chore(tecs): remove TECS airspeed filter parameters

These parameters are never tuned by the end-user, so we can use constants instead. Now the Kalman gain can be computed once at compile time.

.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:

.claude/skills/commit/SKILL.md

@@ -0,0 +1,28 @@
+---
+name: commit
+description: Create a conventional commit for PX4 changes
+disable-model-invocation: true
+argument-hint: "[optional: description of changes]"
+allowed-tools: Bash, Read, Glob, Grep
+---
+
+# PX4 Conventional Commit
+
+Create a git commit: `type(scope): description`
+
+**NEVER add Co-Authored-By lines. No Claude attribution in commits.**
+
+Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
+
+## Steps
+
+1. **Read [CONTRIBUTING.md](../../CONTRIBUTING.md)** for commit message format, types, scopes, and conventions.
+2. Check branch (`git branch --show-current`). If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
+3. Run `git status` and `git diff --staged`. If nothing staged, ask what to stage.
+4. Follow the commit message convention from CONTRIBUTING.md: pick the correct **type** and **scope**, write a concise imperative description.
+5. Body (if needed): explain **why**, not what.
+6. Run `make format` or `./Tools/astyle/fix_code_style.sh <file>` on changed C/C++ files before committing.
+7. Check if GPG signing is available: `git config --get user.signingkey`. If set, use `git commit -S -s`. Otherwise, use `git commit -s`.
+8. Stage and commit. No `Co-Authored-By`.
+
+If the user provided arguments, use them as context: $ARGUMENTS

.claude/skills/pr/SKILL.md

@@ -0,0 +1,24 @@
+---
+name: pr
+description: Create a pull request with conventional commit title and description
+disable-model-invocation: true
+argument-hint: "[optional: target branch or description]"
+allowed-tools: Bash, Read, Glob, Grep
+---
+
+# PX4 Pull Request
+
+**No Claude attribution anywhere (no Co-Authored-By, no "Generated with Claude").**
+
+Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
+
+## Steps
+
+1. Check branch. If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
+2. Gather context: `git status`, `git log --oneline main..HEAD`, `git diff main...HEAD --stat`, check if remote tracking branch exists.
+3. PR **title**: `type(scope): description` — under 72 chars, describes the overall change across all commits. This becomes the squash-merge commit message.
+4. PR **body**: brief summary + bullet points for key changes. No filler.
+5. Push with `-u` if needed, then `gh pr create`. Default base is `main` unless user says otherwise.
+6. Return the PR URL.
+
+If the user provided arguments, use them as context: $ARGUMENTS

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

@@ -0,0 +1,73 @@
+---
+name: rebase-onto-main
+description: Rebase a branch onto main, handling squash-merged parent branches cleanly
+argument-hint: "[optional: branch name, defaults to current branch]"
+allowed-tools: Bash, Read, Glob, Grep, Agent
+---
+
+# Rebase Branch onto Main
+
+Rebase the current (or specified) branch onto `main`, correctly handling the case where the branch was built on top of another branch that has since been squash-merged into `main`.
+
+## Background
+
+When a parent branch is squash-merged, its individual commits become a single new commit on `main` with a different hash. A normal `git rebase main` will try to replay the parent's original commits, causing messy conflicts. The fix is to **cherry-pick only the commits unique to this branch** onto a fresh branch from `main`.
+
+## Steps
+
+1. **Identify the branch.** Use `$ARGUMENTS` if provided, otherwise use the current branch.
+
+2. **Fetch and update main:**
+   ```
+   git fetch origin main:main
+   ```
+
+3. **Find the merge base** between the branch and `main`:
+   ```
+   git merge-base <branch> main
+   ```
+
+4. **List all commits** on the branch since the merge base:
+   ```
+   git log --oneline <merge-base>..<branch>
+   ```
+
+5. **Identify which commits are unique to this branch** vs. inherited from a parent branch. Look for:
+   - Squash-merged commits on `main` that correspond to a group of commits at the bottom of the branch's history (check PR titles, commit message keywords).
+   - The boundary commit: the first commit that belongs to *this* branch's work, not the parent's.
+   - If ALL commits are unique (no parent branch), just do a normal `git rebase main` and skip the rest.
+
+6. **Create a fresh branch from `main`:**
+   ```
+   git checkout -b <branch>-rebase main
+   ```
+
+7. **Cherry-pick only the unique commits** (oldest first):
+   ```
+   git cherry-pick <first-unique-commit>^..<branch>
+   ```
+   The `A^..B` range means "from the parent of A through B inclusive."
+
+8. **Handle conflicts** if any arise during cherry-pick. Resolve and `git cherry-pick --continue`.
+
+9. **Replace the old branch:**
+   ```
+   git branch -m <branch> <branch>-old
+   git branch -m <branch>-rebase <branch>
+   ```
+
+10. **Verify** the result:
+    ```
+    git log --oneline main..<branch>
+    ```
+    Confirm only the expected commits are present.
+
+11. **Ask the user** before force-pushing. When approved:
+    ```
+    git push origin <branch> --force-with-lease
+    ```
+
+12. **Clean up** the old branch:
+    ```
+    git branch -D <branch>-old
+    ```

