loop_rate
-
-    if args.verbose:
-        print(f"Bit period: {bit_period_us:.2f} us\nIdle threshold: {idle_threshold_us:.2f} us\n"
-              f"Expected interval: {expected_interval_us:.2f} us\n")
-
-    # Parse CSV
-    print(f"Parsing {args.input_file}...")
-    try:
-        edges_a, edges_b = parse_csv(args.input_file, args.channel_a, args.channel_b, args.verbose)
-    except Exception as e:
-        fatal(f"parsing CSV: {e}")
-
-    if not edges_a or not edges_b:
-        fatal("No edges found in one or both channels")
-
-    # Detect transactions
-    print("Detecting transactions...")
-    transactions_a = detect_transactions(edges_a, idle_threshold_us, args.verbose)
-    transactions_b = detect_transactions(edges_b, idle_threshold_us, args.verbose)
-
-    for name, txns in [("A", transactions_a), ("B", transactions_b)]:
-        if len(txns) < 2:
-            fatal(f"Insufficient transactions in channel {name} ({len(txns)})")
-
-    # Calculate capture duration
-    all_txns = transactions_a + transactions_b
-    capture_duration = max(tx.end for tx in all_txns) - min(tx.start for tx in all_txns)
-
-    # Compute statistics
-    print("Computing statistics...")
-    stats_a, intervals_a = compute_channel_stats(transactions_a, "Channel A", expected_interval_us)
-    stats_b, intervals_b = compute_channel_stats(transactions_b, "Channel B", expected_interval_us)
-
-    try:
-        gap_stats, gaps = compute_inter_channel_gaps(transactions_a, transactions_b,
-                                                     expected_interval_us, args.verbose)
-    except ValueError as e:
-        print(f"Warning: {e}", file=sys.stderr)
-        gap_stats = GapStats(count=0, min_us=0, max_us=0, mean_us=0, std_us=0)
-        gaps = np.array([])
-
-    print_report(args.input_file, args.dshot_rate, args.loop_rate, capture_duration,
-                 len(transactions_a), len(transactions_b), stats_a, stats_b, gap_stats)
-
-    if not args.no_plots and HAS_MATPLOTLIB:
-        generate_combined_histogram(intervals_a, intervals_b, gaps, stats_a, stats_b,
-                                    gap_stats, expected_interval_us, args.dshot_rate)
-        plt.show()
-
-
-if __name__ == '__main__':
-    main()