.claude/skills/review-pr/SKILL.md

@@ -0,0 +1,207 @@
+---
+name: review-pr
+description: Review a pull request with structured, domain-aware feedback
+argument-hint: "<PR number or URL>"
+allowed-tools: Bash, Read, Glob, Grep, Agent
+---
+
+# PX4 Pull Request Review
+
+Review a pull request with domain-aware checks based on which files are changed.
+
+**No Claude attribution anywhere.**
+
+## Steps
+
+1. **Fetch PR context.** Run these in parallel:
+   - `gh pr view <PR> --json number,title,body,baseRefName,headRefName,files,commits,reviewRequests,reviews,author`
+   - `gh pr checks <PR>` (exit code 8 means some checks are pending, this is normal, not an error)
+   - `gh pr diff <PR>` -- if this fails with HTTP 406 (300+ files), do NOT retry. Instead use `gh api repos/OWNER/REPO/pulls/NUMBER/files --paginate` to get the full file list in one call, then fetch patches for key infrastructure files individually and sample representative changes from each domain touched.
+   - `gh api repos/OWNER/REPO/pulls/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, path: .path, created_at: .created_at}'` to get inline review comments
+   - `gh api repos/OWNER/REPO/issues/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, created_at: .created_at}'` to get PR conversation comments
+
+   From the PR metadata, note:
+   - **Assigned reviewers**: who has been requested to review (from `reviewRequests`)
+   - **Existing reviews**: who has already reviewed and their verdict (from `reviews` -- approved, changes_requested, commented, dismissed)
+   - **PR comments and inline comments**: read all existing feedback to avoid duplicating points already raised by other reviewers, and to build on their discussion rather than ignoring it
+
+2. **Check CI status.** From the `gh pr checks` output in step 1, summarize pass/fail/pending. If there are failures, fetch logs with `gh run view <run-id> --log-failed`. Include CI status in the output.
+
+3. **Recommend merge strategy.** Analyze the commit history and recommend squash or rebase merge. This decision informs all subsequent commit hygiene feedback.
+
+   **Recommend rebase merge** when:
+   - Commits are atomic, each builds/works independently
+   - Each commit has a proper `type(scope): description` message
+   - The PR intentionally separates logical changes (e.g., refactor + feature, or one commit per module)
+   - The commit history tells a useful story that would be lost by squashing
+
+   **Recommend squash merge** when:
+   - There are WIP, fixup, or review-response commits
+   - Commit messages are messy or inconsistent
+   - The PR is a single logical change spread across multiple commits
+   - There are "oops" or "make format" commits mixed in
+
+   Include the recommendation in the output. If recommending rebase, flag any commits that break atomicity or have bad messages. If recommending squash, don't bother flagging individual commit messages (they'll be discarded) but ensure the PR title is correct since it becomes the squash commit message.
+
+4. **Check conventional commit title.** Verify the PR title follows `type(scope): description` per CONTRIBUTING.md. The PR title becomes the commit message on squash-merge, so it must be accurate and descriptive. Verify the scope matches the primary area of changed files. If the PR introduces breaking changes, the title must include `!` before the colon. If rebase merge was recommended in step 3, also scan individual commit messages for anti-patterns: vague messages ("fix", "update"), missing type prefix, review-response noise ("apply suggestions from code review", "do make format"), or WIP markers. Flag these for rewording.
+
+5. **Identify domains touched.** Classify changed files into domains based on paths (a PR may touch multiple):
+   - **Estimation**: `src/modules/ekf2/`, `src/lib/wind_estimator/`, `src/lib/world_magnetic_model/`
+   - **Control**: `src/modules/mc_*control*/`, `src/modules/fw_*control*/`, `src/modules/flight_mode_manager/`, `src/lib/rate_control/`, `src/lib/npfg/`, `src/modules/vtol_att_control/`
+   - **Drivers/CAN**: `src/drivers/`, `src/modules/cyphal/`, `src/drivers/uavcan*/`
+   - **Simulation**: `src/modules/simulation/`, `Tools/simulation/`
+   - **System**: `src/modules/commander/`, `src/modules/logger/`, `src/systemcmds/`, `platforms/`, `src/modules/dataman/`
+   - **Board Addition**: `boards/{manufacturer}/{board}/` (new directories only, not modifications to existing boards)
+   - **CI/Build**: `.github/`, `CMakeLists.txt`, `Makefile`, `cmake/`, `Tools/`, `Kconfig`
+   - **Messages/Protocol**: `msg/`, `src/modules/mavlink/`, `src/modules/uxrce_dds_client/`
+
+6. **Apply core checks** (always):
+   - **Correctness**: logic errors, off-by-ones, unhandled edge cases
+   - **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
+   - **Initialization**: uninitialized variables, missing default construction
+   - **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
+   - **Magic numbers**: every numeric literal needs a named constant or justification
+   - **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
+   - **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
+   - **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
+   - **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical. When automated testing is infeasible (hardware-specific), require a flight log link from https://logs.px4.io or bench test evidence.
+   - **PR hygiene**: focused scope, no unrelated formatting, no stale submodule changes. Commits should be atomic and independently revertable. Multiple WIP or review-response commits should be squashed. Clean, logical commits will be preserved individually on main via rebase merge. **Do NOT assume PRs are squash-merged. Both squash and rebase merge are enabled; merge commits are disabled.** Verify the PR targets `main` unless it is a backport or release-specific fix.
+   - **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean. Python files checked with `mypy` and `flake8`. PRs failing CI format or lint checks will not be merged.
+   - **Coding style**: C/C++ must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html)
+   - **Necessity**: challenge every addition with "Why?" Is this actually needed or just copied? Can we change a default instead of adding runtime detection?
+   - **Root cause vs symptom**: is this fixing the real problem or masking it?
+   - **Ecosystem impact**: what does this change mean for QGC users, log analysis tools, and third-party integrations?
+   - **Sustainability**: who will maintain this? Does it create long-term burden?
+   - **Architecture fit**: does the code live in the module that naturally owns the data? Are there unnecessary cross-module dependencies?
+   - **End user impact**: will parameters confuse less-technical users? Are error messages actionable in QGC?
+
+7. **Apply domain checks** based on step 5:
+
+   **Estimation:**
+   - Singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
+   - Aliasing from downsampling sensor data without filtering
+   - Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
+   - CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
+   - Frame/coordinate system correctness (FRD vs NED, body vs earth)
+
+   **Control:**
+   - Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
+   - Circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
+   - NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
+   - Setpoint generation vs output-stage hacks: prefer proper setpoint smoothing over controller output filtering
+   - Yaw control edge cases: heading lock, drift, setpoint propagation
+   - Flight task inheritance chain: correct base class for the desired behavior
+   - Control allocation: actuator function ordering, motor index mapping
+
+   **Drivers/CAN:**
+   - CAN bus devices behave differently from serial/SPI; check driver assumptions
+   - ESC index mapping: telemetry index != channel when motors are disabled
+   - ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
+   - device_id correctness and I2CSPIDriver patterns
+   - Time representation: prefer `hrt_abstime` over iteration counts
+
+   **Simulation:**
+   - Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
+   - Keep gz_bridge generic; vehicle-specific logic belongs in plugins
+   - Prefer gz-transport over ROS2 dependencies when possible
+   - Wrench commands for physics correctness vs kinematic constraints
+   - Library generic/specific boundary: only base classes in common libs
+
+   **System:**
+   - Race conditions and concurrency: no partial fixes, demand complete solutions
+   - Semaphore/scheduling edge cases; understand RTOS guarantees
+   - State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
+   - uORB-driven scheduling (`SubscriptionCallback`), not extra threads
+   - param_set triggers auto-save; no redundant param_save_default
+   - Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
+   - Constructor initialization order matters
+
+   **CI/Build:**
+   - Pipeline race conditions (tag + branch push double-trigger, git describe correctness)
+   - Container image size (check layer bloat)
+   - Ubuntu LTS support policy (latest + one prior only)
+   - Build time impact
+   - CMake preferred over Makefiles
+
+   **Messages/Protocol:**
+   - Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
+   - uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
+   - Don't version messages unless strictly needed
+   - Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
+   - MAVLink: use library constants, don't implement custom stream rates
+
+   **Board Addition:**
+   - **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
+   - **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
+   - **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
+   - **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
+   - **Unique board_id**: registered in `boards/boards.json`, no collisions
+   - **Copied code cleanup**: check for leftover files, configs, or comments from the template board; "Is this real or leftover?"
+   - **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
+   - **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
+   - **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
+   - **CI integration**: board must be added to CI compile workflows so it builds on every PR
+   - **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
+   - **Port labels**: serial port labels must match what is physically printed on the board
+   - **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
+
+8. **Format output** as:
+   - **CI status**: pass/fail summary, link to failed runs if any
+   - **Merge strategy**: recommend squash or rebase merge with reasoning
+   - **Title check**: pass/fail with suggestion
+   - **Review status**: list assigned reviewers and any existing reviews (who approved, who requested changes, key points already raised). Note if your review would duplicate feedback already given.
+   - **Domains detected**: list which domain checks were applied
+   - **Summary**: one paragraph on what the PR does and whether the approach is sound
+   - **Issues**: numbered list, each with file:line, severity (blocker/warning/nit), and explanation. Skip issues already raised by other reviewers unless you have something to add.
+   - **Verdict**: approve, request changes, or needs discussion
+
+   After the structured output, also display a **draft PR comment** formatted using the PR comment formatting rules from step 9. This gives the user a preview of what would be posted.
+
+9. **Interactive dialog.** After displaying the review, present the user with these options:
+
+   Present options based on the verdict:
+
+   If verdict is **approve**:
+   ```
+   What would you like to do?
+   1. Chat about this PR (ask questions, explore code) [default]
+   2. Approve this PR and post the review comment
+   3. Adjust the review or draft (tell me what to change)
+   4. Done for now
+   ```
+
+   If verdict is **request changes**:
+   ```
+   What would you like to do?
+   1. Chat about this PR (ask questions, explore code) [default]
+   2. Request changes on this PR and post the review comment
+   3. Adjust the review or draft (tell me what to change)
+   4. Done for now
+   ```
+
+   If verdict is **needs discussion**:
+   ```
+   What would you like to do?
+   1. Chat about this PR (ask questions, explore code) [default]
+   2. Post the review as a comment (no approval or rejection)
+   3. Adjust the review or draft (tell me what to change)
+   4. Done for now
+   ```
+
+   Wait for the user to choose before proceeding. If they pick:
+   - **1 (chat)**: enter a free-form conversation about the PR. The user can ask about specific files, code paths, or decisions. When done, loop back to the options. This is the default if the user just presses enter.
+   - **2 (submit)**: use the draft PR comment already shown. Before posting, check if you have review permissions: run `gh api repos/OWNER/REPO/collaborators/$(gh api user --jq .login)/permission --jq .permission` -- if `admin` or `write`, submit as a formal review with `gh pr review <PR> --approve --body "..."` or `gh pr review <PR> --request-changes --body "..."` based on the verdict. If no write access, fall back to `gh pr comment <PR> --body "..."`. Always confirm with the user before posting.
+   - **3 (adjust)**: ask what to change, update the review and draft, then loop back to the options.
+   - **4 (done)**: stop.
+
+   **PR comment formatting rules** (for the draft):
+   When writing the GitHub comment, rewrite the review to sound like a human reviewer, not a structured report. Do NOT include the full skill output. Instead:
+   - Drop most meta-sections (CI status, title check, domains detected, severity labels) but keep the merge strategy recommendation (e.g., "I'd suggest a rebase merge here since the commits are clean and atomic" or "This should be squash-merged, the commit history is messy")
+   - Write conversationally: "Nice work on this. A few things I noticed:" not "Issues: 1. file:line (warning):"
+   - Lead with a brief take on the overall change (1-2 sentences)
+   - List only actionable feedback as natural review comments, not numbered checklists
+   - Skip nits unless they are particularly useful
+   - End with a clear stance: looks good to merge, needs a few changes, or let's discuss X
+   - Post with `gh pr comment <PR> --body "$(cat <<'EOF' ... EOF)"`. Do not post without explicit confirmation.
+
+If the user provided arguments, use them as context: $ARGUMENTS

.github/instructions/board-addition.instructions.md

@@ -0,0 +1,21 @@
+---
+applyTo: "boards/**"
+---
+
+# Board Addition Review Guidelines
+
+In addition to the core code review guidelines, when reviewing new board additions:
+
+- **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
+- **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
+- **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
+- **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
+- **Unique board_id**: registered in `boards/boards.json`, no collisions
+- **Copied code cleanup**: check for leftover files, configs, or comments from the template board. Ask "Is this real or leftover?"
+- **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
+- **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
+- **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
+- **CI integration**: board must be added to CI compile workflows so it builds on every PR
+- **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
+- **Port labels**: serial port labels must match what is physically printed on the board
+- **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)

.github/instructions/ci-build.instructions.md

@@ -0,0 +1,13 @@
+---
+applyTo: ".github/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,**/Kconfig"
+---
+
+# CI/Build Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Check for pipeline race conditions (tag + branch push double-trigger, git describe correctness)
+- Container image size: check for layer bloat
+- Ubuntu LTS support policy: only latest + one prior LTS version
+- Consider build time impact of changes
+- Prefer CMake over Makefiles

.github/instructions/code-review.instructions.md

@@ -0,0 +1,32 @@
+---
+applyTo: "src/**,boards/**,platforms/**,msg/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,.github/**"
+---
+
+# PX4 Code Review Guidelines
+
+## Conventions
+
+- PR titles must follow conventional commits: `type(scope): description` (see CONTRIBUTING.md)
+- Types: `feat`, `fix`, `docs`, `style`, `refactor`, `perf`, `test`, `build`, `ci`, `chore`, `revert`
+- Scope should match the primary area of changed files
+- Append `!` before the colon for breaking changes
+- Both squash merge and rebase merge are enabled; merge commits are disabled
+- Commits should be atomic and independently revertable
+- WIP or review-response commits should be squashed before merge
+
+## Core Checks (always apply)
+
+- **Correctness**: logic errors, off-by-ones, unhandled edge cases
+- **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
+- **Initialization**: uninitialized variables, missing default construction
+- **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
+- **Magic numbers**: every numeric literal needs a named constant or justification
+- **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
+- **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
+- **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
+- **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical
+- **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean
+- **Coding style**: C/C++ must follow the PX4 coding style (https://docs.px4.io/main/en/contribute/code.html)
+- **Necessity**: challenge every addition. Is this actually needed or just copied?
+- **Architecture fit**: does the code live in the module that naturally owns the data? No unnecessary cross-module dependencies
+- **Ecosystem impact**: consider QGC users, log analysis tools, and third-party integrations

.github/instructions/control.instructions.md

@@ -0,0 +1,15 @@
+---
+applyTo: "src/modules/mc_*control*/**,src/modules/fw_*control*/**,src/modules/flight_mode_manager/**,src/lib/rate_control/**,src/lib/npfg/**,src/modules/vtol_att_control/**"
+---
+
+# Control Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
+- Check for circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
+- NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
+- Prefer proper setpoint smoothing over controller output filtering (setpoint generation vs output-stage hacks)
+- Check yaw control edge cases: heading lock, drift, setpoint propagation
+- Verify flight task inheritance chain uses the correct base class for desired behavior
+- Control allocation: verify actuator function ordering and motor index mapping

.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/instructions/drivers.instructions.md

@@ -0,0 +1,13 @@
+---
+applyTo: "src/drivers/**,src/modules/cyphal/**"
+---
+
+# Drivers/CAN Review Guidelines
+
+In addition to the core code review guidelines:
+
+- CAN bus devices behave differently from serial/SPI; check driver assumptions
+- ESC index mapping: telemetry index != channel when motors are disabled
+- ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
+- Verify device_id correctness and I2CSPIDriver patterns
+- Time representation: prefer `hrt_abstime` over iteration counts

.github/instructions/estimation.instructions.md

@@ -0,0 +1,13 @@
+---
+applyTo: "src/modules/ekf2/**,src/lib/wind_estimator/**,src/lib/world_magnetic_model/**"
+---
+
+# Estimation Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Check for singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
+- Flag aliasing from downsampling sensor data without proper filtering
+- Verify Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
+- Consider CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
+- Verify frame/coordinate system correctness (FRD vs NED, body vs earth frame)

.github/instructions/messages.instructions.md

@@ -0,0 +1,13 @@
+---
+applyTo: "msg/**,src/modules/mavlink/**,src/modules/uxrce_dds_client/**"
+---
+
+# Messages/Protocol Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
+- uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
+- Don't version messages unless strictly needed
+- Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
+- MAVLink: use library constants, don't implement custom stream rates

.github/instructions/simulation.instructions.md

@@ -0,0 +1,13 @@
+---
+applyTo: "src/modules/simulation/**,Tools/simulation/**"
+---
+
+# Simulation Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
+- Keep gz_bridge generic; vehicle-specific logic belongs in plugins
+- Prefer gz-transport over ROS2 dependencies when possible
+- Use wrench commands for physics correctness vs kinematic constraints
+- Library generic/specific boundary: only base classes in common libs

.github/instructions/system.instructions.md

@@ -0,0 +1,15 @@
+---
+applyTo: "src/modules/commander/**,src/modules/logger/**,src/systemcmds/**,platforms/**,src/modules/dataman/**"
+---
+
+# System Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Race conditions and concurrency: no partial fixes, demand complete solutions
+- Semaphore/scheduling edge cases; understand RTOS guarantees
+- State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
+- Use uORB-driven scheduling (`SubscriptionCallback`), not extra threads
+- `param_set` triggers auto-save; no redundant `param_save_default`
+- Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
+- Constructor initialization order matters

.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 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
@@ -215,28 +257,16 @@ jobs:
           SOURCE_DIR: artifacts/
           DEST_DIR: Firmware/${{ 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
-          files: artifacts/*.px4
+          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
+          files: |
+            artifacts/*.px4
+            artifacts/*.deb
+            artifacts/**/*.sbom.spdx.json
           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 +39,19 @@ 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 ${{ matrix.check }}
+        env:
+          PX4_SBOM_DISABLE: 1
+        run: |
+          cd "$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
+              PX4_SBOM_DISABLE=1 make px4_sitl_default
+              PX4_SBOM_DISABLE=1 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
+              PX4_SBOM_DISABLE=1 make px4_sitl_default
+              PX4_SBOM_DISABLE=1 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/ros_integration_tests.yml

@@ -89,7 +89,15 @@ jobs:
         . /opt/ros/galactic/setup.bash
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
+        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
+        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
+          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
+          git clone --recursive --branch "$BRANCH" "$REPO_URL"
+        else
+          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
+          git clone --recursive "$REPO_URL"
+        fi
         # Ignore python packages due to compilation issue (can be enabled when updating ROS)
         touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
         touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
@@ -102,6 +110,8 @@ jobs:
       run: ccache -s
 
     - name: Build PX4
+      env:
+        PX4_SBOM_DISABLE: 1
       run: make px4_sitl_default
     - name: ccache post-run px4/firmware
       run: ccache -s

.github/workflows/sbom_license_check.yml

@@ -0,0 +1,42 @@
+name: SBOM License Check
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+      - 'stable'
+    paths:
+      - '.gitmodules'
+      - 'Tools/ci/license-overrides.yaml'
+      - 'Tools/ci/generate_sbom.py'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - '.gitmodules'
+      - 'Tools/ci/license-overrides.yaml'
+      - 'Tools/ci/generate_sbom.py'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  verify-licenses:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+          submodules: false
+
+      - name: Install PyYAML
+        run: pip install pyyaml --break-system-packages
+
+      - name: Verify submodule licenses
+        run: python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .

.github/workflows/sbom_monthly_audit.yml

@@ -0,0 +1,132 @@
+name: SBOM Monthly Audit
+
+on:
+  schedule:
+    # First Monday of each month at 09:00 UTC
+    - cron: '0 9 1-7 * 1'
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to audit (leave empty for current)'
+        required: false
+        type: string
+
+permissions:
+  contents: read
+  issues: write
+
+jobs:
+  audit:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.branch || github.ref }}
+          fetch-depth: 1
+          submodules: recursive
+
+      - name: Install PyYAML
+        run: pip install pyyaml --break-system-packages
+
+      - name: Run license verification
+        id: verify
+        continue-on-error: true
+        run: |
+          python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir . 2>&1 | tee /tmp/sbom-verify.txt
+          echo "exit_code=$?" >> "$GITHUB_OUTPUT"
+
+      - name: Check for issues
+        id: check
+        run: |
+          if grep -q "NOASSERTION" /tmp/sbom-verify.txt; then
+            echo "has_issues=true" >> "$GITHUB_OUTPUT"
+            # Extract NOASSERTION lines
+            grep "NOASSERTION" /tmp/sbom-verify.txt | grep -v "skipped" > /tmp/sbom-issues.txt || true
+            # Extract copyleft lines
+            sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
+          else
+            echo "has_issues=false" >> "$GITHUB_OUTPUT"
+          fi
+
+      - name: Create issue if problems found
+        if: steps.check.outputs.has_issues == 'true'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const fs = require('fs');
+
+            const fullOutput = fs.readFileSync('/tmp/sbom-verify.txt', 'utf8');
+            let issueLines = '';
+            try {
+              issueLines = fs.readFileSync('/tmp/sbom-issues.txt', 'utf8');
+            } catch (e) {
+              issueLines = 'No specific NOASSERTION lines captured.';
+            }
+            let copyleftLines = '';
+            try {
+              copyleftLines = fs.readFileSync('/tmp/sbom-copyleft.txt', 'utf8');
+            } catch (e) {
+              copyleftLines = '';
+            }
+
+            const date = new Date().toISOString().split('T')[0];
+            const branch = '${{ inputs.branch || github.ref_name }}';
+
+            // Check for existing open issue to avoid duplicates
+            const existing = await github.rest.issues.listForRepo({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              labels: 'sbom-audit',
+              state: 'open',
+            });
+
+            if (existing.data.length > 0) {
+              // Update existing issue with new findings
+              await github.rest.issues.createComment({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: existing.data[0].number,
+                body: `## Monthly audit update (${date})\n\nIssues still present:\n\n\`\`\`\n${issueLines}\n\`\`\`\n${copyleftLines ? `\n### Copyleft warnings\n\`\`\`\n${copyleftLines}\n\`\`\`` : ''}`,
+              });
+              return;
+            }
+
+            await github.rest.issues.create({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              title: `chore(sbom): license audit found NOASSERTION entries on ${branch} (${date})`,
+              labels: ['sbom-audit'],
+              assignees: ['mrpollo'],
+              body: [
+                `## SBOM Monthly Audit -- ${branch} -- ${date}`,
+                '',
+                'The automated SBOM license audit found submodules with unresolved licenses.',
+                '',
+                '### NOASSERTION entries',
+                '',
+                '```',
+                issueLines,
+                '```',
+                '',
+                copyleftLines ? `### Copyleft warnings\n\n\`\`\`\n${copyleftLines}\n\`\`\`\n` : '',
+                '### How to fix',
+                '',
+                '1. Check the submodule repo for a LICENSE file',
+                '2. Add an override to `Tools/ci/license-overrides.yaml`',
+                '3. Run `python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .` to confirm',
+                '',
+                '### Full output',
+                '',
+                '<details>',
+                '<summary>Click to expand</summary>',
+                '',
+                '```',
+                fullOutput,
+                '```',
+                '',
+                '</details>',
+                '',
+                'cc @mrpollo',
+              ].join('\n'),
+            });