Tools/ci/check_commit_messages.py

@@ -0,0 +1,331 @@
+#!/usr/bin/env python3
+"""Validate commit messages in a PR against conventional commits format.
+
+Reads a JSON array of GitHub commit objects from stdin (as returned by the
+GitHub API's /pulls/{n}/commits endpoint) and checks each message for
+blocking errors and advisory warnings.
+
+With --markdown, outputs a formatted PR comment body instead of plain text.
+"""
+
+import json
+import sys
+
+from conventional_commits import (
+    EXEMPT_PREFIXES,
+    parse_header,
+)
+
+# Blocking: prefixes that indicate unsquashed fixup commits
+FIXUP_PREFIXES = ('fixup!', 'squash!', 'amend!')
+
+# Blocking: single-word throwaway messages (case-insensitive exact match)
+THROWAWAY_WORDS = frozenset({
+    'fix', 'fixed', 'fixes',
+    'update', 'updated', 'updates',
+    'test', 'tests', 'testing',
+    'tmp', 'temp',
+    'oops', 'wip',
+    'debug', 'cleanup',
+})
+
+# Blocking: debug session leftovers
+DEBUG_KEYWORDS = ('tmate',)
+
+# Warning: review-response messages (case-insensitive substring match)
+REVIEW_RESPONSE_PATTERNS = (
+    'address review',
+    'apply suggestions from code review',
+    'code review',
+)
+
+# Warning: formatter-only commits
+FORMATTER_PATTERNS = (
+    'do make format',
+    'make format',
+    'run formatter',
+    'apply format',
+)
+
+MIN_MESSAGE_LENGTH = 5
+
+
+def check_commit(message: str) -> tuple[list[str], list[str]]:
+    """Return (errors, warnings) for a single commit message."""
+    errors: list[str] = []
+    warnings: list[str] = []
+
+    first_line = message.split('\n', 1)[0].strip()
+    lower = first_line.lower()
+
+    # --- Blocking checks ---
+
+    for prefix in FIXUP_PREFIXES:
+        if lower.startswith(prefix):
+            errors.append(f'Unsquashed commit: starts with "{prefix}"')
+
+    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
+        errors.append('WIP commit should not be merged')
+
+    if len(first_line) < MIN_MESSAGE_LENGTH:
+        errors.append(f'Message too short ({len(first_line)} chars, minimum {MIN_MESSAGE_LENGTH})')
+
+    if first_line.strip() and first_line.strip().lower() in THROWAWAY_WORDS:
+        errors.append(f'Single-word throwaway message: "{first_line.strip()}"')
+
+    for kw in DEBUG_KEYWORDS:
+        if kw in lower:
+            errors.append(f'Debug session leftover: contains "{kw}"')
+
+    # --- Warning checks ---
+
+    for pattern in REVIEW_RESPONSE_PATTERNS:
+        if pattern in lower:
+            warnings.append('Review-response commit')
+            break
+
+    for pattern in FORMATTER_PATTERNS:
+        if pattern in lower:
+            warnings.append('Formatter-only commit')
+            break
+
+    if not parse_header(first_line):
+        # Exempt merge commits
+        for prefix in EXEMPT_PREFIXES:
+            if first_line.startswith(prefix):
+                break
+        else:
+            warnings.append(
+                'Missing conventional commit format '
+                '(e.g. "feat(ekf2): add something")'
+            )
+
+    return errors, warnings
+
+
+def suggest_commit(message: str) -> str | None:
+    """Suggest how to fix a bad commit message."""
+    first_line = message.split('\n', 1)[0].strip()
+    lower = first_line.lower()
+
+    for prefix in FIXUP_PREFIXES:
+        if lower.startswith(prefix):
+            return 'Squash this into the commit it fixes'
+
+    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
+        return 'Reword with a descriptive message (e.g. "feat(scope): what changed")'
+
+    if len(first_line) < MIN_MESSAGE_LENGTH:
+        return 'Reword with a descriptive message (e.g. "feat(ekf2): what changed")'
+
+    if first_line.strip().lower() in THROWAWAY_WORDS:
+        return 'Reword with a descriptive message (e.g. "fix(scope): what changed")'
+
+    return None
+
+
+def format_plain(data: list) -> tuple[bool, bool]:
+    """Print plain text output. Returns (has_blocking, has_warnings)."""
+    has_blocking = False
+    has_warnings = False
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        errors, warnings = check_commit(message)
+
+        if errors or warnings:
+            print(f"\n  {sha}  {first_line}")
+
+        for err in errors:
+            print(f"    ERROR: {err}")
+            has_blocking = True
+
+        for warn in warnings:
+            print(f"    WARNING: {warn}")
+            has_warnings = True
+
+    if has_blocking:
+        print(
+            "\n"
+            "ERROR = must fix before merging (CI will block the PR)\n"
+            "WARNING = advisory, not blocking, but recommended to fix\n"
+            "\n"
+            "See the contributing guide for details:\n"
+            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        )
+
+    elif has_warnings:
+        print(
+            "\n"
+            "WARNING = advisory, not blocking, but recommended to fix\n"
+            "\n"
+            "See the contributing guide for details:\n"
+            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        )
+
+    return has_blocking, has_warnings
+
+
+def format_markdown_blocking(data: list) -> str:
+    """Format a blocking error markdown comment."""
+    error_groups: dict[str, list[str]] = {}
+    unique_commits: list[tuple[str, str, list[str], str]] = []
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        errors, _ = check_commit(message)
+        if not errors:
+            continue
+
+        suggestion = suggest_commit(message) or ''
+        unique_commits.append((sha, first_line, errors, suggestion))
+
+        for err in errors:
+            error_groups.setdefault(err, []).append(sha)
+
+    lines = [
+        "## \u274c Commit messages need attention before merging",
+        "",
+    ]
+
+    has_large_group = any(len(shas) > 3 for shas in error_groups.values())
+
+    if has_large_group:
+        lines.extend([
+            "**Issues found:**",
+            "",
+        ])
+        for err_msg, shas in error_groups.items():
+            if len(shas) > 3:
+                lines.append(f"- **{len(shas)} commits**: {err_msg} "
+                             f"(`{shas[0]}`, `{shas[1]}`, ... `{shas[-1]}`)")
+            else:
+                sha_list = ', '.join(f'`{s}`' for s in shas)
+                lines.append(f"- {err_msg}: {sha_list}")
+
+        distinct_messages = {msg for _, msg, _, _ in unique_commits}
+        if len(distinct_messages) <= 5:
+            lines.extend(["", "**Affected commits:**", ""])
+            for sha, msg, errors, suggestion in unique_commits:
+                safe_msg = msg.replace('|', '\\|')
+                lines.append(f"- `{sha}` {safe_msg}")
+    else:
+        lines.extend([
+            "| Commit | Message | Issue | Suggested fix |",
+            "|--------|---------|-------|---------------|",
+        ])
+        for sha, msg, errors, suggestion in unique_commits:
+            issues = '; '.join(errors)
+            safe_msg = msg.replace('|', '\\|')
+            lines.append(f"| `{sha}` | {safe_msg} | {issues} | {suggestion} |")
+
+    lines.extend([
+        "",
+        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for how to clean up commits.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issues are resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def format_markdown_advisory(data: list) -> str:
+    """Format an advisory warning markdown comment."""
+    lines = [
+        "## \U0001f4a1 Commit messages could be improved",
+        "",
+        "Not blocking, but these commit messages could use some cleanup.",
+        "",
+        "| Commit | Message | Suggestion |",
+        "|--------|---------|------------|",
+    ]
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        _, warnings = check_commit(message)
+        if not warnings:
+            continue
+
+        suggestion = '; '.join(warnings)
+        safe_msg = first_line.replace('|', '\\|')
+        lines.append(f"| `{sha}` | {safe_msg} | {suggestion} |")
+
+    lines.extend([
+        "",
+        "See the [commit message convention](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for details.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issues are resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def main() -> None:
+    markdown_stdout = '--markdown' in sys.argv
+    markdown_file = None
+    for i, a in enumerate(sys.argv):
+        if a == '--markdown-file' and i + 1 < len(sys.argv):
+            markdown_file = sys.argv[i + 1]
+        elif a.startswith('--markdown-file='):
+            markdown_file = a.split('=', 1)[1]
+
+    try:
+        data = json.load(sys.stdin)
+    except json.JSONDecodeError as exc:
+        print(f"Failed to parse JSON input: {exc}", file=sys.stderr)
+        sys.exit(2)
+
+    if not isinstance(data, list):
+        print("Expected a JSON array of commit objects.", file=sys.stderr)
+        sys.exit(2)
+
+    # Always compute blocking/warning state
+    has_blocking = False
+    has_warnings = False
+    for commit in data:
+        message = commit.get('commit', {}).get('message', '')
+        errors, warnings = check_commit(message)
+        if errors:
+            has_blocking = True
+        if warnings:
+            has_warnings = True
+
+    # Generate markdown if needed
+    md = None
+    if has_blocking:
+        md = format_markdown_blocking(data)
+    elif has_warnings:
+        md = format_markdown_advisory(data)
+
+    if md:
+        if markdown_stdout:
+            print(md)
+        if markdown_file:
+            with open(markdown_file, 'w') as f:
+                f.write(md + '\n')
+    elif markdown_file:
+        with open(markdown_file, 'w') as f:
+            pass
+
+    # Plain text output to stderr for CI logs (always, unless --markdown only)
+    if not markdown_stdout:
+        has_blocking, _ = format_plain(data)
+
+    sys.exit(1 if has_blocking else 0)
+
+
+if __name__ == '__main__':
+    main()

Tools/ci/check_pr_title.py

@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+"""Validate that a PR title follows conventional commits format.
+
+Format: type(scope): description
+
+Can output plain text for CI logs or markdown for PR comments.
+"""
+
+import re
+import sys
+
+from conventional_commits import (
+    CONVENTIONAL_TYPES,
+    EXEMPT_PREFIXES,
+    parse_header,
+    suggest_scope,
+    suggest_type,
+)
+
+
+def suggest_title(title: str) -> str | None:
+    """Try to suggest a corrected title in conventional commits format."""
+    stripped = title.strip()
+
+    # Remove common bracket prefixes like [docs], [CI], etc.
+    bracket_match = re.match(r'^\[([^\]]+)\]\s*(.+)', stripped)
+    if bracket_match:
+        prefix = bracket_match.group(1).strip().lower()
+        rest = bracket_match.group(2).strip()
+        rest = re.sub(r'^[\-:]\s*', '', rest).strip()
+        if len(rest) >= 5:
+            # Try to map bracket content to a type
+            commit_type = prefix if prefix in CONVENTIONAL_TYPES else suggest_type(rest)
+            scope = suggest_scope(rest)
+            if scope:
+                return f"{commit_type}({scope}): {rest}"
+
+    # Already has old-style "subsystem: description" format - convert it
+    colon_match = re.match(r'^([a-zA-Z][a-zA-Z0-9_/\-\. ]*): (.+)$', stripped)
+    if colon_match:
+        old_subsystem = colon_match.group(1).strip()
+        desc = colon_match.group(2).strip()
+        if len(desc) >= 5:
+            commit_type = suggest_type(desc)
+            # Use the old subsystem as scope (clean it up)
+            scope = old_subsystem.lower().replace(' ', '_')
+            return f"{commit_type}({scope}): {desc}"
+
+    # No format at all - try to guess both type and scope
+    commit_type = suggest_type(stripped)
+    scope = suggest_scope(stripped)
+    if scope:
+        desc = stripped[0].lower() + stripped[1:] if stripped else stripped
+        return f"{commit_type}({scope}): {desc}"
+
+    return None
+
+
+def check_title(title: str) -> bool:
+    title = title.strip()
+
+    if not title:
+        print("PR title is empty.", file=sys.stderr)
+        return False
+
+    for prefix in EXEMPT_PREFIXES:
+        if title.startswith(prefix):
+            return True
+
+    if parse_header(title):
+        return True
+
+    types_str = ', '.join(f'`{t}`' for t in CONVENTIONAL_TYPES.keys())
+    print(
+        f"PR title does not match conventional commits format.\n"
+        f"\n"
+        f"  Title: {title}\n"
+        f"\n"
+        f"Expected format:  type(scope): description\n"
+        f"\n"
+        f"Valid types: {types_str}\n"
+        f"\n"
+        f"Good examples:\n"
+        f"  feat(ekf2): add height fusion timeout\n"
+        f"  fix(mavlink): correct BATTERY_STATUS_V2 parsing\n"
+        f"  ci(workflows): migrate to reusable workflows\n"
+        f"  feat(boards/px4_fmu-v6x)!: remove deprecated driver API\n"
+        f"\n"
+        f"Bad examples:\n"
+        f"  fix stuff\n"
+        f"  Update file\n"
+        f"  ekf2: fix something   (missing type prefix)\n"
+        f"\n"
+        f"See the contributing guide for details:\n"
+        f"  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        file=sys.stderr,
+    )
+    return False
+
+
+def format_markdown(title: str) -> str:
+    """Format a markdown PR comment body for a bad title."""
+    lines = [
+        "## \u274c PR title needs conventional commit format",
+        "",
+        "Expected format: `type(scope): description` "
+        "([conventional commits](https://www.conventionalcommits.org/)).",
+        "",
+        "**Your title:**",
+        f"> {title}",
+        "",
+    ]
+
+    suggestion = suggest_title(title)
+    if suggestion:
+        lines.extend([
+            "**Suggested fix:**",
+            f"> {suggestion}",
+            "",
+        ])
+
+    lines.extend([
+        "**To fix this:** click the ✏️ next to the PR title at the top "
+        "of this page and update it.",
+        "",
+        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for details.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issue is resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def main() -> None:
+    import argparse
+    parser = argparse.ArgumentParser(description='Check PR title format')
+    parser.add_argument('title', help='The PR title to validate')
+    parser.add_argument('--markdown', action='store_true',
+                        help='Output markdown to stdout on failure')
+    parser.add_argument('--markdown-file', metavar='FILE',
+                        help='Write markdown to FILE on failure')
+    args = parser.parse_args()
+
+    passed = check_title(args.title)
+
+    if not passed:
+        md = format_markdown(args.title)
+        if args.markdown:
+            print(md)
+        if args.markdown_file:
+            with open(args.markdown_file, 'w') as f:
+                f.write(md + '\n')
+    elif args.markdown_file:
+        with open(args.markdown_file, 'w') as f:
+            pass
+
+    sys.exit(0 if passed else 1)
+
+
+if __name__ == '__main__':
+    main()