.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
@@ -69,6 +71,7 @@ jobs:
       - name: Build PX4
         env:
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          PX4_SBOM_DISABLE: 1
         run: make px4_sitl_default
 
       - name: Cache Post-Run [px4_sitl_default]

.github/workflows/sync_release_to_ros2_interface_lib.yml

@@ -0,0 +1,43 @@
+name: Sync release branch to px4-ros2-interface-lib
+
+on:
+  create:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Release branch name (e.g. release/1.18)'
+        required: true
+        type: string
+
+permissions: {}
+
+jobs:
+  notify-interface-lib:
+    if: >-
+      github.repository == 'PX4/PX4-Autopilot' &&
+      (
+        (github.event_name == 'create' && github.ref_type == 'branch' && startsWith(github.ref_name, 'release/')) ||
+        github.event_name == 'workflow_dispatch'
+      )
+    runs-on: ubuntu-latest
+    steps:
+      - name: Determine branch name
+        id: params
+        run: |
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            BRANCH="${{ inputs.branch }}"
+          else
+            BRANCH="${{ github.ref_name }}"
+          fi
+          echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
+          echo "Dispatching for branch: $BRANCH"
+
+      - name: Dispatch release branch creation
+        run: |
+          BRANCH="${{ steps.params.outputs.branch }}"
+          curl -s -f -X POST \
+            -H "Authorization: token ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}" \
+            -H "Accept: application/vnd.github.v3+json" \
+            https://api.github.com/repos/Auterion/px4-ros2-interface-lib/dispatches \
+            -d "{\"event_type\":\"px4_release_branch\",\"client_payload\":{\"branch\":\"$BRANCH\"}}"
+          echo "Dispatched px4_release_branch event for $BRANCH"

.github/workflows/tag_px4_msgs_from_px4_release_tag.yml

@@ -0,0 +1,135 @@
+name: Tag px4_msgs from PX4 release tags
+
+on:
+  push:
+    tags:
+      - 'v*.*.*'
+  workflow_dispatch:
+    inputs:
+      tag_name:
+        description: 'PX4 tag to propagate (example: v1.17.0)'
+        required: true
+        type: string
+
+permissions:
+  contents: read
+
+jobs:
+  tag_px4_msgs:
+    if: github.repository == 'PX4/PX4-Autopilot'
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    env:
+      TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
+    steps:
+      - name: Checkout PX4 repo
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          fetch-tags: true
+
+      - name: Setup git credentials
+        run: |
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+
+      - name: Resolve release branch from tag
+        id: tag_info
+        shell: bash
+        run: |
+          set -euo pipefail
+
+          if [[ ! "${TAG_NAME}" =~ ^v([0-9]+)\.([0-9]+)\.([0-9]+)$ ]]; then
+            echo "Tag format is not stable vX.Y.Z, skipping: ${TAG_NAME}"
+            echo "should_run=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          echo "should_run=true" >> "$GITHUB_OUTPUT"
+
+          major="${BASH_REMATCH[1]}"
+          minor="${BASH_REMATCH[2]}"
+          release_branch="release/${major}.${minor}"
+
+          git show-ref --verify --quiet "refs/heads/${release_branch}" || {
+            echo "PX4 branch ${release_branch} not found"
+            exit 1
+          }
+
+          tag_date="$(git for-each-ref --format='%(creatordate:iso8601)' "refs/tags/${TAG_NAME}")"
+          if [[ -z "${tag_date}" ]]; then
+            echo "Unable to resolve tag date for ${TAG_NAME}"
+            exit 1
+          fi
+
+          echo "release_branch=${release_branch}" >> "$GITHUB_OUTPUT"
+          echo "tag_date=${tag_date}" >> "$GITHUB_OUTPUT"
+
+      - name: Clone px4_msgs repo
+        if: steps.tag_info.outputs.should_run == 'true'
+        run: |
+          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
+
+      - name: Checkout matching px4_msgs release branch
+        if: steps.tag_info.outputs.should_run == 'true'
+        shell: bash
+        run: |
+          set -euo pipefail
+          cd px4_msgs
+
+          release_branch="${{ steps.tag_info.outputs.release_branch }}"
+          if git show-ref --verify --quiet "refs/remotes/origin/${release_branch}"; then
+            git checkout -B "${release_branch}" "origin/${release_branch}"
+          else
+            echo "px4_msgs branch ${release_branch} does not exist"
+            exit 1
+          fi
+
+      - name: Verify msg and srv trees are identical
+        if: steps.tag_info.outputs.should_run == 'true'
+        shell: bash
+        run: |
+          set -euo pipefail
+
+          release_branch="${{ steps.tag_info.outputs.release_branch }}"
+          git checkout "${release_branch}"
+
+          # Use the same synchronization logic as sync_to_px4_msgs.yml,
+          # then verify there are no changes in px4_msgs.
+          rm -f px4_msgs/msg/*.msg
+          rm -f px4_msgs/msg/versioned/*.msg
+          rm -f px4_msgs/srv/*.srv
+          rm -f px4_msgs/srv/versioned/*.srv
+          cp msg/*.msg px4_msgs/msg/
+          cp msg/versioned/*.msg px4_msgs/msg/ || true
+          cp srv/*.srv px4_msgs/srv/
+          cp srv/versioned/*.srv px4_msgs/srv/ || true
+
+          if ! git -C px4_msgs diff --exit-code -- msg srv; then
+            echo "Message/service definitions differ between PX4 ${release_branch} and px4_msgs ${release_branch}"
+            exit 1
+          fi
+
+      - name: Create and push tag in px4_msgs
+        if: steps.tag_info.outputs.should_run == 'true'
+        shell: bash
+        run: |
+          set -euo pipefail
+          cd px4_msgs
+
+          target="$(git rev-parse HEAD)"
+          existing_target="$(git rev-parse "refs/tags/${TAG_NAME}^{}" 2>/dev/null || true)"
+
+          if [[ -n "${existing_target}" ]]; then
+            if [[ "${existing_target}" == "${target}" ]]; then
+              echo "Tag ${TAG_NAME} already exists on ${target}; nothing to do"
+              exit 0
+            fi
+            echo "Tag ${TAG_NAME} already exists on ${existing_target}, expected ${target}"
+            exit 1
+          fi
+
+          GIT_COMMITTER_DATE="${{ steps.tag_info.outputs.tag_date }}" \
+            git tag -a "${TAG_NAME}" "${target}" \
+              -m "PX4 msgs and srvs definitions matching PX4 stable release ${TAG_NAME#v}"
+
+          git push origin "refs/tags/${TAG_NAME}"

.gitignore

@@ -109,3 +109,9 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
+
+# metadata
+_emscripten_sdk/
+
+# virtual Python environment
+.venv

.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`

CMakeLists.txt

@@ -240,8 +240,15 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
+if(CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN)
+	set(PX4_DEBUG_OPT_LEVEL -Og)
+	message(STATUS "fortified toolchain support enabled: PX4_DEBUG_OPT_LEVEL=${PX4_DEBUG_OPT_LEVEL}")
+else()
+	set(PX4_DEBUG_OPT_LEVEL -O0)
+endif()
+
 if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL -O0)
+	set(MAX_CUSTOM_OPT_LEVEL ${PX4_DEBUG_OPT_LEVEL})
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
 elseif(CMAKE_BUILD_TYPE MATCHES "Release")
@@ -484,6 +491,7 @@ include(bloaty)
 
 include(metadata)
 include(package)
+include(sbom)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements

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.