Tools/ci/conventional_commits.py

@@ -0,0 +1,146 @@
+"""Shared constants and helpers for conventional commit validation.
+
+Format: type(scope): description
+Optional breaking change marker: type(scope)!: description
+"""
+
+import re
+
+CONVENTIONAL_TYPES = {
+    'feat':     'A new feature',
+    'fix':      'A bug fix',
+    'docs':     'Documentation only changes',
+    'style':    'Formatting, whitespace, no code change',
+    'refactor': 'Code change that neither fixes a bug nor adds a feature',
+    'perf':     'Performance improvement',
+    'test':     'Adding or correcting tests',
+    'build':    'Build system or external dependencies',
+    'ci':       'CI configuration files and scripts',
+    'chore':    'Other changes that don\'t modify src or test files',
+    'revert':   'Reverts a previous commit',
+}
+
+# type(scope)[!]: description
+# - type: one of CONVENTIONAL_TYPES keys
+# - scope: required, alphanumeric with _/-/.
+# - !: optional breaking change marker
+# - description: at least 5 chars
+HEADER_PATTERN = re.compile(
+    r'^(' + '|'.join(CONVENTIONAL_TYPES.keys()) + r')'
+    r'\(([a-zA-Z0-9_/\-\.]+)\)'
+    r'(!)?'
+    r': (.{5,})$'
+)
+
+EXEMPT_PREFIXES = ('Merge ',)
+
+# Common PX4 subsystem scopes for suggestions
+KNOWN_SCOPES = [
+    'ekf2', 'mavlink', 'commander', 'navigator', 'sensors',
+    'mc_att_control', 'mc_pos_control', 'mc_rate_control',
+    'fw_att_control', 'fw_pos_control', 'fw_rate_control',
+    'vtol', 'actuators', 'battery', 'param', 'logger',
+    'uorb', 'drivers', 'boards', 'simulation', 'sitl',
+    'gps', 'rc', 'safety', 'can', 'serial',
+    'ci', 'docs', 'build', 'cmake', 'tools',
+    'mixer', 'land_detector', 'airspeed', 'gyroscope',
+    'accelerometer', 'magnetometer', 'barometer',
+]
+
+# Keyword patterns to suggest scopes from description text
+KEYWORD_SCOPES = [
+    (r'\b(ekf|estimator|height|fusion|imu|baro)\b', 'ekf2'),
+    (r'\b(mavlink|MAVLink|MAVLINK|command_int|heartbeat)\b', 'mavlink'),
+    (r'\b(uorb|orb|pub|sub|topic)\b', 'uorb'),
+    (r'\b(board|fmu|nuttx|stm32)\b', 'boards'),
+    (r'\b(mixer|actuator|motor|servo|pwm|dshot)\b', 'actuators'),
+    (r'\b(battery|power)\b', 'battery'),
+    (r'\b(param|parameter)\b', 'param'),
+    (r'\b(log|logger|sdlog)\b', 'logger'),
+    (r'\b(sensor|accel|gyro)\b', 'sensors'),
+    (r'\b(land|takeoff|rtl|mission|navigator|geofence)\b', 'navigator'),
+    (r'\b(position|velocity|attitude|rate)\s*(control|ctrl)\b', 'mc_att_control'),
+    (r'\b(mc|multicopter|quad)\b', 'mc_att_control'),
+    (r'\b(fw|fixedwing|fixed.wing|plane)\b', 'fw_att_control'),
+    (r'\b(vtol|transition)\b', 'vtol'),
+    (r'\b(ci|workflow|github.action|pipeline)\b', 'ci'),
+    (r'\b(doc|docs|documentation|readme)\b', 'docs'),
+    (r'\b(cmake|make|toolchain|compiler)\b', 'build'),
+    (r'\b(sitl|simulation|gazebo|jmavsim|sih)\b', 'simulation'),
+    (r'\b(can|uavcan|cyphal|dronecan)\b', 'can'),
+    (r'\b(serial|uart|spi|i2c)\b', 'serial'),
+    (r'\b(safety|failsafe|arm|disarm|kill)\b', 'safety'),
+    (r'\b(rc|radio|sbus|crsf|elrs|dsm)\b', 'rc'),
+    (r'\b(gps|gnss|rtk|ubx)\b', 'gps'),
+    (r'\b(optical.flow|flow|rangefinder|lidar|distance)\b', 'sensors'),
+    (r'\b(orbit|follow|offboard)\b', 'commander'),
+    (r'\b(driver)\b', 'drivers'),
+]
+
+# Verb patterns to suggest conventional commit type
+VERB_TYPE_MAP = [
+    (r'^fix(e[ds])?[\s:]', 'fix'),
+    (r'^bug[\s:]', 'fix'),
+    (r'^add(s|ed|ing)?[\s:]', 'feat'),
+    (r'^implement', 'feat'),
+    (r'^introduce', 'feat'),
+    (r'^support', 'feat'),
+    (r'^enable', 'feat'),
+    (r'^update[ds]?[\s:]', 'feat'),
+    (r'^improv(e[ds]?|ing)', 'perf'),
+    (r'^optimi[zs](e[ds]?|ing)', 'perf'),
+    (r'^refactor', 'refactor'),
+    (r'^clean\s*up', 'refactor'),
+    (r'^restructure', 'refactor'),
+    (r'^simplif(y|ied)', 'refactor'),
+    (r'^remov(e[ds]?|ing)', 'refactor'),
+    (r'^delet(e[ds]?|ing)', 'refactor'),
+    (r'^deprecat', 'refactor'),
+    (r'^replac(e[ds]?|ing)', 'refactor'),
+    (r'^renam(e[ds]?|ing)', 'refactor'),
+    (r'^migrat', 'refactor'),
+    (r'^revert', 'revert'),
+    (r'^doc(s|ument)', 'docs'),
+    (r'^test', 'test'),
+    (r'^format', 'style'),
+    (r'^lint', 'style'),
+    (r'^whitespace', 'style'),
+    (r'^build', 'build'),
+    (r'^ci[\s:]', 'ci'),
+]
+
+
+def parse_header(text: str) -> dict | None:
+    """Parse a conventional commit header into components.
+
+    Returns dict with keys {type, scope, breaking, subject} or None if
+    the text doesn't match conventional commits format.
+    """
+    text = text.strip()
+    m = HEADER_PATTERN.match(text)
+    if not m:
+        return None
+    return {
+        'type': m.group(1),
+        'scope': m.group(2),
+        'breaking': m.group(3) == '!',
+        'subject': m.group(4),
+    }
+
+
+def suggest_type(text: str) -> str:
+    """Infer a conventional commit type from description text."""
+    lower = text.strip().lower()
+    for pattern, commit_type in VERB_TYPE_MAP:
+        if re.search(pattern, lower):
+            return commit_type
+    return 'feat'
+
+
+def suggest_scope(text: str) -> str | None:
+    """Infer a scope from keywords in the text."""
+    lower = text.strip().lower()
+    for pattern, scope in KEYWORD_SCOPES:
+        if re.search(pattern, lower, re.IGNORECASE):
+            return scope
+    return None

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'):
@@ -126,18 +148,18 @@ grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
 
-for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
     if not manufacturer.is_dir():
         continue
     if manufacturer.name in excluded_manufacturers:
         if verbose: print(f'excluding manufacturer {manufacturer.name}')
         continue
 
-    for board in os.scandir(manufacturer.path):
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
         if not board.is_dir():
             continue
 
-        for files in os.scandir(board.path):
+        for files in sorted(os.scandir(board.path), key=lambda e: e.name):
             if files.is_file() and files.name.endswith('.px4board'):
 
                 board_name = manufacturer.name + '_' + board.name
@@ -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
+    fi
+}
+
+generate_airframes() {
+    log "Generating airframes metadata..."
+    if [[ "$VERBOSE" == "true" ]]; then
+        make airframe_metadata
+    else
+        make airframe_metadata >/dev/null
+    fi
+}
+
+generate_modules() {
+    log "Generating modules documentation..."
+    if [[ "$VERBOSE" == "true" ]]; then
+        make module_documentation
+    else
+        make module_documentation >/dev/null
+    fi
+}
+
+generate_msg_docs() {
+    log "Generating message documentation..."
+    if [[ "$VERBOSE" == "true" ]]; then
+        make msg_docs
+    else
+        make msg_docs >/dev/null
+    fi
+}
+
+generate_uorb_graphs() {
+    log "Generating uORB graphs..."
+    if [[ "$VERBOSE" == "true" ]]; then
+        make uorb_graphs
+    else
+        make uorb_graphs >/dev/null
+    fi
+}
+
+generate_failsafe_web() {
+    ensure_emscripten
+    log "Generating failsafe web..."
+    if [[ "$VERBOSE" == "true" ]]; then
+        make failsafe_web
+    else
+        make failsafe_web >/dev/null
+    fi
+}
+
+# ═══════════════════════════════════════════════════════════════════════════════
+# Sync Functions
+# ═══════════════════════════════════════════════════════════════════════════════
+
+sync_parameters() {
+    local src="build/px4_sitl_default/docs/parameters.md"
+    local dest="docs/en/advanced_config/parameter_reference.md"
+
+    log "Syncing parameters..."
+
+    if [[ ! -f "$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

@@ -1,37 +1,47 @@
 #!/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=${build_dir_path#*/}
-  mkdir artifacts/$build_dir
+  mkdir -p artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe
-  cp $build_dir_path/airframes.xml artifacts/$build_dir/
+  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
+  airframes_src=""
+  if [ -f "$build_dir_path/airframes.xml" ]; then
+    airframes_src="$build_dir_path/airframes.xml"
+  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
+    airframes_src="$build_dir_path/docs/airframes.xml"
+  fi
+  if [ -n "$airframes_src" ]; then
+    cp "$airframes_src" "artifacts/$build_dir/"
+  fi
   # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/
-  cp $build_dir_path/parameters.json artifacts/$build_dir/
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
   # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
+  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
   # Events
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # ROS 2 msgs
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # Module Docs
+  mkdir -p artifacts/$build_dir/events/
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
   ls -la artifacts/$build_dir
   echo "----------"
 done
 
 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata
-  mkdir artifacts/_general/
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # general metadata (used by Flight Review and other downstream consumers)
+  mkdir -p artifacts/_general/
   # Airframe
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
+    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
+    exit 1
+  fi
   # Parameters
   cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
   cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -40,9 +50,11 @@ if [ -d artifacts/px4_sitl_default ]; then
   cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
   cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
   # Events
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # ROS 2 msgs
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # Module Docs
+  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
+    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
+    exit 1
+  fi
   ls -la artifacts/_general/
 fi

Tools/ci/pr_comment.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+"""Post, update, or delete a PR comment with deduplication.
+
+Uses hidden HTML markers to find existing comments and avoid duplicates.
+Reads comment body from stdin when posting or updating.
+
+Usage:
+    echo "comment body" | python3 pr_comment.py --marker pr-title --pr 123 --result fail
+    python3 pr_comment.py --marker pr-title --pr 123 --result pass
+
+Results:
+    fail  - post/update comment with body from stdin
+    warn  - post/update comment with body from stdin
+    pass  - delete existing comment if any
+
+Requires GH_TOKEN and GITHUB_REPOSITORY environment variables.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+
+def gh_api(endpoint: str, method: str = 'GET', body: dict | None = None) -> str:
+    """Call the GitHub API via gh cli."""
+    cmd = ['gh', 'api', endpoint, '-X', method]
+    if body:
+        for key, value in body.items():
+            cmd.extend(['-f', f'{key}={value}'])
+    result = subprocess.run(cmd, capture_output=True, text=True)
+    if result.returncode != 0 and method != 'DELETE':
+        print(f"gh api error: {result.stderr}", file=sys.stderr)
+    return result.stdout
+
+
+def find_comment(repo: str, pr: int, marker: str) -> str | None:
+    """Find an existing comment by its hidden marker. Returns comment ID or None."""
+    response = gh_api(f"repos/{repo}/issues/{pr}/comments?per_page=100")
+    try:
+        comments = json.loads(response)
+    except json.JSONDecodeError:
+        return None
+
+    if not isinstance(comments, list):
+        return None
+
+    for comment in comments:
+        if isinstance(comment, dict) and comment.get('body', '').startswith(marker):
+            return str(comment['id'])
+    return None
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description='Manage PR quality comments')
+    parser.add_argument('--marker', required=True,
+                        help='Marker name (e.g. pr-title, commit-msgs, pr-body)')
+    parser.add_argument('--pr', required=True, type=int,
+                        help='Pull request number')
+    parser.add_argument('--result', required=True, choices=['pass', 'fail', 'warn'],
+                        help='Check result: pass deletes comment, fail/warn posts it')
+    args = parser.parse_args()
+
+    repo = os.environ.get('GITHUB_REPOSITORY', '')
+    if not repo:
+        print("GITHUB_REPOSITORY not set", file=sys.stderr)
+        sys.exit(2)
+
+    marker = f"<!-- commit-quality-{args.marker} -->"
+    existing_id = find_comment(repo, args.pr, marker)
+
+    if args.result == 'pass':
+        if existing_id:
+            gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='DELETE')
+        return
+
+    # Read comment body from stdin
+    body_content = sys.stdin.read().strip()
+    if not body_content:
+        print("No comment body provided on stdin", file=sys.stderr)
+        sys.exit(2)
+
+    full_body = f"{marker}\n{body_content}"
+
+    if existing_id:
+        gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='PATCH',
+               body={'body': full_body})
+    else:
+        gh_api(f"repos/{repo}/issues/{args.pr}/comments", method='POST',
+               body={'body': full_body})
+
+
+if __name__ == '__main__':
+    main()