Kconfig

@@ -67,6 +67,16 @@ menu "Toolchain"
         help
             Enables Cmake Release for -O3 optimization
 
+    config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
+        bool "Fortified toolchain support"
+        default n
+        help
+            Enable compatibility with toolchains that define
+            _FORTIFY_SOURCE.
+
+            This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
+            disabled unless the fortified toolchain requires optimization.
+
     config BOARD_ROMFSROOT
         string "ROMFSROOT"
         default "px4fmu_common"

Makefile

@@ -162,6 +162,12 @@ else
 
 endif
 
+# Prefer the interpreter from an active Python virtual environment.
+# Otherwise leave PYTHON_EXECUTABLE unset and let CMake resolve Python.
+ifneq ($(strip $(VIRTUAL_ENV)),)
+	PYTHON_EXECUTABLE ?= $(VIRTUAL_ENV)/bin/python
+endif
+
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
@@ -226,9 +232,22 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
+# Multi-processor boards: build all processor targets together
+# VOXL2 apps processor (default) depends on SLPI DSP being built first
+modalai_voxl2_default: modalai_voxl2_slpi
+modalai_voxl2: modalai_voxl2_slpi
+modalai_voxl2_deb: modalai_voxl2_slpi
+
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
+# DEB package targets: builds _default config, then runs cpack.
+# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
+# via existing cmake prerequisites.
+%_deb:
+	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
+	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
+
 updateconfig:
 	@./Tools/kconfig/updateconfig.py
 
@@ -332,6 +351,7 @@ 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 +432,7 @@ 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 +512,29 @@ 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
@@ -518,7 +554,8 @@ validate_module_configs:
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
+	-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
@@ -598,3 +635,10 @@ 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

@@ -18,6 +18,7 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
 param set SIH_VEHICLE_TYPE 4
+param set-default MAV_TYPE 13
 
 # Symmetric hexacopter X clockwise motor numbering
 param set-default CA_ROTOR_COUNT 6
@@ -44,4 +45,5 @@ 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_AUTOCONFIG 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, sensor calibration, total flight time, flight UUID
+	param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi
 

ROMFS/px4fmu_common/init.d/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.sensors

@@ -238,7 +238,7 @@ then
 fi
 
 # Start TMP102 temperature sensor
-if param compare SENS_EN_TMP102 1
+if param compare -s SENS_EN_TMP102 1
 then
 	tmp102 start -X
 fi

ROMFS/px4fmu_common/init.d/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

@@ -188,11 +188,11 @@ else
 		netman update -i eth0
 	fi
 
-	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
+	# To trigger a parameter reset during boot SYS_AUTOCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, 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, sensor calibration, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi
 
 	#
@@ -633,12 +633,15 @@ else
 	#
 	# Start the VTX services.
 	#
-	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-	if [ -f ${RC_VTXTABLE} ]
+	if ! param compare -s VTX_SER_CFG 0
 	then
-		. ${RC_VTXTABLE}
+		set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+		if [ -f ${RC_VTXTABLE} ]
+		then
+			. ${RC_VTXTABLE}
+		fi
+		unset RC_VTXTABLE
 	fi
-	unset RC_VTXTABLE
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.

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/HIL/test_airframes.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 
 # exit when any command fails
 set -e

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/astyle/fix_code_style.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [[ $# -eq 0 ]] ; then
   exit 0

Tools/auterion/remote_update_fmu.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Flash PX4 to a device running AuterionOS in the local network
 if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
 	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"

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/build_all_runner.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # This script is meant to be used by the build_all.yml workflow in a github runner
 # Please only modify if you know what you are doing
 set -e

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_msg_versioning.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 # Copy a git diff between two commits if msg versioning is added
 
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

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
@@ -167,6 +189,65 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                 if target is not None:
                     build_configs.append(target)
 
+# Remove companion targets from CI groups (parent target builds them via Make prerequisite)
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        companion_file = os.path.join(board.path, 'companion_targets')
+        if os.path.exists(companion_file):
+            with open(companion_file) as f:
+                companions = {l.strip() for l in f if l.strip() and not l.startswith('#')}
+            for arch in grouped_targets:
+                for man in grouped_targets[arch]['manufacturers']:
+                    grouped_targets[arch]['manufacturers'][man] = [
+                        t for t in grouped_targets[arch]['manufacturers'][man]
+                        if t not in companions
+                    ]
+
+# Append _deb targets for boards that have cmake/package.cmake
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        board_name = manufacturer.name + '_' + board.name
+        if board_name in excluded_boards:
+            continue
+        package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
+        if os.path.exists(package_cmake):
+            deb_target = board_name + '_deb'
+            if target_filter and not any(deb_target.startswith(f) for f in target_filter):
+                continue
+            # Determine the container and group for this board
+            container = default_container
+            if board_name in board_container_overrides:
+                container = board_container_overrides[board_name]
+            target_entry = {'target': deb_target, 'container': container}
+            if args.group:
+                # Find the group where this board's _default target already lives
+                default_target = board_name + '_default'
+                group = None
+                for g in grouped_targets:
+                    targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
+                    if default_target in targets_in_group:
+                        group = g
+                        break
+                if group is None:
+                    group = 'base'
+                target_entry['arch'] = group
+                if group not in grouped_targets:
+                    grouped_targets[group] = {'container': container, 'manufacturers': {}}
+                if manufacturer.name not in grouped_targets[group]['manufacturers']:
+                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
+                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+            build_configs.append(target_entry)
+
 if(verbose):
     import pprint
     print("============================")
@@ -203,7 +284,7 @@ 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/generate_sbom.py