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/module_config/generate_actuators_metadata.py

@@ -234,14 +234,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         param_prefix = process_param_prefix(group['param_prefix'])
         standard_params = group.get('standard_params', {})
         standard_params_array = [
-            ( 'function', 'Function', 'FUNC', False ),
-            ( 'disarmed', 'Disarmed', 'DIS', False ),
-            ( 'min', 'Minimum', 'MIN', False ),
-            ( 'max', 'Maximum', 'MAX', False ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
-            ( 'failsafe', 'Failsafe', 'FAIL', True ),
+            ( 'function', 'Function', 'FUNC', False, True ),
+            ( 'disarmed', 'Disarmed', 'DIS', False, True ),
+            ( 'min', 'Minimum', 'MIN', False, True ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False, False ),
+            ( 'max', 'Maximum', 'MAX', False, True ),
+            ( 'failsafe', 'Failsafe', 'FAIL', True, True ),
             ]
-        for key, label, param_suffix, advanced in standard_params_array:
+        for key, label, param_suffix, advanced, has_function in standard_params_array:
             show_if = None
             if key in standard_params and 'show_if' in standard_params[key]:
                 show_if = standard_params[key]['show_if']
@@ -250,13 +250,12 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 param = {
                         'label': label,
                         'name': param_prefix+'_'+param_suffix+'${i}',
-                        'function': key,
                     }
+                if has_function: param['function'] = key
                 if advanced: param['advanced'] = True
                 if show_if: param['show-if'] = show_if
                 per_channel_params.append(param)
 
-
         param = {
                 'label': 'Rev Range\n(for Servos)',
                 'name': param_prefix+'_REV',

Tools/module_config/generate_params.py

@@ -312,11 +312,7 @@ When set to -1 (default), the value depends on the function (see {:}).
                 if standard_params[key]['max'] >= 1<<16:
                     raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
 
-                if key == 'failsafe':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
-                if key == 'center':
+                if key == 'failsafe' or key == 'center':
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 

Tools/msg/generate_msg_docs.py

@@ -17,10 +17,10 @@ VALID_FIELDS = { #Note, also have to add the message types as those can be field
     'uint32'
 }
 
-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
+ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "Wh", "dBm", "h", "minutes", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa", "%", "norm", "-"])
 invalid_units = set()
-ALLOWED_FRAMES = set(["NED","Body"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0"])
+ALLOWED_FRAMES = set(["NED", "Body", "FRD", "ENU"])
+ALLOWED_INVALID_VALUES = set(["NaN", "0", "-1"])
 ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
 
 class Error:
@@ -36,14 +36,14 @@ class Error:
 
 
         if 'trailing_whitespace' == self.type:
-            if self.issueString.strip():    
+            if self.issueString.strip():
                 print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
             else:
                 print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
         elif 'leading_whitespace_field_or_constant' == self.type:
-            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
+            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")
         elif 'field_or_constant_has_multiple_whitepsace' == self.type:
-            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
+            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}")
         elif 'empty_start_line' == self.type:
             print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
         elif 'internal_comment' == self.type:
@@ -191,7 +191,7 @@ class CommandParam:
                             if not "unknown_frame" in self.parent.errors:
                                 self.parent.errors["unknown_frame"] = []
                             self.parent.errors["unknown_frame"].append(error)
-                        """    
+                        """
                     else:
                         print(f"WARNING: Unhandled metadata in message comment: {item}")
                         # TODO - report errors for different kinds of metadata
@@ -202,9 +202,9 @@ class CommandParam:
 
                     if item == "-":
                         unit = ""
-                    
+
                     if unit and unit not in self.units:
-                        self.units.append(unit) 
+                        self.units.append(unit)
 
                     if unit not in ALLOWED_UNITS:
                         invalid_units.add(unit)
@@ -221,7 +221,7 @@ class CommandParam:
         print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
 
 
-        
+
 class CommandConstant:
     """
     Represents a constant that is a command definition.
@@ -252,9 +252,9 @@ class CommandConstant:
         if not self.comment: # This is an bug for a command
             #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
             return
-            
+
         # Parse command comment to get the description and parameters.
-        # print(f"Debug CommandConstant: {self.comment}") 
+        # print(f"Debug CommandConstant: {self.comment}")
         if not "|" in self.comment:
             # This is an error for a command constant
             error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
@@ -263,7 +263,7 @@ class CommandConstant:
                 self.parent.errors["command_no_params_pipes"] = []
             self.parent.errors["command_no_params_pipes"].append(error)
             return
-        
+
         # Split on pipes
         commandSplit = self.comment.split("|")
         if len(commandSplit) < 9:
@@ -318,7 +318,7 @@ Param | Units | Range/Enum | Description
 
                 output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
             else:
-                output+=f"{i} | | | ?\n"                
+                output+=f"{i} | | | ?\n"
 
         output+=f"\n"
         return output
@@ -419,7 +419,7 @@ class MessageField:
 class UORBMessage:
     """
     Represents a whole message, including fields, enums, commands, constants.
-    The parser function delegates the parsing of each part of the message to 
+    The parser function delegates the parsing of each part of the message to
     more appropriate classes, once the specific type of line has been identified.
     """
 