@@ -0,0 +1,603 @@
+#!/usr/bin/env python3
+"""Generate SPDX 2.3 JSON SBOM for a PX4 firmware build.
+
+Produces one SBOM per board target containing:
+- PX4 firmware as the primary package
+- Git submodules as CONTAINS dependencies
+- Python build requirements as BUILD_DEPENDENCY_OF packages
+- Board-specific modules as CONTAINS packages
+
+Requires PyYAML (pyyaml) for loading license overrides.
+"""
+import argparse
+import configparser
+import json
+import re
+import subprocess
+import uuid
+from datetime import datetime, timezone
+from pathlib import Path
+
+import yaml
+
+# Ordered most-specific first: all keywords must appear for a match.
+LICENSE_PATTERNS = [
+    # Copyleft licenses first (more specific keywords prevent false matches)
+    ("GPL-3.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 3"]),
+    ("GPL-2.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 2"]),
+    ("LGPL-3.0-only",   ["GNU LESSER GENERAL PUBLIC LICENSE", "Version 3"]),
+    ("LGPL-2.1-only",   ["GNU Lesser General Public License", "Version 2.1"]),
+    ("AGPL-3.0-only",   ["GNU AFFERO GENERAL PUBLIC LICENSE", "Version 3"]),
+    # Permissive licenses
+    ("Apache-2.0",      ["Apache License", "Version 2.0"]),
+    ("MIT",             ["Permission is hereby granted"]),
+    ("BSD-3-Clause",    ["Redistribution and use", "Neither the name"]),
+    ("BSD-2-Clause",    ["Redistribution and use", "THIS SOFTWARE IS PROVIDED"]),
+    ("ISC",             ["Permission to use, copy, modify, and/or distribute"]),
+    ("EPL-2.0",         ["Eclipse Public License", "2.0"]),
+    ("Unlicense",       ["The Unlicense", "unlicense.org"]),
+]
+
+COPYLEFT_LICENSES = {
+    "GPL-2.0-only", "GPL-3.0-only",
+    "LGPL-2.1-only", "LGPL-3.0-only",
+    "AGPL-3.0-only",
+}
+
+def load_license_overrides(source_dir):
+    """Load license overrides and comments from YAML config file.
+
+    Returns (overrides, comments) dicts mapping submodule path to values.
+    Falls back to empty dicts if the file is missing.
+    """
+    yaml_path = source_dir / "Tools" / "ci" / "license-overrides.yaml"
+    if not yaml_path.exists():
+        return {}, {}
+
+    with open(yaml_path) as f:
+        data = yaml.safe_load(f)
+
+    overrides = {}
+    comments = {}
+    for path, entry in (data.get("overrides") or {}).items():
+        overrides[path] = entry["license"]
+        if "comment" in entry:
+            comments[path] = entry["comment"]
+
+    return overrides, comments
+
+LICENSE_FILENAMES = ["LICENSE", "LICENSE.md", "LICENSE.txt", "LICENCE", "LICENCE.md", "COPYING", "COPYING.md"]
+
+
+def detect_license(submodule_dir):
+    """Auto-detect SPDX license ID from LICENSE/COPYING file in a directory.
+
+    Reads the first 100 lines of the first license file found and matches
+    keywords against LICENSE_PATTERNS. Returns 'NOASSERTION' if no file
+    is found or no pattern matches.
+    """
+    for fname in LICENSE_FILENAMES:
+        license_file = submodule_dir / fname
+        if license_file.is_file():
+            try:
+                lines = license_file.read_text(errors="replace").splitlines()[:100]
+                text = "\n".join(lines)
+            except OSError:
+                continue
+
+            text_upper = text.upper()
+            for spdx_id_val, keywords in LICENSE_PATTERNS:
+                if all(kw.upper() in text_upper for kw in keywords):
+                    return spdx_id_val
+
+            return "NOASSERTION"
+
+    return "NOASSERTION"
+
+
+def get_submodule_license(source_dir, sub_path, license_overrides):
+    """Return the SPDX license for a submodule: override > auto-detect."""
+    if sub_path in license_overrides:
+        return license_overrides[sub_path]
+    return detect_license(source_dir / sub_path)
+
+
+def spdx_id(name: str) -> str:
+    """Convert a name to a valid SPDX identifier (letters, digits, dots, hyphens)."""
+    return re.sub(r"[^a-zA-Z0-9.\-]", "-", name)
+
+
+def parse_gitmodules(source_dir):
+    """Parse .gitmodules and return list of {name, path, url}."""
+    gitmodules_path = source_dir / ".gitmodules"
+    if not gitmodules_path.exists():
+        return []
+
+    config = configparser.ConfigParser()
+    config.read(str(gitmodules_path))
+
+    submodules = []
+    for section in config.sections():
+        if section.startswith("submodule "):
+            name = section.split('"')[1] if '"' in section else section.split(" ", 1)[1]
+            path = config.get(section, "path", fallback="")
+            url = config.get(section, "url", fallback="")
+            submodules.append({"name": name, "path": path, "url": url})
+
+    return submodules
+
+
+def get_submodule_commits(source_dir):
+    """Get commit hashes for all submodules via git ls-tree -r (works without init)."""
+    try:
+        result = subprocess.run(
+            ["git", "ls-tree", "-r", "HEAD"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        return {}
+
+    commits = {}
+    for line in result.stdout.splitlines():
+        parts = line.split()
+        if len(parts) >= 4 and parts[1] == "commit":
+            commits[parts[3]] = parts[2]
+
+    return commits
+
+
+def get_git_info(source_dir: Path) -> dict:
+    """Get PX4 git version and hash."""
+    info = {"version": "unknown", "hash": "unknown"}
+    try:
+        result = subprocess.run(
+            ["git", "describe", "--always", "--tags", "--dirty"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+        info["version"] = result.stdout.strip()
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        pass
+    try:
+        result = subprocess.run(
+            ["git", "rev-parse", "HEAD"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+        info["hash"] = result.stdout.strip()
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        pass
+    return info
+
+
+def parse_requirements(requirements_path):
+    """Parse pip requirements.txt into list of {name, version_spec}."""
+    if not requirements_path.exists():
+        return []
+
+    deps = []
+    for line in requirements_path.read_text().splitlines():
+        line = line.strip()
+        if not line or line.startswith("#") or line.startswith("-"):
+            continue
+        # Split on version specifiers
+        match = re.match(r"^([a-zA-Z0-9_\-]+)(.*)?$", line)
+        if match:
+            deps.append({
+                "name": match.group(1),
+                "version_spec": match.group(2).strip() if match.group(2) else "",
+            })
+    return deps
+
+
+def read_module_list(modules_file, source_dir):
+    """Read board-specific module list from file.
+
+    Paths may be absolute; they are converted to relative paths under src/.
+    Duplicates are removed while preserving order.
+    """
+    if not modules_file or not modules_file.exists():
+        return []
+
+    seen = set()
+    modules = []
+    source_str = str(source_dir.resolve()) + "/"
+
+    for line in modules_file.read_text().splitlines():
+        path = line.strip()
+        if not path or path.startswith("#"):
+            continue
+        # Convert absolute path to relative
+        if path.startswith(source_str):
+            path = path[len(source_str):]
+        if path not in seen:
+            seen.add(path)
+            modules.append(path)
+
+    return modules
+
+
+def make_purl(pkg_type: str, namespace: str, name: str, version: str = "") -> str:
+    """Construct a Package URL (purl)."""
+    purl = f"pkg:{pkg_type}/{namespace}/{name}"
+    if version:
+        purl += f"@{version}"
+    return purl
+
+
+def extract_git_host_org_repo(url):
+    """Extract host type, org, and repo from a git URL.
+
+    Returns (host, org, repo) where host is 'github', 'gitlab', or ''.
+    """
+    match = re.search(r"github\.com[:/]([^/]+)/([^/]+?)(?:\.git)?$", url)
+    if match:
+        return "github", match.group(1), match.group(2)
+    match = re.search(r"gitlab\.com[:/](.+?)/([^/]+?)(?:\.git)?$", url)
+    if match:
+        return "gitlab", match.group(1), match.group(2)
+    return "", "", ""
+
+
+def generate_sbom(source_dir, board, modules_file, compiler, platform=""):
+    """Generate a complete SPDX 2.3 JSON document."""
+    license_overrides, license_comments = load_license_overrides(source_dir)
+    git_info = get_git_info(source_dir)
+    timestamp = datetime.now(timezone.utc).strftime("%Y-%m-%dT%H:%M:%SZ")
+
+    # Deterministic namespace using UUID5 from git hash + board
+    ns_seed = f"{git_info['hash']}:{board}"
+    doc_namespace = f"https://spdx.org/spdxdocs/{board}-{uuid.uuid5(uuid.NAMESPACE_URL, ns_seed)}"
+
+    doc = {
+        "spdxVersion": "SPDX-2.3",
+        "dataLicense": "CC0-1.0",
+        "SPDXID": "SPDXRef-DOCUMENT",
+        "name": f"PX4 Firmware SBOM for {board}",
+        "documentNamespace": doc_namespace,
+        "creationInfo": {
+            "created": timestamp,
+            "creators": [
+                "Tool: px4-generate-sbom",
+                "Organization: Dronecode Foundation",
+            ],
+            "licenseListVersion": "3.22",
+        },
+        "packages": [],
+        "relationships": [],
+    }
+
+    # Primary package: PX4 firmware
+    primary_spdx_id = f"SPDXRef-PX4-{spdx_id(board)}"
+    doc["packages"].append({
+        "SPDXID": primary_spdx_id,
+        "name": board,
+        "versionInfo": git_info["version"],
+        "packageFileName": f"{board}.px4",
+        "supplier": "Organization: Dronecode Foundation",
+        "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
+        "filesAnalyzed": False,
+        "primaryPackagePurpose": "FIRMWARE",
+        "licenseConcluded": "BSD-3-Clause",
+        "licenseDeclared": "BSD-3-Clause",
+        "copyrightText": "Copyright (c) PX4 Development Team",
+        "externalRefs": [
+            {
+                "referenceCategory": "PACKAGE-MANAGER",
+                "referenceType": "purl",
+                "referenceLocator": make_purl(
+                    "github", "PX4", "PX4-Autopilot", git_info["version"]
+                ),
+            }
+        ],
+    })
+
+    doc["relationships"].append({
+        "spdxElementId": "SPDXRef-DOCUMENT",
+        "relationshipType": "DESCRIBES",
+        "relatedSpdxElement": primary_spdx_id,
+    })
+
+    # Git submodules (filtered to those relevant to this board's modules)