@@ -511,11 +511,11 @@ pageClass: is-wide-page
             markdown += "--- | --- | --- |---\n"
             for name, command in self.commandConstants.items():
                 description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
+                markdown += f'<a id="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'
             """
             for commandConstant in self.commandConstants.values():
                 #print(commandConstant)
-                markdown += commandConstant.markdown_out()     
+                markdown += commandConstant.markdown_out()
 
         # Generate enum docs
         if len(self.enums) > 0:
@@ -529,7 +529,7 @@ pageClass: is-wide-page
 
                 for enumValueName, enumValue in enum.enumValues.items():
                     description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
+                    markdown += f'<a id="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
 
         # Generate table for constants docs
         if len(self.constantFields) > 0:
@@ -538,7 +538,7 @@ pageClass: is-wide-page
             markdown += "--- | --- | --- |---\n"
             for name, enum in self.constantFields.items():
                 description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
+                markdown += f'<a id="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
 
 
 
@@ -635,8 +635,8 @@ pageClass: is-wide-page
             temp = fieldOrConstant.split("=")
             value = temp[-1]
             typeAndName = temp[0].split(" ")
-            type = typeAndName[0]
-            name = typeAndName[1]
+            type = typeAndName[0].strip()
+            name = typeAndName[1].strip()
             if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
                 #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
                 commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
@@ -708,7 +708,7 @@ pageClass: is-wide-page
                     if stripped_line.startswith("#"):
                         # Its an internal comment
                         stripped_line=stripped_line[1:].strip()
-                        
+
                         if stripped_line:
                             #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
                             error = Error("internal_comment", self.filename, line_number, line)
@@ -723,16 +723,16 @@ pageClass: is-wide-page
                             self.errors["internal_comment_empty"].append(error)
                             #pass # Empty comment
                         continue
-                    
+
                     # Must be a field or a comment.
                     self.handleField(line, line_number, parentMessage=self)
 
             # Fix up topics if the topic is empty
             def camel_to_snake(name):
-                # Match upper case not at start of string
-                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
-                # Handle cases with multiple capital first letter
-                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+                # Insert underscore between lowercase/digit and uppercase letter
+                s1 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', name)
+                # Insert underscore between consecutive uppercase and uppercase+lowercase
+                return re.sub('([A-Z]+)([A-Z][a-z])', r'\1_\2', s1).lower()
 
             defaultTopic = camel_to_snake(self.name)
             if len(self.topics) == 0:
@@ -745,7 +745,7 @@ pageClass: is-wide-page
                     error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
                 else:
                     # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[0]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
                 if not "topic_error" in self.errors:
                     self.errors["topic_error"] = []
                     self.errors["topic_error"].append(error)
@@ -833,11 +833,9 @@ def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
         for message in data["subscriptions"]:
             all_message_types.add(message['type'].split("::")[-1])
             all_topics.add(message['topic'].split('/')[-1])
-        if data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-            for message in data["subscriptions_multi"]:
-                all_message_types.add(message['type'].split("::")[-1])
-                all_topics.add(message['topic'].split('/')[-1])
+        for message in (data.get("subscriptions_multi") or []):
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
         for message in allMessageFiles:
             all_messages_in_source.add(message.split('/')[-1].split('.')[0])
         messagesNotExported = all_messages_in_source - all_message_types
@@ -874,13 +872,17 @@ Topic | Type| Rate Limit
 
         dds_markdown += "\n## Subscriptions Multi\n\n"
 
-        if not data["subscriptions_multi"]: # There is none now
+        subscriptions_multi = data.get("subscriptions_multi") or []
+        if not subscriptions_multi:
             dds_markdown += "None\n"
         else:
-            print("Warning - we now have subscription_multi data - check format")
-            dds_markdown += "Topic | Type\n--- | ---\n"
-            for message in data["subscriptions_multi"]:
-                dds_markdown += f"{message['topic']} | {message['type']}\n"
+            dds_markdown += "Topic | Type | Route Field | Max Instances\n--- | --- | --- | ---\n"
+            for message in subscriptions_multi:
+                type = message['type']
+                px4Type = type.split("::")[-1]
+                route_field = f"`{message['route_field']}`" if 'route_field' in message else "-"
+                max_instances = message.get('max_instances', '-')
+                dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md) | {route_field} | {max_instances}\n"
 
         if messagesNotExported:
             # Print the topics that are not exported to DDS
@@ -944,9 +946,6 @@ if __name__ == "__main__":
 
     for msg_file in msg_files:
         # Add messages to set of allowed types (compound types)
-        #msg_type = msg_file.rsplit('/')[-1]
-        #msg_type = msg_type.rsplit('\\')[-1]
-        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
         msgTypes.add(msg_name)
 

Tools/px_mkfw.py

@@ -42,6 +42,7 @@
 import argparse
 import json
 import base64
+import os
 import zlib
 import time
 import subprocess
@@ -99,14 +100,13 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
-	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= p.read().strip().decode('utf-8')
-	p.close()
-	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
-	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_hash']	= p.read().strip().decode('utf-8')
-	p.close()
+	git_dir = os.path.join(args.git_identity, '.git')
+	p = subprocess.run(["git", "--git-dir", git_dir, "describe", "--exclude", "ext/*", "--always", "--tags"],
+		stdout=subprocess.PIPE, text=True)
+	desc['git_identity']	= p.stdout.strip()
+	p = subprocess.run(["git", "--git-dir", git_dir, "rev-parse", "--verify", "HEAD"],
+		stdout=subprocess.PIPE, text=True)
+	desc['git_hash']	= p.stdout.strip()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
 	bytes = f.read()

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/macos.sh

@@ -74,7 +74,7 @@ python3 -m pip install --user -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
-	if brew ls --versions px4-sim > /dev/null; then
+	if ! brew ls --versions px4-sim > /dev/null; then
 		brew install px4-sim
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim

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"
@@ -196,6 +196,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	fi
 fi
 
+if [[ "${UBUNTU_RELEASE}" == "25.10" ]]; then
+	echo "[ubuntu.sh] Gazebo binaries are not available for 25.10, skipping installation"
+	INSTALL_SIM="false"
+fi
+
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then
 
@@ -207,37 +212,18 @@ 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/accton-godwit/ga1/src/board_config.h

@@ -221,8 +221,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -257,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -284,7 +286,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -442,7 +444,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -450,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

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

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

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

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

boards/ark/fmu-v6x/default.px4board

@@ -28,10 +28,12 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -17,21 +17,21 @@ param set-default MAV_2_UDP_PRT 14550
 param set-default SENS_EN_INA226 1
 param set-default SENS_EN_THERMAL 1
 param set-default SENS_IMU_MODE 1
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
+param set-default HEATER1_TEMP 10.0
+#param set-default HEATER1_TEMP_FF 0.0
+#param set-default HEATER1_TEMP_I 0.025
+#param set-default HEATER1_TEMP_P 1.0
 
 param set-default UAVCAN_ESC_IFACE 2
 
 if ver hwtypecmp ARKV6X000
 then
-	param set-default SENS_TEMP_ID 2818058
+	param set-default HEATER1_IMU_ID 2818058
 fi
 
 if ver hwtypecmp ARKV6X001
 then
-	param set-default SENS_TEMP_ID 3014666
+	param set-default HEATER1_IMU_ID 3014666
 fi
 
 safety_button start

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

@@ -100,7 +100,7 @@ bmp388 -I start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi
 
 unset HAVE_PM2

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

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

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

@@ -224,8 +224,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -271,7 +273,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -293,7 +295,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -442,7 +444,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -450,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

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

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

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

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

boards/ark/fmu-v6x/zenoh.px4board

@@ -0,0 +1,5 @@
+# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_MODULES_ZENOH=y

boards/ark/fpv/default.px4board

@@ -14,7 +14,6 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DSHOT_BITBANG=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
@@ -60,7 +59,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/ark/fpv/init/rc.board_airframes

@@ -14,5 +14,6 @@
 9001_octo_+
 7001_hexa_+
 3000_generic_wing
+2106_albatross
 13200_generic_vtol_tailsitter
 13030_generic_vtol_quad_tiltrotor

boards/ark/fpv/init/rc.board_defaults

@@ -15,17 +15,19 @@ fi
 
 # TODO: Tune the following parameters
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
+param set-default HEATER1_TEMP 10.0
+#param set-default HEATER1_TEMP_FF 0.0
+#param set-default HEATER1_TEMP_I 0.025
+#param set-default HEATER1_TEMP_P 1.0
 
 if ver hwtypecmp ARKFPV000
 then
-	param set-default SENS_TEMP_ID 3014666
+	param set-default HEATER1_IMU_ID 3014666
 fi
 
 param set-default BAT1_V_DIV 21.0
+param set-default BAT1_V_FILT 0.075
+param set-default BAT1_I_FILT 0.5
 
 param set-default RC_CRSF_PRT_CFG 300
 param set-default RC_SBUS_PRT_CFG 0

boards/ark/fpv/init/rc.board_sensors

@@ -20,5 +20,5 @@ bmp388 -I -b 2 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/ark/fpv/mavlink-dev.px4board

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

boards/ark/fpv/src/board_config.h

@@ -176,9 +176,6 @@
 
 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
 
-#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
-#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
-
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
@@ -208,8 +205,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -328,7 +327,7 @@
 		GPIO_HW_VER_REV_DRIVE,            \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_VDD_5V_PGOOD,                \
 		GPIO_VDD_12V_PGOOD,               \
 		GPIO_VDD_12V_EN,                  \

boards/ark/pi6x/init/rc.board_defaults

@@ -21,17 +21,17 @@ param set-default SENS_EN_INA226 1
 
 # TODO: Tune the following parameters
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
+param set-default HEATER1_TEMP 10.0
+#param set-default HEATER1_TEMP_FF 0.0
+#param set-default HEATER1_TEMP_I 0.025
+#param set-default HEATER1_TEMP_P 1.0
 
 param set-default UAVCAN_ESC_IFACE 1
 
 if ver hwtypecmp ARKPI6X000
 then
 	# TODO: Add the correct sensor ID
-	param set-default SENS_TEMP_ID 2490378
+	param set-default HEATER1_IMU_ID 2490378
 fi
 
 param set-default EKF2_MULTI_IMU 0

boards/ark/pi6x/init/rc.board_sensors

@@ -38,5 +38,5 @@ afbrs50 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/ark/pi6x/mavlink-dev.px4board

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

boards/ark/pi6x/src/board_config.h

@@ -188,8 +188,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -330,7 +332,7 @@
 		GPIO_HW_VER_REV_DRIVE,            \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
 		GPIO_VDD_3V3_SD_CARD_EN,          \

boards/ark/pi6x/src/spi.cpp

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

boards/atl/mantis-edu/src/board_config.h

@@ -121,7 +121,9 @@
 #define BOARD_REAR_LED_MASK  (1 << 1) | (1 << 2)
 
 /* HEATER */
-#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 
 #define BOARD_HAS_LED_PWM              1
 #define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
@@ -182,7 +184,7 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_REV_DRIVE,                \
 		GPIO_HW_VER_DRIVE,                \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_OTGFS_VBUS                   \
 	}

boards/auterion/fmu-v6s/default.px4board

@@ -55,6 +55,7 @@ CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_TASK_WATCHDOG=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_LOGGER_STACK_SIZE=4100
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y

boards/auterion/fmu-v6s/init/rc.board_defaults

@@ -34,5 +34,8 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start
 
+# Start the task_watchdog as we do not have the logger watchdog
+task_watchdog start
+
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -77,5 +77,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

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

@@ -224,8 +224,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -260,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -287,7 +289,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -443,7 +445,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -451,7 +453,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

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

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

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

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

boards/bluerobotics/navigator/init/rc.board_sensors

@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi
 
-if ! pca9685_pwm_out start
+if ! pca9685_pwm_out start -X
 then
 	echo "pca9685_pwm_out not found."
 fi