+    submodules = parse_gitmodules(source_dir)
+    submodule_commits = get_submodule_commits(source_dir)
+    modules = read_module_list(modules_file, source_dir)
+
+    def submodule_is_relevant(sub_path):
+        """A submodule is relevant if any board module path overlaps with it."""
+        # NuttX platform submodules are only relevant for NuttX builds
+        if sub_path.startswith("platforms/nuttx/"):
+            return platform in ("nuttx", "")
+        if not modules:
+            return True  # no module list means include all
+        # Other platform submodules are always relevant
+        if sub_path.startswith("platforms/"):
+            return True
+        for mod in modules:
+            # Module is under this submodule, or submodule is under a module
+            if mod.startswith(sub_path + "/") or sub_path.startswith(mod + "/"):
+                return True
+        return False
+
+    for sub in submodules:
+        if not submodule_is_relevant(sub["path"]):
+            continue
+        sub_path = sub["path"]
+        sub_path_id = sub_path.replace("/", "-")
+        sub_spdx_id = f"SPDXRef-Submodule-{spdx_id(sub_path_id)}"
+        commit = submodule_commits.get(sub_path, "unknown")
+        license_id = get_submodule_license(source_dir, sub_path, license_overrides)
+
+        host, org, repo = extract_git_host_org_repo(sub["url"])
+        download = sub["url"] if sub["url"] else "NOASSERTION"
+
+        # Use repo name from URL for human-readable name, fall back to last path component
+        display_name = repo if repo else sub_path.rsplit("/", 1)[-1]
+
+        pkg = {
+            "SPDXID": sub_spdx_id,
+            "name": display_name,
+            "versionInfo": commit,
+            "supplier": f"Organization: {org}" if org else "NOASSERTION",
+            "downloadLocation": download,
+            "filesAnalyzed": False,
+            "licenseConcluded": license_id,
+            "licenseDeclared": license_id,
+            "copyrightText": "NOASSERTION",
+        }
+
+        comment = license_comments.get(sub_path)
+        if comment:
+            pkg["licenseComments"] = comment
+
+        if host and org and repo:
+            pkg["externalRefs"] = [
+                {
+                    "referenceCategory": "PACKAGE-MANAGER",
+                    "referenceType": "purl",
+                    "referenceLocator": make_purl(host, org, repo, commit),
+                }
+            ]
+
+        doc["packages"].append(pkg)
+        doc["relationships"].append({
+            "spdxElementId": primary_spdx_id,
+            "relationshipType": "CONTAINS",
+            "relatedSpdxElement": sub_spdx_id,
+        })
+
+    # Python build dependencies
+    requirements_path = source_dir / "Tools" / "setup" / "requirements.txt"
+    py_deps = parse_requirements(requirements_path)
+
+    for dep in py_deps:
+        dep_name = dep["name"]
+        dep_spdx_id = f"SPDXRef-PyDep-{spdx_id(dep_name)}"
+        version_str = dep["version_spec"] if dep["version_spec"] else "NOASSERTION"
+
+        doc["packages"].append({
+            "SPDXID": dep_spdx_id,
+            "name": dep_name,
+            "versionInfo": version_str,
+            "supplier": "NOASSERTION",
+            "downloadLocation": f"https://pypi.org/project/{dep_name}/",
+            "filesAnalyzed": False,
+            "primaryPackagePurpose": "APPLICATION",
+            "licenseConcluded": "NOASSERTION",
+            "licenseDeclared": "NOASSERTION",
+            "copyrightText": "NOASSERTION",
+            "externalRefs": [
+                {
+                    "referenceCategory": "PACKAGE-MANAGER",
+                    "referenceType": "purl",
+                    "referenceLocator": f"pkg:pypi/{dep_name}",
+                }
+            ],
+        })
+        doc["relationships"].append({
+            "spdxElementId": dep_spdx_id,
+            "relationshipType": "BUILD_DEPENDENCY_OF",
+            "relatedSpdxElement": primary_spdx_id,
+        })
+
+    # Board-specific modules (already read above for submodule filtering)
+    for mod in modules:
+        mod_path_id = mod.replace("/", "-")
+        mod_spdx_id = f"SPDXRef-Module-{spdx_id(mod_path_id)}"
+
+        # Derive short name: strip leading src/ for readability
+        display_name = mod
+        if display_name.startswith("src/"):
+            display_name = display_name[4:]
+
+        doc["packages"].append({
+            "SPDXID": mod_spdx_id,
+            "name": display_name,
+            "versionInfo": git_info["version"],
+            "supplier": "Organization: Dronecode Foundation",
+            "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
+            "filesAnalyzed": False,
+            "licenseConcluded": "BSD-3-Clause",
+            "licenseDeclared": "BSD-3-Clause",
+            "copyrightText": "NOASSERTION",
+        })
+        doc["relationships"].append({
+            "spdxElementId": primary_spdx_id,
+            "relationshipType": "CONTAINS",
+            "relatedSpdxElement": mod_spdx_id,
+        })
+
+    # Compiler as a build tool
+    if compiler:
+        compiler_spdx_id = f"SPDXRef-Compiler-{spdx_id(compiler)}"
+        doc["packages"].append({
+            "SPDXID": compiler_spdx_id,
+            "name": compiler,
+            "versionInfo": "NOASSERTION",
+            "supplier": "NOASSERTION",
+            "downloadLocation": "NOASSERTION",
+            "filesAnalyzed": False,
+            "primaryPackagePurpose": "APPLICATION",
+            "licenseConcluded": "NOASSERTION",
+            "licenseDeclared": "NOASSERTION",
+            "copyrightText": "NOASSERTION",
+        })
+        doc["relationships"].append({
+            "spdxElementId": compiler_spdx_id,
+            "relationshipType": "BUILD_TOOL_OF",
+            "relatedSpdxElement": primary_spdx_id,
+        })
+
+    return doc
+
+
+def verify_licenses(source_dir):
+    """Verify license detection for all submodules. Returns exit code."""
+    license_overrides, _ = load_license_overrides(source_dir)
+    submodules = parse_gitmodules(source_dir)
+    if not submodules:
+        print("No submodules found in .gitmodules")
+        return 1
+
+    has_noassertion = False
+    print(f"{'Submodule Path':<65} {'Detected':<16} {'Override':<16} {'Final'}")
+    print("-" * 115)
+
+    for sub in submodules:
+        sub_path = sub["path"]
+        sub_dir = source_dir / sub_path
+
+        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
+        if not checked_out:
+            detected = "(not checked out)"
+            override = license_overrides.get(sub_path, "")
+            final = override if override else "NOASSERTION"
+        else:
+            detected = detect_license(sub_dir)
+            override = license_overrides.get(sub_path, "")
+            final = override if override else detected
+
+        if final == "NOASSERTION" and checked_out:
+            has_noassertion = True
+            marker = " <-- NOASSERTION"
+        elif final == "NOASSERTION" and not checked_out:
+            marker = " (skipped)"
+        else:
+            marker = ""
+
+        print(f"{sub_path:<65} {str(detected):<16} {str(override) if override else '':<16} {final}{marker}")
+
+    # Copyleft warning (informational, not a failure)
+    copyleft_found = []
+    for sub in submodules:
+        sub_path = sub["path"]
+        sub_dir = source_dir / sub_path
+        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
+        override = license_overrides.get(sub_path, "")
+        if checked_out:
+            final_lic = override if override else detect_license(sub_dir)
+        else:
+            final_lic = override if override else "NOASSERTION"
+        for cl in COPYLEFT_LICENSES:
+            if cl in final_lic:
+                copyleft_found.append((sub_path, final_lic))
+                break
+
+    print()
+    if copyleft_found:
+        print("Copyleft licenses detected (informational):")
+        for path, lic in copyleft_found:
+            print(f"  {path}: {lic}")
+        print()
+
+    if has_noassertion:
+        print("FAIL: Some submodules resolved to NOASSERTION. "
+              "Add an entry to Tools/ci/license-overrides.yaml or check the LICENSE file.")
+        return 1
+
+    print("OK: All submodules have a resolved license.")
+    return 0
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Generate SPDX 2.3 JSON SBOM for PX4 firmware"
+    )
+    parser.add_argument(
+        "--source-dir",
+        type=Path,
+        default=Path.cwd(),
+        help="PX4 source directory (default: cwd)",
+    )
+    parser.add_argument(
+        "--verify-licenses",
+        action="store_true",
+        help="Verify license detection for all submodules and exit",
+    )
+    parser.add_argument(
+        "--board",
+        default=None,
+        help="Board target name (e.g. px4_fmu-v5x_default)",
+    )
+    parser.add_argument(
+        "--modules-file",
+        type=Path,
+        default=None,
+        help="Path to config_module_list.txt",
+    )
+    parser.add_argument(
+        "--compiler",
+        default="",
+        help="Compiler identifier (e.g. arm-none-eabi-gcc)",
+    )
+    parser.add_argument(
+        "--platform",
+        default="",
+        help="PX4 platform (nuttx, posix, qurt). Filters platform-specific submodules.",
+    )
+    parser.add_argument(
+        "--output",
+        type=Path,
+        default=None,
+        help="Output SBOM file path",
+    )
+
+    args = parser.parse_args()
+
+    if args.verify_licenses:
+        raise SystemExit(verify_licenses(args.source_dir))
+
+    if not args.board:
+        parser.error("--board is required when not using --verify-licenses")
+    if not args.output:
+        parser.error("--output is required when not using --verify-licenses")
+
+    sbom = generate_sbom(
+        source_dir=args.source_dir,
+        board=args.board,
+        modules_file=args.modules_file,
+        compiler=args.compiler,
+        platform=args.platform,
+    )
+
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    with open(args.output, "w") as f:
+        json.dump(sbom, f, indent=2)
+        f.write("\n")
+
+    pkg_count = len(sbom["packages"])
+    print(f"SBOM generated: {args.output} ({pkg_count} packages)")
+
+
+if __name__ == "__main__":
+    main()

Tools/ci/inspect_sbom.py

@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+"""Inspect a PX4 SPDX SBOM file.
+
+Usage:
+    inspect_sbom.py <sbom.spdx.json>                  # full summary
+    inspect_sbom.py <sbom.spdx.json> search <term>    # search packages by name
+    inspect_sbom.py <sbom.spdx.json> ntia             # NTIA minimum elements check
+    inspect_sbom.py <sbom.spdx.json> licenses         # license summary
+    inspect_sbom.py <sbom.spdx.json> list <type>      # list packages (Submodule|PyDep|Module|all)
+"""
+
+import json
+import sys
+from collections import Counter
+from pathlib import Path
+
+
+def load(path):
+    return json.loads(Path(path).read_text())
+
+
+def pkg_type(pkg):
+    spdx_id = pkg["SPDXID"]
+    for prefix in ("Submodule", "PyDep", "Module", "Compiler", "PX4"):
+        if f"-{prefix}-" in spdx_id or spdx_id.startswith(f"SPDXRef-{prefix}"):
+            return prefix
+    return "Other"
+
+
+def summary(doc):
+    print(f"spdxVersion:  {doc['spdxVersion']}")
+    print(f"name:         {doc['name']}")
+    print(f"namespace:    {doc['documentNamespace']}")
+    print(f"created:      {doc['creationInfo']['created']}")
+    print(f"creators:     {', '.join(doc['creationInfo']['creators'])}")
+    print()
+
+    types = Counter(pkg_type(p) for p in doc["packages"])
+    print(f"Packages: {len(doc['packages'])}")
+    for t, c in types.most_common():
+        print(f"  {t}: {c}")
+    print()
+
+    rc = Counter(r["relationshipType"] for r in doc["relationships"])
+    print(f"Relationships: {len(doc['relationships'])}")
+    for t, n in rc.most_common():
+        print(f"  {t}: {n}")
+    print()
+
+    primary = doc["packages"][0]
+    print(f"Primary package:")
+    print(f"  name:    {primary['name']}")
+    print(f"  version: {primary['versionInfo']}")
+    print(f"  purpose: {primary.get('primaryPackagePurpose', 'N/A')}")
+    print(f"  license: {primary['licenseDeclared']}")
+    print()
+
+    noassert = [
+        p["name"]
+        for p in doc["packages"]
+        if pkg_type(p) == "Submodule" and p["licenseDeclared"] == "NOASSERTION"
+    ]
+    if noassert:
+        print(f"WARNING: {len(noassert)} submodules with NOASSERTION license:")
+        for n in noassert:
+            print(f"  - {n}")
+    else:
+        print("All submodule licenses mapped")
+
+    print(f"\nFile size: {Path(sys.argv[1]).stat().st_size // 1024}KB")
+
+
+def search(doc, term):
+    term = term.lower()
+    found = [p for p in doc["packages"] if term in p["name"].lower()]
+    if not found:
+        print(f"No packages matching '{term}'")
+        return
+    print(f"Found {len(found)} packages matching '{term}':\n")
+    for p in found:
+        print(json.dumps(p, indent=2))
+        print()
+
+
+def ntia_check(doc):
+    required = ["SPDXID", "name", "versionInfo", "supplier", "downloadLocation"]
+    missing = []
+    for p in doc["packages"]:
+        for f in required:
+            if f not in p or p[f] in ("", None):
+                missing.append((p["name"], f))
+
+    if missing:
+        print(f"FAIL: {len(missing)} missing fields:")
+        for name, field in missing:
+            print(f"  {name}: missing {field}")
+    else:
+        print(f"PASS: All {len(doc['packages'])} packages have required fields")
+
+    print(f"\nCreators:  {doc['creationInfo']['creators']}")
+    print(f"Timestamp: {doc['creationInfo']['created']}")
+
+    rels = [r for r in doc["relationships"] if r["relationshipType"] == "DESCRIBES"]
+    print(f"DESCRIBES relationships: {len(rels)}")
+
+    return len(missing) == 0
+
+
+def licenses(doc):
+    by_license = {}
+    for p in doc["packages"]:
+        lic = p.get("licenseDeclared", "NOASSERTION")
+        by_license.setdefault(lic, []).append(p["name"])
+
+    for lic in sorted(by_license.keys()):
+        names = by_license[lic]
+        print(f"\n{lic} ({len(names)}):")
+        for n in sorted(names):
+            print(f"  {n}")
+
+
+def list_packages(doc, filter_type):
+    filter_type = filter_type.lower()
+    for p in sorted(doc["packages"], key=lambda x: x["name"]):
+        t = pkg_type(p)
+        if filter_type != "all" and t.lower() != filter_type:
+            continue
+        lic = p.get("licenseDeclared", "?")
+        ver = p["versionInfo"][:20] if len(p["versionInfo"]) > 20 else p["versionInfo"]
+        print(f"  {t:10s}  {p['name']:50s}  {ver:20s}  {lic}")
+
+
+def main():
+    if len(sys.argv) < 2:
+        print(__doc__)
+        sys.exit(1)
+
+    doc = load(sys.argv[1])
+    cmd = sys.argv[2] if len(sys.argv) > 2 else "summary"
+
+    if cmd == "summary":
+        summary(doc)
+    elif cmd == "search":
+        if len(sys.argv) < 4:
+            print("Usage: inspect_sbom.py <file> search <term>")
+            sys.exit(1)
+        search(doc, sys.argv[3])
+    elif cmd == "ntia":
+        if not ntia_check(doc):
+            sys.exit(1)
+    elif cmd == "licenses":
+        licenses(doc)
+    elif cmd == "list":
+        filter_type = sys.argv[3] if len(sys.argv) > 3 else "all"
+        list_packages(doc, filter_type)
+    else:
+        print(f"Unknown command: {cmd}")
+        print(__doc__)
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()

Tools/ci/license-overrides.yaml

@@ -0,0 +1,56 @@
+# SPDX license overrides for submodules where auto-detection fails or is wrong.
+# Each entry maps a submodule path to its SPDX license identifier and an
+# optional comment explaining why the override exists.
+#
+# Run `python3 Tools/ci/generate_sbom.py --verify-licenses` to validate.
+
+overrides:
+  src/modules/mavlink/mavlink:
+    license: "LGPL-3.0-only AND MIT"
+    comment: "Generator is LGPL-3.0; PX4 ships only MIT-licensed generated headers."
+
+  src/lib/cdrstream/cyclonedds:
+    license: "EPL-2.0 OR BSD-3-Clause"
+    comment: >-
+      Dual-licensed. PX4 elects BSD-3-Clause.
+      No board currently enables CONFIG_LIB_CDRSTREAM.
+
+  src/lib/cdrstream/rosidl:
+    license: "Apache-2.0"
+
+  src/lib/crypto/monocypher:
+    license: "BSD-2-Clause OR CC0-1.0"
+    comment: >-
+      Dual-licensed. LICENCE.md offers BSD-2-Clause with CC0-1.0 as
+      public domain fallback.
+
+  src/lib/crypto/libtomcrypt:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+
+  src/lib/crypto/libtommath:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+
+  platforms/nuttx/NuttX/nuttx:
+    license: "Apache-2.0"
+    comment: >-
+      Composite LICENSE (6652 lines) includes BSD/MIT/ISC sub-components.
+      Primary license is Apache-2.0. NOTICE file contains FAT LFN patent warnings.
+
+  platforms/nuttx/NuttX/apps:
+    license: "Apache-2.0"
+
+  boards/modalai/voxl2/libfc-sensor-api:
+    license: "NOASSERTION"
+    comment: >-
+      No LICENSE file in repo. README describes it as public interface
+      for proprietary sensor library.
+
+  boards/modalai/voxl2/src/lib/mpa/libmodal-json:
+    license: "LGPL-3.0-only"
+    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."
+
+  boards/modalai/voxl2/src/lib/mpa/libmodal-pipe:
+    license: "LGPL-3.0-only"
+    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."

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 +1,50 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+cp **/**/*.px4 artifacts/ 2>/dev/null || true
+cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.deb artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
-  mkdir artifacts/$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
+  # SBOM
+  cp $build_dir_path/*.sbom.spdx.json artifacts/$build_dir/ 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 +53,11 @@ 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/run_fuzz_tests.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # This script runs the fuzz tests from a given binary for a certain amount of time
 set -e
 

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/copy_to_ros_ws.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 # Copy msgs and the message translation node into a ROS workspace directory
 
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/docker_run.sh

@@ -1,47 +1,27 @@
-#! /bin/bash
+#!/usr/bin/env 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/migrate_c_params.py

@@ -128,6 +128,9 @@ class SourceParser:
                         # start waiting for the next part - long comment.
                         if state == "wait-short-end":
                             state = "wait-long"
+                        elif state == "wait-long-end":
+                            # Preserve paragraph breaks in long description
+                            long_desc += "\n"
                     else:
                         m = self.re_comment_tag.match(comment_content)
                         if m:
@@ -208,8 +211,7 @@ class SourceParser:
                                 raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name))
                             param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc)
                         if long_desc is not None:
-                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
-                            param.fields["long_desc"] = long_desc
+                            param.fields["long_desc"] = long_desc.rstrip('\n')
                         for tag in tags:
                             if tag == "group":
                                 group = tags[tag]
@@ -407,7 +409,15 @@ def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str:
             g["definitions"][parameter.name] = p
         data["parameters"].append(g)
 
-    return yaml.dump(data, sort_keys=False)
+    # Use block scalar style for multi-line strings
+    class BlockStyleDumper(yaml.SafeDumper):
+        pass
+    def str_representer(dumper, data):
+        if '\n' in data:
+            return dumper.represent_scalar('tag:yaml.org,2002:str', data, style='|')
+        return dumper.represent_scalar('tag:yaml.org,2002:str', data)
+    BlockStyleDumper.add_representer(str, str_representer)
+    return yaml.dump(data, Dumper=BlockStyleDumper, sort_keys=False)
 
 
 def main():

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

@@ -108,7 +108,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                 tags = '@group {:}'.format(param_group)
                 if param['type'] == 'enum':
                     param_type = 'INT32'
-                    for key in param['values']:
+                    for key in sorted(param['values'], key=float):
                         tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                 elif param['type'] == 'bitmask':
                     param_type = 'INT32'
@@ -124,6 +124,9 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                     param_type = 'INT32'
                 elif param['type'] == 'float':
                     param_type = 'FLOAT'
+                    if 'values' in param:
+                        for key in sorted(param['values'], key=float):
+                            tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                 else:
                     raise Exception("unknown param type {:}".format(param['type']))
 
@@ -312,11 +315,7 @@ 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:
@@ -316,9 +316,11 @@ Param | Units | Range/Enum | Description
                 if val.minValue or val.maxValue:
                     rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
 
-                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
+                units_str = ", ".join(val.units)
+                enums_str = ', '.join("[{}](#{})".format(e, e) for e in val.enums)
+                output+=f"{i} | {units_str}|{enums_str}{rangeVal} | {val.description}\n"
             else:
-                output+=f"{i} | | | ?\n"                
+                output+=f"{i} | | | ?\n"
 
         output+=f"\n"
         return output
@@ -419,7 +421,7 @@ 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 +513,11 @@ 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 +531,7 @@ 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 +540,7 @@ 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 +637,8 @@ 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 +710,7 @@ 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 +725,16 @@ 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 +747,7 @@ 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 +835,9 @@ 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 +874,17 @@ 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 +948,6 @@ 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/run-shellcheck.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Script to run ShellCheck (a static analysis tool for shell scripts) over a
 # script directory

Tools/setup/docker-entrypoint.sh

@@ -1,10 +1,10 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 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

@@ -74,11 +74,18 @@ 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
 	fi
+
+	# jMAVSim requires a JDK (Java 17 LTS recommended)
+	if ! brew ls --versions openjdk@17 > /dev/null; then
+		echo "[macos.sh] Installing OpenJDK 17 (required for jMAVSim)"
+		brew install openjdk@17
+		sudo ln -sfn $(brew --prefix openjdk@17)/libexec/openjdk.jdk /Library/Java/JavaVirtualMachines/openjdk-17.jdk
+	fi
 fi
 
 echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed."