docs: rover: small improvements

Only if SYS_FAILURE_EN is enabled and CA_FAILURE_MODE is > 0.

.github/workflows/docs_deploy.yml

@@ -7,11 +7,15 @@ on:
       - 'release/**'
     paths:
       - 'docs/en/**'
+      - 'docs/uk/**'
+      - 'docs/zh/**'
   pull_request:
     branches:
       - '**'
     paths:
       - 'docs/en/**'
+      - 'docs/uk/**'
+      - 'docs/zh/**'
 
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:

.github/workflows/stale.yml

@@ -7,10 +7,15 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v10
         with:
-          days-before-stale: 30
-          days-before-close: -1
+          operations-per-run: 250
+          days-before-stale: 90
+          days-before-close: 30
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'
           remove-stale-when-updated: true
+          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
+          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
+          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -49,9 +49,3 @@ param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
 param set-default NAV_DLL_ACT 2
-
-# DEBUGGING: ekf range fusion
-# default, ekf replay, cv+avoid, high rate sensors
-param set-default SDLOG_PROFILE 2179
-# sim distance on ground
-param set-default EKF2_MIN_RNG 0.177

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_STK_GAIN 0.6
 
 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Attitude Control Parameters
 param set-default RO_YAW_P 5

ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Rover Ackermann
+# @name Generic Ackermann Rover
 # @type Rover
 # @class Rover
 
@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 
 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_WHEEL_BASE 0.5
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
+param set-default RA_ACC_RAD_MAX 1.5
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 130
+param set-default RO_YAW_ACCEL_LIM 800
+param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
-# Rover Attitude Control Parameters
+# Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1
 
@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
 
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering

ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Aion Robotics R1 Rover
+# @name Generic Mecanum Rover
 # @type Rover
 # @class Rover
 
@@ -7,14 +7,15 @@
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_WHEEL_TRACK 0.6
+param set-default RM_YAW_STK_GAIN 0.6
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 0.5
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1
 
 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
-param set-default SIM_GZ_WH_REV 10
+param set-default SIM_GZ_WH_REV 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -80,10 +80,8 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -114,6 +112,8 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2
 
 	50000_gz_rover_differential
+	51000_gz_rover_ackermann
+	52000_gz_rover_mecanum
 
 	60002_gz_uuv_bluerov2_heavy
 

ROMFS/px4fmu_common/init.d/airframes/50002_hiwonder_tracked

@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name Hiwonder Tracked
+#
+# @url https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+param set-default HIWONDER_EMM_EN 1 # Enable motor driver
+param set-default BAT1_N_CELLS 3
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
+param set-default RD_WHEEL_TRACK 0.16
+param set-default RD_TRANS_DRV_TRN 0.785398
+param set-default RD_TRANS_TRN_DRV 0.0872665
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_EXPO 0.2
+param set-default RO_YAW_SUPEXPO 0.1
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 140
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_ACCEL_LIM 1
+param set-default RO_DECEL_LIM 1
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 0.3
+param set-default RO_SPEED_LIM 0.28
+param set-default RO_SPEED_I 0.05
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/51002_hiwonder_ackermann

@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name Hiwonder Ackermann
+#
+# @url https://www.hiwonder.com/products/ackermann-steering-chassis?variant=40382428348503
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default HIWONDER_EMM_EN 1 # Enable motor driver
+param set-default BAT1_N_CELLS 3
+param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.17
+param set-default RA_ACC_RAD_GAIN 1
+param set-default RA_ACC_RAD_MAX 1
+param set-default RA_MAX_STR_ANG 0.698132
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_EXPO 0.6
+param set-default RO_YAW_SUPEXPO 0.3
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 150
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_ACCEL_LIM 1.6
+param set-default RO_DECEL_LIM 3
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 1.2
+param set-default RO_SPEED_LIM 1.1
+param set-default RO_SPEED_I 0.05
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/52001_hiwonder_mecanum

@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name Hiwonder Mecanum
+#
+# @url https://www.hiwonder.com/products/large-metal-4wd-vehicle-chassis-green
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_mecanum_defaults
+
+param set-default HIWONDER_EMM_EN 1 # Enable motor driver
+param set-default BAT1_N_CELLS 3
+param set-default NAV_ACC_RAD 0.5
+
+# Mecanum Parameters
+param set-default RM_WHEEL_TRACK 0.16
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_EXPO 0.2
+param set-default RO_YAW_SUPEXPO 0.1
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 130
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_ACCEL_LIM 0.9
+param set-default RO_DECEL_LIM 1.2
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 0.5
+param set-default RO_SPEED_LIM 0.45
+param set-default RO_SPEED_I 0.05
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -145,6 +145,7 @@ if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 		# [50000, 50999] Differential rovers
 		50000_generic_rover_differential
 		50001_aion_robotics_r1_rover
+		50002_hiwonder_tracked
 	)
 endif()
 
@@ -153,6 +154,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
+		51002_hiwonder_ackermann
 	)
 endif()
 
@@ -160,6 +162,7 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		# [52000, 52999] Mecanum rovers
 		52000_generic_rover_mecanum
+		52001_hiwonder_mecanum
 	)
 endif()
 

Tools/mavlink_shell.py

@@ -191,7 +191,7 @@ def main():
                         cur_history_index = len(command_history)
                     mav_serialport.write(cur_line+'\n')
                     cur_line = ''
-                elif ord(ch) == 127: # backslash
+                elif ord(ch) == 8: # backspace
                     if len(cur_line) > 0:
                         erase_last_n_chars(1)
                         cur_line = cur_line[:-1]

boards/radiolink/PIX6/default.px4board

@@ -0,0 +1,107 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_INPUT=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/radiolink/PIX6/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1410,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the RadiolinkPIX6 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "RadiolinkPIX6",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2064384,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/radiolink/PIX6/init/rc.board_defaults

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 18.1
+param set-default BAT2_V_DIV 18.1
+
+param set-default BAT1_A_PER_V 36.367515152
+param set-default BAT2_A_PER_V 36.367515152
+
+param set-default EKF2_MULTI_IMU 2
+param set-default SENS_IMU_MODE 0
+#safety_button start

boards/radiolink/PIX6/init/rc.board_extras

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board extras init
+#------------------------------------------------------------------------------
+
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi

boards/radiolink/PIX6/init/rc.board_sensors

@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+set HAVE_PM2 yes
+
+board_adc start
+
+if param compare SENS_EN_INA226 1
+then
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina226 -X -b 2 -t 2 -k start
+	fi
+
+fi
+
+if param compare SENS_EN_INA228 1
+then
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina228 -X -b 2 -t 2 -k start
+	fi
+
+fi
+
+if param compare SENS_EN_INA238 1
+then
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina238 -X -b 2 -t 2 -k start
+	fi
+
+fi
+
+# Internal SPI bus ICM42688p
+icm42688p -R 2 -s start
+
+# Internal SPI BMI088
+bmi088 -A -R 4 -s start
+bmi088 -G -R 4 -s start
+
+spa06 -I start
+
+# internal compass
+ist8310 -I start
+
+# External compass on GPS1/I2C1
+ist8310 -X start
+
+# Possible internal Baro
+unset HAVE_PM2

boards/radiolink/PIX6/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-8, CAP1 as PROBE_1-9 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-8, CAP1 as PROBE_1-9"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-8, CAP1  to provide timing signals from selected drivers.

boards/radiolink/PIX6/nuttx-config/include/board.h

@@ -0,0 +1,455 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The radiolink_pix6  board provides the following clock sources:
+ *
+ *   24 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 24 MHz crystal for HSE
+ */
+#define STM32_BOARD_XTAL        24000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 24,000,000
+ *
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     2 <= PLLM <= 63
+ *   192 <= PLLN <= 432
+ *   192 MHz <= PLL_VCO <= 432MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * Subject to
+ *
+ *   PLLP = {2, 4, 6, 8}
+ *   SYSCLK <= 216 MHz
+ *
+ * USB OTG FS, SDMMC and RNG Clock = PLL_VCO / PLLQ
+ * Subject to
+ *   The USB OTG FS requires a 48 MHz clock to work correctly. The SDMMC
+ *   and the random number generator need a frequency lower than or equal
+ *   to 48 MHz to work correctly.
+ *
+ * 2 <= PLLQ <= 15
+ */
+
+/* Highest SYSCLK with USB OTG FS clock = 48 MHz
+ *
+ * PLL_VCO = (24,000,000 / 24) * 432 = 432 MHz
+ * SYSCLK  = 432 MHz / 2 = 216 MHz
+ * USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(24)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(432)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(9)
+
+#define STM32_VCO_FREQUENCY     ((STM32_HSE_FREQUENCY / 24) * 432)
+#define STM32_SYSCLK_FREQUENCY  (STM32_VCO_FREQUENCY / 2)
+#define STM32_OTGFS_FREQUENCY   (STM32_VCO_FREQUENCY / 9)
+
+/* Configure factors for  PLLSAI clock */
+#define CONFIG_STM32F7_PLLSAI 1
+#define STM32_RCC_PLLSAICFGR_PLLSAIN    RCC_PLLSAICFGR_PLLSAIN(192)
+#define STM32_RCC_PLLSAICFGR_PLLSAIP    RCC_PLLSAICFGR_PLLSAIP(8)
+#define STM32_RCC_PLLSAICFGR_PLLSAIQ    RCC_PLLSAICFGR_PLLSAIQ(4)
+#define STM32_RCC_PLLSAICFGR_PLLSAIR    RCC_PLLSAICFGR_PLLSAIR(2)
+
+/* Configure Dedicated Clock Configuration Register */
+#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ  RCC_DCKCFGR1_PLLI2SDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ  RCC_DCKCFGR1_PLLSAIDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVR  RCC_DCKCFGR1_PLLSAIDIVR(0)
+#define STM32_RCC_DCKCFGR1_SAI1SRC     RCC_DCKCFGR1_SAI1SEL(0)
+#define STM32_RCC_DCKCFGR1_SAI2SRC     RCC_DCKCFGR1_SAI2SEL(0)
+#define STM32_RCC_DCKCFGR1_TIMPRESRC   0
+#define STM32_RCC_DCKCFGR1_DFSDM1SRC   0
+#define STM32_RCC_DCKCFGR1_ADFSDM1SRC  0
+
+/* Configure factors for  PLLI2S clock */
+#define CONFIG_STM32F7_PLLI2S 1
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN   RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SP   RCC_PLLI2SCFGR_PLLI2SP(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ   RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR   RCC_PLLI2SCFGR_PLLI2SR(2)
+
+/* Configure Dedicated Clock Configuration Register 2 */
+#define STM32_RCC_DCKCFGR2_USART1SRC  RCC_DCKCFGR2_USART1SEL_APB
+#define STM32_RCC_DCKCFGR2_USART2SRC  RCC_DCKCFGR2_USART2SEL_APB
+#define STM32_RCC_DCKCFGR2_UART4SRC   RCC_DCKCFGR2_UART4SEL_APB
+#define STM32_RCC_DCKCFGR2_UART5SRC   RCC_DCKCFGR2_UART5SEL_APB
+#define STM32_RCC_DCKCFGR2_USART6SRC  RCC_DCKCFGR2_USART6SEL_APB
+#define STM32_RCC_DCKCFGR2_UART7SRC   RCC_DCKCFGR2_UART7SEL_APB
+#define STM32_RCC_DCKCFGR2_UART8SRC   RCC_DCKCFGR2_UART8SEL_APB
+#define STM32_RCC_DCKCFGR2_I2C1SRC    RCC_DCKCFGR2_I2C1SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C2SRC    RCC_DCKCFGR2_I2C2SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C3SRC    RCC_DCKCFGR2_I2C3SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C4SRC    RCC_DCKCFGR2_I2C4SEL_HSI
+#define STM32_RCC_DCKCFGR2_LPTIM1SRC  RCC_DCKCFGR2_LPTIM1SEL_APB
+#define STM32_RCC_DCKCFGR2_CECSRC     RCC_DCKCFGR2_CECSEL_HSI
+#define STM32_RCC_DCKCFGR2_CK48MSRC   RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_SDMMCSRC   RCC_DCKCFGR2_SDMMCSEL_48MHZ
+#define STM32_RCC_DCKCFGR2_SDMMC2SRC  RCC_DCKCFGR2_SDMMC2SEL_48MHZ
+#define STM32_RCC_DCKCFGR2_DSISRC     RCC_DCKCFGR2_DSISEL_PHY
+
+
+
+/* Several prescalers allow the configuration of the two AHB buses, the
+ * high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
+ * frequency of the two AHB buses is 216 MHz while the maximum frequency of
+ * the high-speed APB domains is 108 MHz. The maximum allowed frequency of
+ * the low-speed APB domain is 54 MHz.
+ */
+
+/* AHB clock (HCLK) is SYSCLK (216 MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (54 MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (108MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* SDMMC dividers.  Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode.  These values have not been
+ * tuned!!!
+ *
+ * SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(118+2)=400 KHz
+ */
+
+/* Use the Falling edge of the SDIO_CLK clock to change the edge the
+ * data and commands are change on
+ */
+
+#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
+
+#define STM32_SDMMC_INIT_CLKDIV         (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
+ * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32F7_SDMMC_DMA
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
+ * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
+ */
+//TODO #warning "Check Freq for 24mHz"
+
+#ifdef CONFIG_STM32F7_SDMMC_DMA
+#  define STM32_SDMMC_SDXFR_CLKDIV      (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* FLASH wait states
+ *
+ *  --------- ---------- -----------
+ *  VDD       MAX SYSCLK WAIT STATES
+ *  --------- ---------- -----------
+ *  1.7-2.1 V   180 MHz    8
+ *  2.1-2.4 V   216 MHz    9
+ *  2.4-2.7 V   216 MHz    8
+ *  2.7-3.6 V   216 MHz    7
+ *  --------- ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 7
+
+/* LED definitions ******************************************************************/
+/* The radiolink_pix6 board has numerous LEDs but only three, LED_GREEN a Green LED, LED_BLUE
+ * a Blue LED and LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2    /* PB6 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5   */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2  /* PD4   */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_2  /* PD3   */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2  /* PD12   */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_2  /* PD11   */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_1    /* PA1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_1    /* PA0 */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_1    /* PE7  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8  */
+
+/* UART8: has no remap
+ *
+ *      GPIO_UART8_RX                          PE0
+ *      GPIO_UART8_TX                          PE1
+ */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ * CAN2 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_2     /* PB13 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB5  */
+
+/* SPI
+ * SPI1 is sensors
+ * SPI2 is OSD & RAMTRON
+ * SPI4 is EXTERNAL1
+ *
+ */
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7  */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_2    /* PB3  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1   /* PB15 */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_1    /* PA9  */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE13  */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1   /* PE6 */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE2  */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
+
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11 */
+
+
+/* SDMMC1
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC1_CK                           PC12
+ *      SDMMC1_CMD                          PD2
+ *      SDMMC1_D0                           PC8
+ *      SDMMC1_D1                           PC9
+ *      SDMMC1_D2                           PC10
+ *      SDMMC1_D3                           PC11
+ */
+
+// #define GPIO_SDMMC1_D0   GPIO_SDMMC1_D0
+// #define GPIO_SDMMC1_D1   GPIO_SDMMC1_D1
+// #define GPIO_SDMMC1_D2   GPIO_SDMMC1_D2
+// #define GPIO_SDMMC1_D3   GPIO_SDMMC1_D3
+
+/* The STM32 F7 connects to a TI DP83848TSQ/NOPB
+ * using RMII
+ *
+ *   STM32 F7 BOARD        DP83848TSQ/NOPB
+ *   GPIO     SIGNAL       PIN NAME
+ *   -------- ------------ -------------
+ *   PA7     ETH_CRS_DV    CRS_DV
+ *   PC1     ETH_MDC       MDC
+ *   PA2     ETH_MDIO      MDIO
+ *   PA1     ETH_REF_CL    X1
+ *   PC4     ETH_RXD0      RX_D0
+ *   PC5     ETH_RXD1      RX_D1
+ *   PB11    ETH_TX_EN     TX_EN
+ *   PG13    ETH_TXD0      TX_D0
+ *   PB13    ETH_TXD1      TX_D1
+ *
+ * The PHY address is 1, since COL/PHYAD0 features a pull up.
+ */
+
+// #define GPIO_ETH_RMII_TX_EN	GPIO_ETH_RMII_TX_EN_1
+// #define GPIO_ETH_RMII_TXD0	GPIO_ETH_RMII_TXD0_2
+// #define GPIO_ETH_RMII_TXD1	GPIO_ETH_RMII_TXD1_1
+
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN10)  /* PA10 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)   /* PE9  AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)  /* PA15 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)  /* PA7 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)   /* PC6  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)   /* PA3  AUX8 */
+# //define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0  CAP1 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		/*if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \*/
+
+} while (0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif

boards/radiolink/PIX6/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define DMAMAP_USART3_TX   DMAMAP_USART3_TX_1   // DMA1, Stream 3, Channel 4    (TELEM2 RX)
+#define DMAMAP_SDMMC1     DMAMAP_SDMMC1_2     // DMA2, Stream 6, Channel 11
+#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_1    // DMA2, Stream 0, Channel 3    (SPI sensors RX)
+#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI sensors TX)

boards/radiolink/PIX6/nuttx-config/nsh/defconfig

@@ -0,0 +1,259 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TELNETD is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/radiolink/PIX6/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="radiolink"
+CONFIG_ARCH_CHIP="stm32f7"
+CONFIG_ARCH_CHIP_STM32F765II=y
+CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_ITCM=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0032
+CONFIG_CDCACM_PRODUCTSTR="radiolink PIX6"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="radiolink"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_GPIO=y
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=3
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_BBSRAM=y
+CONFIG_STM32F7_BBSRAM_FILES=5
+CONFIG_STM32F7_BKPSRAM=y
+CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
+CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32F7_I2C1=y
+CONFIG_STM32F7_I2C2=y
+CONFIG_STM32F7_I2C_DYNTIMEO=y
+CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
+CONFIG_STM32F7_PWR=y
+CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32F7_RTC_MAGIC_REG=1
+CONFIG_STM32F7_SAVE_CRASHDUMP=y
+CONFIG_STM32F7_SDMMC1=y
+CONFIG_STM32F7_SDMMC_DMA=y
+CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
+CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI2=y
+#CONFIG_STM32F7_SPI2_DMA=y
+#CONFIG_STM32F7_SPI2_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI4=y
+CONFIG_STM32F7_SPI_DMATHRESHOLD=8
+CONFIG_STM32F7_TIM5=y
+CONFIG_STM32F7_UART4=y
+CONFIG_STM32F7_UART7=y
+CONFIG_STM32F7_UART8=y
+CONFIG_STM32F7_USART1=y
+CONFIG_STM32F7_USART2=y
+CONFIG_STM32F7_USART3=y
+CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
+CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=180
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/radiolink/PIX6/nuttx-config/scripts/kernel-space.ld

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * kernel-space.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+/*
+ * TODO: Fill in the signature location into TOC from user-space elf
+EXTERN(_main_toc)
+*/
+
+SECTIONS
+{
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+	. = ALIGN(32);
+	/*
+	This signature provides the bootloader with a way to delay booting
+	*/
+	_bootdelay_signature = ABSOLUTE(.);
+	FILL(0xffecc2925d7d05c5)
+	. += 8;
+        /*
+        *(.main_toc)
+        */
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > kflash
+
+    /*
+     * Init functions (static constructors and the like)
+     */
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+	KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > kflash
+
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > kflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > kflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > ksram AT > kflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = ABSOLUTE(.);
+    } > ksram
+
+    /* Stabs debugging sections */
+
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+
+    .ramfunc : {
+        _sramfuncs = .;
+	*(.ramfunc  .ramfunc.*)
+	. = ALIGN(4);
+	_eramfuncs = .;
+    } > ksram AT > kflash
+
+    _framfuncs = LOADADDR(.ramfunc);
+}

boards/radiolink/PIX6/nuttx-config/scripts/memory.ld

@@ -0,0 +1,98 @@
+/****************************************************************************
+ * scripts/memory.ld
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F765IIT6 has 2048 KiB of main FLASH memory.  This FLASH memory
+ * can be accessed from either the AXIM interface at address 0x0800:0000 or
+ * from the ITCM interface at address 0x0020:0000.
+ *
+ * Additional information, including the option bytes, is available at at
+ * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
+ *
+ * In the STM32F765IIT6, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash on ITCM at 0x0020:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x0010:0000
+ *
+ * NuttX does not modify these option byes.  On the unmodified NUCLEO-144
+ * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
+ * boot from address 0x0020:0000 in ITCM FLASH.
+ *
+ * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
+ * SRAM is split up into three blocks:
+ *
+ *   1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
+ *   2) 368 KiB of SRAM1 beginning at address 0x2002:0000
+ *   3)  16 KiB of SRAM2 beginning at address 0x2007:c000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
+ * organization (256 bits read width)
+ */
+
+MEMORY
+{
+  /* ITCM boot address */
+
+  itcm  (rwx) : ORIGIN = 0x00208000, LENGTH = 2048K-32K
+
+  /* 2048KB FLASH, bootloader reserves the first 32kb */
+
+  kflash (rx) : ORIGIN = 0x08008000, LENGTH = 1024K-32K
+  uflash (rx) : ORIGIN = 0x08100000, LENGTH = 1024K
+
+  /* ITCM RAM */
+
+  itcm_ram  (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
+
+  /* DTCM SRAM */
+
+  dtcm_ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+
+  /* 368KB of contiguous SRAM1 */
+
+  ksram (rwx) : ORIGIN = 0x20020000, LENGTH = 128K
+  usram (rwx) : ORIGIN = 0x20040000, LENGTH = 368K-128K
+
+  /* 16KB of SRAM2 */
+
+  sram2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
+}

boards/radiolink/PIX6/nuttx-config/scripts/script.ld

@@ -0,0 +1,181 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F765IIT6 has 2048 KiB of main FLASH memory.  This FLASH memory
+ * can be accessed from either the AXIM interface at address 0x0800:0000 or
+ * from the ITCM interface at address 0x0020:0000.
+ *
+ * Additional information, including the option bytes, is available at at
+ * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
+ *
+ * In the STM32F765IIT6, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash on ITCM at 0x0020:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x0010:0000
+ *
+ * NuttX does not modify these option byes.  On the unmodified NUCLEO-144
+ * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
+ * boot from address 0x0020:0000 in ITCM FLASH.
+ *
+ * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
+ * SRAM is split up into three blocks:
+ *
+ *   1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
+ *   2) 368 KiB of SRAM1 beginning at address 0x2002:0000
+ *   3)  16 KiB of SRAM2 beginning at address 0x2007:c000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
+ * organization (256 bits read width)
+ */
+
+MEMORY
+{
+    FLASH_ITCM (rx) : ORIGIN = 0x00208000, LENGTH = 2016K
+    FLASH_AXIM (rx) : ORIGIN = 0x08008000, LENGTH = 2016K
+
+    ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
+    DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+    SRAM1    (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
+    SRAM2    (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH_AXIM
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH_AXIM
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH_AXIM
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH_AXIM
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > SRAM1 AT > FLASH_AXIM
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > SRAM1
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH_AXIM
+
+	_framfuncs = LOADADDR(.ramfunc);
+}

boards/radiolink/PIX6/nuttx-config/scripts/user-space.ld

@@ -0,0 +1,124 @@
+/****************************************************************************
+ * user-space.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+EXTERN(userspace)
+OUTPUT_ARCH(arm)
+SECTIONS
+{
+    .userspace : {
+        *(.userspace)
+    } > uflash
+
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > uflash
+
+    /*
+     * Init functions (static constructors and the like)
+     */
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > uflash
+
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > uflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > uflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > usram AT > uflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        /* Kernel heap start at _ebss, make _ebss MPU-friendly aligned */
+        . = ALIGN(0x1000);
+        _ebss = ABSOLUTE(.);
+    } > usram
+
+    /* Stabs debugging sections */
+
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+
+    /* Start of the image signature. This
+     *  has to be in the end of the image
+     */
+     .signature : {
+         _boot_signature = ALIGN(4);
+     } > uflash
+}

boards/radiolink/PIX6/src/CMakeLists.txt

@@ -0,0 +1,55 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	can.c
+	i2c.cpp
+	init.cpp
+	led.c
+	mtd.cpp
+	sdio.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+add_dependencies(drivers_board arch_board_hw_info)
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_io_pins
+		arch_spi
+		arch_board_hw_info
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)

boards/radiolink/PIX6/src/board_config.h

@@ -0,0 +1,293 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform/board_ctrl.h>
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* PX4IO connection configuration */
+
+#define BOARD_USES_PX4IO_VERSION       2
+#define PX4IO_SERIAL_DEVICE            "/dev/ttyS5"
+#define PX4IO_SERIAL_TX_GPIO           GPIO_UART8_TX
+#define PX4IO_SERIAL_RX_GPIO           GPIO_UART8_RX
+#define PX4IO_SERIAL_BASE              STM32_UART8_BASE
+#define PX4IO_SERIAL_VECTOR            STM32_IRQ_UART8
+#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_UART8_TX
+#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_UART8_RX
+#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB1ENR
+#define PX4IO_SERIAL_RCC_EN            RCC_APB1ENR_UART8EN
+#define PX4IO_SERIAL_CLOCK             STM32_PCLK1_FREQUENCY
+#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
+
+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_STATIC_MANIFEST 1
+
+#define BOARD_HAS_LTC44XX_VALIDS      0 // No LTC or N Bricks
+#define BOARD_HAS_USB_VALID           0 // LTC Has No USB valid
+#define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
+#define BOARD_HAS_NBAT_I              0 // No Ibat ADC
+
+/* LEDs */
+#define GPIO_LED1                    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_LED2                    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_LED3                    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
+
+#define GPIO_LED_RED                 GPIO_LED1
+#define GPIO_LED_GREEN               GPIO_LED2
+#define GPIO_LED_BLUE                GPIO_LED3
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS 1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_LED        LED_BLUE
+#define BOARD_ARMED_STATE_LED  LED_GREEN
+
+/* Safety Switch is HW version dependent on having an PX4IO
+ * So we init to a benign state with the _INIT definition
+ * and provide the the non _INIT one for the driver to make a run time
+ * decision to use it.
+ */
+#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PB0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTB|GPIO_PIN0)
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+
+#define PX4_ADC_GPIO  \
+	/* PA2 */  ADC1_GPIO(2),  \
+	/* PA4 */  ADC1_GPIO(4),  \
+	/* PA5 */  ADC1_GPIO(5),  \
+	/* PC0 */  ADC1_GPIO(10), \
+	/* PC2 */  ADC1_GPIO(12), \
+	/* PC3 */  ADC1_GPIO(13)
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL     	/* PA2 */  ADC1_CH(2)
+#define ADC_BATTERY_CURRENT_CHANNEL     	/* PA5 */  ADC1_CH(5)
+#define ADC_SCALED_V5_CHANNEL                   /* PC0 */  ADC1_CH(10)
+#define ADC_ADC1_6V6_CHANNEL  			/* PC2 */  ADC1_CH(12)
+#define ADC_ADC1_3V3_CHANNEL1                   /* PC3 */  ADC1_CH(13)
+#define ADC_ADC1_3V3_CHANNEL2			/* PA4 */  ADC1_CH(4)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL) | \
+	 (1 << ADC_ADC1_3V3_CHANNEL2)               | \
+	 (1 << ADC_ADC1_6V6_CHANNEL)                | \
+	 (1 << ADC_ADC1_3V3_CHANNEL1))
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+//#define UAVCAN_NUM_IFACES_RUNTIME 1
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+
+
+#define GPIO_VDD_5V_PERIPH_nEN          /* PC4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_VDD_5V_HIPOWER_nEN         /* PD13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PE10 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
+#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
+
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        9  /* Timer 14 */
+#define TONE_ALARM_CHANNEL      1  /* PE5 GPIO_TIM14_CH1OUT_2 */
+
+#define GPIO_BUZZER_1           /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM9_CH1OUT_2
+
+#define HRT_TIMER               5  /* use timer5 for the HRT */
+#define HRT_TIMER_CHANNEL       4  /* use capture/compare channel 4 */
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_nVDD_USB_VALID         /* PB2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PORTB|GPIO_PIN2)
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER                       2
+#define PWMIN_TIMER_CHANNEL    /* T2C1 */ 1
+#define GPIO_PWM_IN            /* PA15 */ GPIO_TIM2_CH1IN_2
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_nVDD_USB_VALID))
+#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
+
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN2_TX,                     \
+		GPIO_CAN2_RX,                     \
+		GPIO_VDD_5V_PERIPH_nEN,           \
+		GPIO_VDD_5V_PERIPH_nOC,           \
+		GPIO_VDD_5V_HIPOWER_nEN,          \
+		GPIO_VDD_5V_HIPOWER_nOC,          \
+		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_nVDD_USB_VALID,                 \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS 3
+
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/radiolink/PIX6/src/can.c

@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif

boards/radiolink/PIX6/src/i2c.cpp

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(2),
+};

boards/radiolink/PIX6/src/init.cpp

@@ -0,0 +1,277 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_dma_alloc.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+#define _GPIO_PULL_DOWN_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	VDD_5V_PERIPH_EN(false);
+	board_control_spi_sensors_power(false, 0xffff);
+	VDD_3V3_SENSORS4_EN(false);
+
+	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
+	/* Keep Spektum on to discharge rail*/
+	VDD_3V3_SPEKTRUM_POWER_EN(false);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	VDD_3V3_SPEKTRUM_POWER_EN(last);
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_3V3_SENSORS4_EN(true);
+	VDD_5V_PERIPH_EN(true);
+
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+extern "C" __EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	board_control_spi_sensors_power_configgpio();
+
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+static struct spi_dev_s *spi4;
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Power on Interfaces */
+	VDD_5V_PERIPH_EN(true);
+	VDD_5V_HIPOWER_EN(true);
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SPEKTRUM_POWER_EN(true);
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
+	stm32_spiinitialize();
+
+	spi4 = px4_spibus_initialize(4);
+
+	if (!spi4) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	up_udelay(20);
+
+	//board_spi_reset(10, 0xffff);
+
+	/* Configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+	}
+
+#endif /* CONFIG_MMCSD */
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}

boards/radiolink/PIX6/src/led.c

@@ -0,0 +1,227 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_LED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_LED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_LED_RED,     // Indexed by BOARD_LED_RED
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_LED_RED,                      // Indexed by LED_RED, LED_AMBER
+	GPIO_nSAFETY_SWITCH_LED_OUT_INIT,   // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_LED_GREEN,                    // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		stm32_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	stm32_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	return !stm32_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/radiolink/PIX6/src/mtd.cpp

@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+//TODO:Prepare for NxtDual
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t spi2 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi2,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 1024
+		}
+	},
+};
+
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmum_fram
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/radiolink/PIX6/src/sdio.c

@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */

boards/radiolink/PIX6/src/spi.cpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortB, GPIO::Pin12}),
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin12}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin4}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
+		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortA, GPIO::Pin8}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI4, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin15}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/radiolink/PIX6/src/timer_config.cpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortA, GPIO::Pin7}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/radiolink/PIX6/src/usb.c

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32F7_OTGFS
+	//stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
+
+__EXPORT int board_read_VBUS_state(void)
+{
+	return 0;
+}

docs/en/SUMMARY.md

@@ -184,6 +184,7 @@
         - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
       - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
       - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
+      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
       - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
@@ -413,10 +414,15 @@
       - [Basic Setup](config_rover/basic_setup.md)
       - [Rate Tuning](config_rover/rate_tuning.md)
       - [Attitude Tuning](config_rover/attitude_tuning.md)
-      - [Velocity Tuning](config_rover/velocity_tuning.md)
+      - [Speed Tuning](config_rover/speed_tuning.md)
       - [Position Tuning](config_rover/position_tuning.md)
+    - [Apps & API](flight_modes_rover/api.md)
     - [Complete Vehicles](complete_vehicles_rover/index.md)
-      - [Aion Robotics R1](complete_vehicles_rover/aion_r1.md)
+      - [Hiwonder Ackermann Chassi](complete_vehicles_rover/hiwonder_ackermann.md)
+      - [Hiwonder Tracked Chassi](complete_vehicles_rover/hiwonder_tracked.md)
+      - [Hiwonder Mecanum Chassi](complete_vehicles_rover/hiwonder_mecanum.md)
+      - [Aion Robotics R1 (Discontinued)](complete_vehicles_rover/aion_r1.md)
+    - [Developer Guide](frames_rover/developer_guide.md)
   - [Submarines (experimental)](frames_sub/index.md)
     - [BlueROV2](frames_sub/bluerov2.md)
   - [Airframes Reference](airframes/airframe_reference.md)
@@ -850,6 +856,7 @@
     - [PX4 ROS 2 Interface Library](ros2/px4_ros2_interface_lib.md)
       - [Control Interface](ros2/px4_ros2_control_interface.md)
       - [Navigation Interface](ros2/px4_ros2_navigation_interface.md)
+      - [Waypoint Missions](ros2/px4_ros2_waypoint_missions.md)
     - [ROS 2 Message Translation Node](ros2/px4_ros2_msg_translation_node.md)
   - [ROS 1 (Deprecated)](ros/ros1.md)
     - [ROS/MAVROS Installation Guide](ros/mavros_installation.md)

docs/en/advanced_config/parameter_reference.md

@@ -10,264 +10,6 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
 
 <!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->
 
-## UAVCAN Motor Parameters
-
-### ctl_bw (`INT32`) {#ctl_bw}
-
-Speed controller bandwidth.
-
-Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 10       | 250      |           | 75      | Hz   |
-
-### ctl_dir (`INT32`) {#ctl_dir}
-
-Reverse direction.
-
-Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        |           | 1       |
-
-### ctl_gain (`FLOAT`) {#ctl_gain}
-
-Speed (RPM) controller gain.
-
-Determines controller
-aggressiveness; units are amp-seconds per radian. Systems with
-higher rotational inertia (large props) will need gain increased;
-systems with low rotational inertia (small props) may need gain
-decreased. Higher values result in faster response, but may result
-in oscillation and excessive overshoot. Lower values result in a
-slower, smoother response.
-
-| Reboot | minValue | maxValue | increment | default | unit  |
-| ------ | -------- | -------- | --------- | ------- | ----- |
-| &nbsp; | 0.00     | 1.00     |           | 1       | C/rad |
-
-### ctl_hz_idle (`FLOAT`) {#ctl_hz_idle}
-
-Idle speed (e Hz).
-
-Idle speed (e Hz)
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.0      | 100.0    |           | 3.5     | Hz   |
-
-### ctl_start_rate (`INT32`) {#ctl_start_rate}
-
-Spin-up rate (e Hz/s).
-
-Spin-up rate (e Hz/s)
-
-| Reboot | minValue | maxValue | increment | default | unit  |
-| ------ | -------- | -------- | --------- | ------- | ----- |
-| &nbsp; | 5        | 1000     |           | 25      | 1/s^2 |
-
-### esc_index (`INT32`) {#esc_index}
-
-Index of this ESC in throttle command messages.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 15       |           | 0       |
-
-### id_ext_status (`INT32`) {#id_ext_status}
-
-Extended status ID.
-
-Extended status ID
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 1        | 1000000  |           | 20034   |
-
-### int_ext_status (`INT32`) {#int_ext_status}
-
-Extended status interval (µs).
-
-Extended status interval (µs)
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1000000  |           | 50000   | us   |
-
-### int_status (`INT32`) {#int_status}
-
-ESC status interval (µs).
-
-ESC status interval (µs)
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          | 1000000  |           | 50000   | us   |
-
-### mot_i_max (`FLOAT`) {#mot_i_max}
-
-Motor current limit in amps.
-
-This determines the maximum
-current controller setpoint, as well as the maximum allowable
-current setpoint slew rate. This value should generally be set to
-the continuous current rating listed in the motor’s specification
-sheet, or set equal to the motor’s specified continuous power
-divided by the motor voltage limit.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 1        | 80       |           | 12      | A    |
-
-### mot_kv (`INT32`) {#mot_kv}
-
-Motor Kv in RPM per volt.
-
-This can be taken from the motor’s
-specification sheet; accuracy will help control performance but
-some deviation from the specified value is acceptable.
-
-| Reboot | minValue | maxValue | increment | default | unit  |
-| ------ | -------- | -------- | --------- | ------- | ----- |
-| &nbsp; | 0        | 4000     |           | 2300    | rpm/V |
-
-### mot_ls (`FLOAT`) {#mot_ls}
-
-READ ONLY: Motor inductance in henries.
-
-This is measured on start-up.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0.0     | H    |
-
-### mot_num_poles (`INT32`) {#mot_num_poles}
-
-Number of motor poles.
-
-Used to convert mechanical speeds to
-electrical speeds. This number should be taken from the motor’s
-specification sheet.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 2        | 40       |           | 14      |
-
-### mot_rs (`FLOAT`) {#mot_rs}
-
-READ ONLY: Motor resistance in ohms.
-
-This is measured on start-up. When
-tuning a new motor, check that this value is approximately equal
-to the value shown in the motor’s specification sheet.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0.0     | Ohm  |
-
-### mot_v_accel (`FLOAT`) {#mot_v_accel}
-
-Acceleration limit (V).
-
-Acceleration limit (V)
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.01     | 1.00     |           | 0.5     | V    |
-
-### mot_v_max (`FLOAT`) {#mot_v_max}
-
-Motor voltage limit in volts.
-
-The current controller’s
-commanded voltage will never exceed this value. Note that this may
-safely be above the nominal voltage of the motor; to determine the
-actual motor voltage limit, divide the motor’s rated power by the
-motor current limit.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        |          |           | 14.8    | V    |
-
-## UAVCAN GNSS
-
-### gnss.dyn_model (`INT32`) {#gnss.dyn_model}
-
-GNSS dynamic model.
-
-Dynamic model used in the GNSS positioning engine. 0 –
-Automotive, 1 – Sea, 2 – Airborne.
-
-**Values:**
-
-- `0`: Automotive
-- `1`: Sea
-- `2`: Airborne
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 2        |           | 2       |
-
-### gnss.old_fix_msg (`INT32`) {#gnss.old_fix_msg}
-
-Broadcast old GNSS fix message.
-
-Broadcast the old (deprecated) GNSS fix message
-uavcan.equipment.gnss.Fix alongside the new alternative
-uavcan.equipment.gnss.Fix2. It is recommended to
-disable this feature to reduce the CAN bus traffic.
-
-**Values:**
-
-- `0`: Fix2
-- `1`: Fix and Fix2
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        |           | 1       |
-
-### gnss.warn_dimens (`INT32`) {#gnss.warn_dimens}
-
-device health warning.
-
-Set the device health to Warning if the dimensionality of
-the GNSS solution is less than this value. 3 for the full (3D)
-solution, 2 for planar (2D) solution, 1 for time-only solution,
-0 disables the feature.
-
-**Values:**
-
-- `0`: disables the feature
-- `1`: time-only solution
-- `2`: planar (2D) solution
-- `3`: full (3D) solution
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 3        |           | 0       |
-
-### gnss.warn_sats (`INT32`) {#gnss.warn_sats}
-
-Set the device health to Warning if the number of satellites
-used in the GNSS solution is below this threshold. Zero
-disables the feature
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0       |
-
-### uavcan.pubp-pres (`INT32`) {#uavcan.pubp-pres}
-
-Set the device health to Warning if the number of satellites
-used in the GNSS solution is below this threshold. Zero
-disables the feature
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1000000  |           | 0       | us   |
-
 ## ADSB
 
 ### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@@ -15723,6 +15465,7 @@ selected flight mode will be applied.
 - `11`: Land
 - `12`: Follow Me
 - `13`: Precision Land
+- `16`: Altitude Cruise
 - `100`: External Mode 1
 - `101`: External Mode 2
 - `102`: External Mode 3
@@ -15760,6 +15503,7 @@ selected flight mode will be applied.
 - `11`: Land
 - `12`: Follow Me
 - `13`: Precision Land
+- `16`: Altitude Cruise
 - `100`: External Mode 1
 - `101`: External Mode 2
 - `102`: External Mode 3
@@ -15797,6 +15541,7 @@ selected flight mode will be applied.
 - `11`: Land
 - `12`: Follow Me
 - `13`: Precision Land
+- `16`: Altitude Cruise
 - `100`: External Mode 1
 - `101`: External Mode 2
 - `102`: External Mode 3
@@ -15834,6 +15579,7 @@ selected flight mode will be applied.
 - `11`: Land
 - `12`: Follow Me
 - `13`: Precision Land
+- `16`: Altitude Cruise
 - `100`: External Mode 1
 - `101`: External Mode 2
 - `102`: External Mode 3
@@ -15871,6 +15617,7 @@ selected flight mode will be applied.
 - `11`: Land
 - `12`: Follow Me
 - `13`: Precision Land
+- `16`: Altitude Cruise
 - `100`: External Mode 1
 - `101`: External Mode 2
 - `102`: External Mode 3
@@ -15908,6 +15655,7 @@ selected flight mode will be applied.
 - `11`: Land
 - `12`: Follow Me
 - `13`: Precision Land
+- `16`: Altitude Cruise
 - `100`: External Mode 1
 - `101`: External Mode 2
 - `102`: External Mode 3
@@ -16369,10 +16117,11 @@ External modes requiring stick input will still failsafe.
 - `1`: Hold
 - `2`: Offboard
 - `3`: External Mode
+- `4`: Altitude Cruise
 
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 15       |           | 0       |
+| &nbsp; | 0        | 31       |           | 0       |
 
 ### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}
 
@@ -24821,6 +24570,19 @@ arms and to the lower left disarms the vehicle.
 | ------ | -------- | -------- | --------- | ----------- | ---- |
 | &nbsp; |          |          |           | Enabled (1) |
 
+### MAN_DEADZONE (`FLOAT`) {#MAN_DEADZONE}
+
+Deadzone for sticks (only specific use cases).
+
+Range around stick center ignored to prevent
+vehicle drift from stick hardware inaccuracy.
+Does not apply to any precise constant input like
+throttle and attitude or rate piloting.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1        | 0.01      | 0.1     |
+
 ### MAN_KILL_GEST_T (`FLOAT`) {#MAN_KILL_GEST_T}
 
 Trigger time for kill stick gesture.
@@ -25672,16 +25434,6 @@ The speed threshold is MPC_HOLD_MAX_XY
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 2        |           | 2       |
 
-### MPC_HOLD_DZ (`FLOAT`) {#MPC_HOLD_DZ}
-
-Deadzone for sticks in manual piloted modes.
-
-Does not apply to manual throttle and direct attitude piloting by stick.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        | 0.01      | 0.1     |
-
 ### MPC_HOLD_MAX_XY (`FLOAT`) {#MPC_HOLD_MAX_XY}
 
 Maximum horizontal velocity for which position hold is enabled (use 0 to disable check).
@@ -25824,7 +25576,7 @@ Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).
 
 ### MPC_MAN_TILT_MAX (`FLOAT`) {#MPC_MAN_TILT_MAX}
 
-Maximal tilt angle in Stabilized or Altitude mode.
+Maximal tilt angle in Stabilized, Altitude and Altitude Cruise mode.
 
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -26092,19 +25844,6 @@ capabilities of the vehicle.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0.1      | 10       | 1         | 2.      |
 
-### MPC_XY_MAN_EXPO (`FLOAT`) {#MPC_XY_MAN_EXPO}
-
-Manual position control stick exponential curve sensitivity.
-
-The higher the value the less sensitivity the stick has around zero
-while still reaching the maximum value with full stick deflection.
-0 Purely linear input curve
-1 Purely cubic input curve
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        | 0.01      | 0.6     |
-
 ### MPC_XY_P (`FLOAT`) {#MPC_XY_P}
 
 Proportional gain for horizontal position error.
@@ -26177,32 +25916,6 @@ Defined as corrective acceleration in m/s^2 per m/s velocity error
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 1.2      | 5        | 0.1       | 1.8     |
 
-### MPC_YAW_EXPO (`FLOAT`) {#MPC_YAW_EXPO}
-
-Manual control stick yaw rotation exponential curve.
-
-The higher the value the less sensitivity the stick has around zero
-while still reaching the maximum value with full stick deflection.
-0 Purely linear input curve
-1 Purely cubic input curve
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        | 0.01      | 0.6     |
-
-### MPC_Z_MAN_EXPO (`FLOAT`) {#MPC_Z_MAN_EXPO}
-
-Manual control stick vertical exponential curve.
-
-The higher the value the less sensitivity the stick has around zero
-while still reaching the maximum value with full stick deflection.
-0 Purely linear input curve
-1 Purely cubic input curve
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        | 0.01      | 0.6     |
-
 ### MPC_Z_P (`FLOAT`) {#MPC_Z_P}
 
 Proportional gain for vertical position error.
@@ -26537,7 +26250,7 @@ Pitch rate controller gain.
 
 Global gain of the controller.
 This gain scales the P, I and D terms of the controller:
-output = MC_PITCHRATE_K _ (MC_PITCHRATE_P _ error
+output = MC*PITCHRATE_K * (MC*PITCHRATE_P * error
 
 - MC_PITCHRATE_I \* error_integral
 - MC_PITCHRATE_D \* error_derivative)
@@ -26604,7 +26317,7 @@ Roll rate controller gain.
 
 Global gain of the controller.
 This gain scales the P, I and D terms of the controller:
-output = MC_ROLLRATE_K _ (MC_ROLLRATE_P _ error
+output = MC*ROLLRATE_K * (MC*ROLLRATE_P * error
 
 - MC_ROLLRATE_I \* error_integral
 - MC_ROLLRATE_D \* error_derivative)
@@ -26671,7 +26384,7 @@ Yaw rate controller gain.
 
 Global gain of the controller.
 This gain scales the P, I and D terms of the controller:
-output = MC_YAWRATE_K _ (MC_YAWRATE_P _ error
+output = MC*YAWRATE_K * (MC*YAWRATE_P * error
 
 - MC_YAWRATE_I \* error_integral
 - MC_YAWRATE_D \* error_derivative)
@@ -26905,7 +26618,7 @@ Thrust to motor control signal model parameter.
 
 Parameter used to model the nonlinear relationship between
 motor control signal (e.g. PWM) and static thrust.
-The model is: rel_thrust = factor _ rel_signal^2 + (1-factor) _ rel_signal,
+The model is: rel*thrust = factor * rel*signal^2 + (1-factor) * rel_signal,
 where rel_thrust is the normalized thrust between 0 and 1, and
 rel_signal is the relative motor control signal between 0 and 1.
 
@@ -29769,7 +29482,7 @@ Proportional gain for ground speed controller.
 
 Tuning parameter for the speed reduction based on the course error.
 
-Reduced_speed = RO_MAX_THR_SPEED _ (1 - normalized_course_error _ RO_SPEED_RED)
+Reduced*speed = RO_MAX_THR_SPEED * (1 - normalized*course_error * RO_SPEED_RED)
 The normalized course error is the angle between the current course and the bearing setpoint
 interpolated from [0, 180] -> [0, 1].
 Higher value -> More speed reduction.
@@ -33020,6 +32733,49 @@ reset of counter takes some time - measurement with reset has worse accuracy.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 500000  |
 
+### SBG_BAUDRATE (`INT32`) {#SBG_BAUDRATE}
+
+sbgECom driver baudrate.
+
+Baudrate used by default for serial communication between PX4
+and SBG Systems INS through sbgECom driver.
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; | 9600     | 921600   |           | 921600  |
+
+### SBG_CONFIGURE_EN (`INT32`) {#SBG_CONFIGURE_EN}
+
+sbgECom driver INS configuration enable.
+
+Enable SBG Systems INS configuration through sbgECom driver
+on start.
+
+| Reboot | minValue | maxValue | increment | default      | unit |
+| ------ | -------- | -------- | --------- | ------------ | ---- |
+| &nbsp; |          |          |           | Disabled (0) |
+
+### SBG_MODE (`INT32`) {#SBG_MODE}
+
+sbgECom driver mode.
+
+Modes available for sbgECom driver.
+In Sensors Only mode, use external IMU and magnetometer.
+In GNSS mode, use external GNSS in addition to sensors only mode.
+In INS mode, use external Kalman Filter in addition to GNSS mode.
+In INS mode, requires EKF2_EN 0. Keeping both enabled
+can lead to an unexpected behavior and vehicle instability.
+
+**Values:**
+
+- `0`: Sensors Only
+- `1`: GNSS
+- `2`: INS (default)
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 2       |
+
 ### SENS_AFBR_HYSTER (`INT32`) {#SENS_AFBR_HYSTER}
 
 AFBR Rangefinder Short/Long Range Threshold Hysteresis.
@@ -34556,6 +34312,31 @@ Analog Devices ADIS16448 IMU Orientation(external SPI).
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; | 0        | 101      |           | 0       |
 
+### SENS_SBG_CFG (`INT32`) {#SENS_SBG_CFG}
+
+Serial Configuration for sbgECom.
+
+Configure on which serial port to run sbgECom.
+
+**Values:**
+
+- `0`: Disabled
+- `6`: UART 6
+- `101`: TELEM 1
+- `102`: TELEM 2
+- `103`: TELEM 3
+- `104`: TELEM/SERIAL 4
+- `201`: GPS 1
+- `202`: GPS 2
+- `203`: GPS 3
+- `300`: Radio Controller
+- `301`: Wifi Port
+- `401`: EXT2
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; |          |          |           | 0       |
+
 ### SENS_SF0X_CFG (`INT32`) {#SENS_SF0X_CFG}
 
 Serial Configuration for Lightware Laser Rangefinder (serial).
@@ -36480,7 +36261,7 @@ Pitch rate controller gain.
 
 Global gain of the controller.
 This gain scales the P, I and D terms of the controller:
-output = SC_PITCHRATE_K _ (SC_PITCHRATE_P _ error
+output = SC*PITCHRATE_K * (SC*PITCHRATE_P * error
 
 - SC_PITCHRATE_I \* error_integral
 - SC_PITCHRATE_D \* error_derivative)
@@ -36547,7 +36328,7 @@ Roll rate controller gain.
 
 Global gain of the controller.
 This gain scales the P, I and D terms of the controller:
-output = SC_ROLLRATE_K _ (SC_ROLLRATE_P _ error
+output = SC*ROLLRATE_K * (SC*ROLLRATE_P * error
 
 - SC_ROLLRATE_I \* error_integral
 - SC_ROLLRATE_D \* error_derivative)
@@ -36614,7 +36395,7 @@ Yaw rate controller gain.
 
 Global gain of the controller.
 This gain scales the P, I and D terms of the controller:
-output = SC_YAWRATE_K _ (SC_YAWRATE_P _ error
+output = SC*YAWRATE_K * (SC*YAWRATE_P * error
 
 - SC_YAWRATE_I \* error_integral
 - SC_YAWRATE_D \* error_derivative)
@@ -40029,6 +39810,17 @@ must have a unique session key.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 1       |
 
+### UXRCE_DDS_NS_IDX (`INT32`) {#UXRCE_DDS_NS_IDX}
+
+Define an index-based message namespace.
+
+Defines an index-based namespace for DDS messages, e.g, uav_0, uav_1, up to uav_9999
+A value less than zero leaves the namespace empty
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; | -1       | 9999     |           | -1      |
+
 ### UXRCE_DDS_PRT (`INT32`) {#UXRCE_DDS_PRT}
 
 uXRCE-DDS UDP port.

docs/en/complete_vehicles_rover/hiwonder_ackermann.md

@@ -0,0 +1,98 @@
+# Hiwonder Ackermann
+
+The [Hiwonder Ackermann](https://www.hiwonder.com/products/ackermann-steering-chassis?variant=40382428348503) rover is a bare-bones platform including a chassi, four wheels, two [motors with encoders](https://www.hiwonder.com/products/hall-encoder-dc-geared-motor?variant=40451123675223), a servo and a [motor driver board](https://www.hiwonder.com/products/4-channel-encoder-motor-driver).
+The chassi offers many mounting points, providing the flexibility to attach your own flight controller, sensors and other payload.
+
+![Hiwonder Ackermann](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann.png)
+
+This documentation illustrates the setup of the rover and the configuration of the actuators.
+
+## Parts List
+
+::: info
+The specific hardware used here only serves to examplify the process and can be easily replaced with what you have access to.
+Ensure that the parts are compatible, including the ports available on your flight controller, and adapt the wiring to your hardware.
+:::
+
+The following parts are used in this build:
+- Frame: [Hiwonder Ackermann Chassi](https://www.hiwonder.com/products/ackermann-steering-chassis?variant=40382428348503)
+- Flight Controller: [Auterion Skynode S](https://auterion.com/product/skynode-s/) (Alternatives: [Flight Controllers](../flight_controller/index.md)).
+- Receiver: [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx?srsltid=AfmBOopvPF1mhPRIS11amSwdKf4OFZlt2ibj7XJwu05kVWt4S_L-ZNuD) (Alternatives: [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)).
+- Power: 3S Lipo Battery
+
+::: info
+The motor driver board requires 3S, but your flight controller might require a different voltage.
+To power the flight controller with the same battery you need a Dc-to-DC converter such as the ones listed in [Power Modules & Power Distribution Boards](../power_module/index.md).
+(This is not the case in this build, since the flight controller used can be directly supplied by the 3S battery).
+:::
+
+- Dc-to-Dc Converter: [BEC12S-PRO](https://www.mateksys.com/?portfolio=bec12s-pro). The servo needs to be supplied with 6-8.4V. Since we are using a 3S battery, we need a Dc-to-Dc converter to transform the voltage into this range (Alternatives: Any other DC-to-DC converter with the correct input/output voltage and current rating higher than 3A).
+
+- GPS: [RTK F9P GPS](https://holybro.com/products/h-rtk-f9p-gnss-series?srsltid=AfmBOoqmsqKx8y60GRVGfWtbcMv_V2m19V4U7-ql9R4NXtrwqzcyXlcF) (Alternatives: [Supported GNSS](../gps_compass/index.md#supported-gnss)).
+- I2C Splitter
+
+::: info
+This part is only necessary if your flight controller has only one I2C port (we need one for the motor driver board and one for the compass in the gps module).
+Many boards will have a dedicated GPS port (which often includes an I2C port) and one or more separate I2C ports for additional peripherals.
+:::
+
+- LTE Dongle: Used to establish a data link between the vehicle and the ground control station (There are many alternative ways to achieve this such as the ones listed in [Data Links](../data_links/index.md)).
+
+## Wiring and Assembly
+
+The following images shows the wiring of the various components of this build. Missing are the connections from the motors to the motor controller board.
+
+![Hiwonder Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_wiring_annotated.png)
+
+::: info
+This image only serves as an example for the wiring process, with your hardware this can look very different.
+Check the documentation of your parts to ensure that you connect to correct pins.
+:::
+
+Now connect the battery to the Dc-to-Dc converter to give it power.
+To power the servo, connect the red (6-8.4V) and black (GND) wire to the output of the DC-to-Dc converter and the white (PWM) wire to a PWM output of your flight controller.
+
+![Hiwonder Ackermann Servo Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann_wiring_annotated.png)
+
+With the wiring complete, you can now securely attach your hardware to the chassi.
+
+::: info
+For a quick build you could use double sided tape, but for a long term solution we highly recommend 3d printing mounts that you attach to the chassi using the mounting points.
+:::
+
+## PX4 Configuration
+
+Use _QGroundControl_ for rover configuration:
+
+1. [Flash the rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller with the following adjustments:
+
+      Navigate to the `rc.board_sensors` file of your board and add the following lines (for Skynode S this would be in [boards/auterion/fmu-v6s/init/rc.board_sensors](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/init/rc.board_sensors)):
+      ```sh
+      if param compare HIWONDER_EMM_EN 1
+      then
+         hiwonder_emm start
+      fi
+      ```
+      Also add the following line to the `rover.px4board` file of your board (for Skynode S this would be in [boards/auterion/fmu-v6s/rover.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/rover.px4board)):
+      ```sh
+      CONFIG_DRIVERS_HIWONDER_EMM=y
+      ```
+2. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
+3. Choose **Hiwonder Ackermann** under the **Rover** category (Alternatively you can set the parameter `SYS_AUTOSTART` to `51002`).
+
+Then configure the actuators:
+
+1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
+2. Select the Hiwonder EMM driver from the list of _Actuator Outputs_.
+
+   Assign the two populated channels of the motor controller board to `Throttle`. The channels are noted on the motor controller board (alternatively randomly assign the channels and use the actuator testing tab to find the correct assignments).
+
+   ![Motor Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann_motors.png)
+
+3. Now ensure that both motors are spinning in the same direction. If that is not the case check the `Rev Range` box on one of the motors.
+4. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the trottle stick to drive forwards. If the rover drives backwards instead, invert the `Rev Range` checkboxes on **both** motors.
+5. To configure the servo motor, assign the populated PWM channel to `Steering`. Set the minimum value to `800`, the maximum to `2200` and the disarm value to `1500`.
+   ![Servo Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann_servo.png)
+6. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the steering stick to move the servo. If the rover steers in the wrong direction check the `Rev Range` checkbox of the servo.
+
+You have now successfully setup your rover and can start testing all [driving modes](../flight_modes_rover/index.md) PX4 has to offer!

docs/en/complete_vehicles_rover/hiwonder_mecanum.md

@@ -0,0 +1,88 @@
+# Hiwonder Mecanum
+
+The [Hiwonder Mecanum](https://www.hiwonder.com/products/large-metal-4wd-vehicle-chassis-green) rover is a bare-bones platform including a chassi, four [mecanum wheels](https://www.hiwonder.com/products/97mm-mecanum-wheel), four [motors with encoders](https://www.hiwonder.com/products/hall-encoder-dc-geared-motor?variant=40451123675223) and a [motor driver board](https://www.hiwonder.com/products/4-channel-encoder-motor-driver).
+The chassi offers many mounting points, providing the flexibility to attach your own flight controller, sensors and other payload.
+
+![Hiwonder Mecanum](../../assets/airframes/rover/hiwonder_rovers/hiwonder_mecanum.png)
+
+This documentation illustrates the setup of the rover and the configuration of the actuators.
+
+## Parts List
+
+::: info
+The specific hardware used here only serves to examplify the process and can be easily replaced with what you have access to.
+Ensure that the parts are compatible, including the ports available on your flight controller, and adapt the wiring to your hardware.
+:::
+
+The following parts are used in this build:
+- Frame: [Hiwonder Mecanum Chassi](https://www.hiwonder.com/products/large-metal-4wd-vehicle-chassis-green)
+- Flight Controller: [Auterion Skynode S](https://auterion.com/product/skynode-s/) (Alternatives: [Flight Controllers](../flight_controller/index.md)).
+- Receiver: [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx?srsltid=AfmBOopvPF1mhPRIS11amSwdKf4OFZlt2ibj7XJwu05kVWt4S_L-ZNuD) (Alternatives: [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)).
+- Power: 3S Lipo Battery
+
+::: info
+The motor driver board requires 3S, but your flight controller might require a different voltage.
+To power the flight controller with the same battery you need a Dc-to-DC converter such as the ones listed in [Power Modules & Power Distribution Boards](../power_module/index.md).
+(This is not the case in this build, since the flight controller used can be directly supplied by the 3S battery).
+:::
+
+- GPS: [RTK F9P GPS](https://holybro.com/products/h-rtk-f9p-gnss-series?srsltid=AfmBOoqmsqKx8y60GRVGfWtbcMv_V2m19V4U7-ql9R4NXtrwqzcyXlcF) (Alternatives: [Supported GNSS](../gps_compass/index.md#supported-gnss)).
+- I2C Splitter
+
+::: info
+This part is only necessary if your flight controller has only one I2C port (we need one for the motor driver board and one for the compass in the gps module).
+Many boards will have a dedicated GPS port (which often includes an I2C port) and one or more separate I2C ports for additional peripherals.
+:::
+
+- LTE Dongle: Used to establish a data link between the vehicle and the ground control station (There are many alternative ways to achieve this such as the ones listed in [Data Links](../data_links/index.md)).
+
+## Wiring and Assembly
+
+The following images shows the wiring of the various components of this build. Missing are the connections from the motors to the motor controller board.
+
+![Hiwonder Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_wiring_annotated.png)
+
+::: info
+This image only serves as an example for the wiring process, with your hardware this can look very different.
+Check the documentation of your parts to ensure that you connect to correct pins.
+:::
+
+To assemble your rover connect the motors to the chassi using the supplied screws, mount the wheels to the motor shafts (there are 2 different types of mecanum wheels, make sure you mount them to the correct motor!) and securely attach your hardware.
+
+::: info
+For a quick build you could use double sided tape, but for a long term solution we highly recommend 3d printing mounts that you attach to the chassi using the mounting points.
+:::
+
+## PX4 Configuration
+
+Use _QGroundControl_ for rover configuration:
+
+1. [Flash the rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller with the following adjustments:
+
+      Navigate to the `rc.board_sensors` file of your board and add the following lines (for Skynode S this would be in [boards/auterion/fmu-v6s/init/rc.board_sensors](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/init/rc.board_sensors)):
+      ```sh
+      if param compare HIWONDER_EMM_EN 1
+      then
+         hiwonder_emm start
+      fi
+      ```
+      Also add the following line to the `rover.px4board` file of your board (for Skynode S this would be in [boards/auterion/fmu-v6s/rover.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/rover.px4board)):
+      ```sh
+      CONFIG_DRIVERS_HIWONDER_EMM=y
+      ```
+2. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
+3. Choose **Hiwonder Mecanum** under the **Rover** category (Alternatively you can set the parameter `SYS_AUTOSTART` to `52001`).
+
+Then configure the actuators:
+
+1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
+1. Select the Hiwonder EMM driver from the list of _Actuator Outputs_.
+
+   Assign the channels to the corresponding motor. The channels are noted on the motor controller board (alternatively randomly assign the channels and use the actuator testing tab to find the correct assignments).
+   Now ensure that the motors are all spinning in the same direction. If that is not the case check the `Rev Range` box on the ones that are spinning in the opposite direction.
+
+   ![Motor Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_mecanum_motors.png)
+
+1. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the trottle stick to drive forwards. If the rover drives backwards instead, invert the `Rev Range` checkboxes on **all** motors.
+
+You have now successfully setup your rover and can start testing all [driving modes](../flight_modes_rover/index.md) PX4 has to offer!

docs/en/complete_vehicles_rover/hiwonder_tracked.md

@@ -0,0 +1,88 @@
+# Hiwonder Tracked
+
+The [Hiwonder Tracked](https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863) rover is a bare-bones platform including a chassi, two tracks, two [motors with encoders](https://www.hiwonder.com/products/hall-encoder-dc-geared-motor?variant=40451123675223) and a [motor driver board](https://www.hiwonder.com/products/4-channel-encoder-motor-driver).
+The chassi offers many mounting points, providing the flexibility to attach your own flight controller, sensors and other payload.
+
+![Hiwonder Tracked](../../assets/airframes/rover/hiwonder_rovers/hiwonder_tracked.png)
+
+This documentation illustrates the setup of the rover and the configuration of the actuators.
+
+## Parts List
+
+::: info
+The specific hardware used here only serves to examplify the process and can be easily replaced with what you have access to.
+Ensure that the parts are compatible, including the ports available on your flight controller, and adapt the wiring to your hardware.
+:::
+
+The following parts are used in this build:
+- Frame: [Hiwonder Tracked Chassi](https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863)
+- Flight Controller: [Auterion Skynode S](https://auterion.com/product/skynode-s/) (Alternatives: [Flight Controllers](../flight_controller/index.md)).
+- Receiver: [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx?srsltid=AfmBOopvPF1mhPRIS11amSwdKf4OFZlt2ibj7XJwu05kVWt4S_L-ZNuD) (Alternatives: [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)).
+- Power: 3S Lipo Battery
+
+::: info
+The motor driver board requires 3S, but your flight controller might require a different voltage.
+To power the flight controller with the same battery you need a Dc-to-DC converter such as the ones listed in [Power Modules & Power Distribution Boards](../power_module/index.md).
+(This is not the case in this build, since the flight controller used can be directly supplied by the 3S battery).
+:::
+
+- GPS: [RTK F9P GPS](https://holybro.com/products/h-rtk-f9p-gnss-series?srsltid=AfmBOoqmsqKx8y60GRVGfWtbcMv_V2m19V4U7-ql9R4NXtrwqzcyXlcF) (Alternatives: [Supported GNSS](../gps_compass/index.md#supported-gnss)).
+- I2C Splitter
+
+::: info
+This part is only necessary if your flight controller has only one I2C port (we need one for the motor driver board and one for the compass in the gps module).
+Many boards will have a dedicated GPS port (which often includes an I2C port) and one or more separate I2C ports for additional peripherals.
+:::
+
+- LTE Dongle: Used to establish a data link between the vehicle and the ground control station (There are many alternative ways to achieve this such as the ones listed in [Data Links](../data_links/index.md)).
+
+## Wiring and Assembly
+
+The following images shows the wiring of the various components of this build. Missing are the connections from the motors to the motor controller board.
+
+![Hiwonder Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_wiring_annotated.png)
+
+::: info
+This image only serves as an example for the wiring process, with your hardware this can look very different.
+Check the documentation of your parts to ensure that you connect to correct pins.
+:::
+
+With the wiring complete, you can now securely attach your hardware to the chassi.
+
+::: info
+For a quick build you could use double sided tape, but for a long term solution we highly recommend 3d printing mounts that you attach to the chassi using the mounting points.
+:::
+
+## PX4 Configuration
+
+Use _QGroundControl_ for rover configuration:
+
+1. [Flash the rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller with the following adjustments:
+
+      Navigate to the `rc.board_sensors` file of your board and add the following lines (for Skynode S this would be in [boards/auterion/fmu-v6s/init/rc.board_sensors](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/init/rc.board_sensors)):
+      ```sh
+      if param compare HIWONDER_EMM_EN 1
+      then
+         hiwonder_emm start
+      fi
+      ```
+      Also add the following line to the `rover.px4board` file of your board (for Skynode S this would be in [boards/auterion/fmu-v6s/rover.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/rover.px4board)):
+      ```sh
+      CONFIG_DRIVERS_HIWONDER_EMM=y
+      ```
+2. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
+3. Choose **Hiwonder Tracked** under the **Rover** category (Alternatively you can set the parameter `SYS_AUTOSTART` to `50002`).
+
+Then configure the actuators:
+
+1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
+1. Select the Hiwonder EMM driver from the list of _Actuator Outputs_.
+
+   Assign one of the populated channels of the motor controller board to the `Left Motor` and one to the `Right Motor`. The channels are noted on the motor controller board (alternatively randomly assign the channels and use the actuator testing tab to find the correct assignments).
+   Now ensure that both motors are spinning in the same direction. If that is not the case check the `Rev Range` box on one of the motors.
+
+   ![Motor Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_tracked_motors.png)
+
+2. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the trottle stick to drive forwards. If the rover drives backwards instead, invert the `Rev Range` checkboxes on **both** motors.
+
+You have now successfully setup your rover and can start testing all [driving modes](../flight_modes_rover/index.md) PX4 has to offer!

docs/en/complete_vehicles_rover/index.md

@@ -1,5 +1,13 @@
 # Complete Vehicles (Rover)
 
-This section contains information about fully assembled vehicles that use PX4:
+The following guides exemplify the build process for various hardware setups and can be used as reference for your own rover:
 
-1. [Aion Robotics R1 UGV (Differential Rover)](../complete_vehicles_rover/aion_r1.md)
+## Ackermann
+1. [Hiwonder Ackermann Chassi](../complete_vehicles_rover/hiwonder_ackermann.md)
+
+## Differential
+1. [Hiwonder Tracked Chassi](../complete_vehicles_rover/hiwonder_tracked.md)
+2. [(Discontinued) Aion Robotics R1 UGV](../complete_vehicles_rover/aion_r1.md)
+
+## Mecanum
+1. [Hiwonder Mecanum Chassi](../complete_vehicles_rover/hiwonder_mecanum.md)

docs/en/config_fw/position_tuning_guide_fixedwing.md

@@ -9,7 +9,7 @@ A pilot tuning the TECS gains should therefore be able to fly and land the plane
 :::
 
 :::tip
-All parameters are documented in the [Parameter Reference](../advanced_config/parameter_reference.md#fw-tecs).
+All parameters are documented in the Parameter Reference [FW Performance](../advanced_config/parameter_reference.md#fw-performance) and [FW NPFG Control](../advanced_config/parameter_reference.md#fw-npfg-control) sections.
 The most important parameters are covered in this guide.
 :::
 
@@ -78,7 +78,7 @@ Furthermore, these two values define the height rate limits commanded by the use
 
 ### FW Path Control Tuning (Position)
 
-All path control parameters are described [here](../advanced_config/parameter_reference.md#fw-path-control).
+All path control parameters are described in [FW NPFG Control (Parameter Reference)](../advanced_config/parameter_reference.md#fw-npfg-control).
 
 - [NPFG_PERIOD](../advanced_config/parameter_reference.md#NPFG_PERIOD) - This is the previously called L1 distance and defines the tracking point ahead of the aircraft it's following.
   A value of 10-20 meters works for most aircraft.

docs/en/config_rover/attitude_tuning.md

@@ -19,7 +19,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
    If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
    :::
 
-The rover is now ready to drive in [Stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) and the configuration can be continued with [velocity tuning](velocity_tuning.md).
+The rover is now ready to drive in [Stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) and the configuration can be continued with [speed tuning](speed_tuning.md).
 
 ## Attitude Controller Structure (Info Only)
 

docs/en/config_rover/index.md

@@ -9,7 +9,7 @@ Successive steps enable [drive modes](../flight_modes_rover/index.md) with more
 | 1    | [Basic Setup](basic_setup.md)         | [Full manual mode](../flight_modes_rover/manual.md#manual-mode)           |
 | 2    | [Rate Tuning](rate_tuning.md)         | [Manual acro mode](../flight_modes_rover/manual.md#acro-mode)             |
 | 3    | [Attitude Tuning](attitude_tuning.md) | [Manual stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) |
-| 4    | [Velocity Tuning](velocity_tuning.md) | [Manual position mode](../flight_modes_rover/manual.md#manual-mode)       |
+| 4    | [Speed Tuning](speed_tuning.md)       | [Manual position mode](../flight_modes_rover/manual.md#manual-mode)       |
 | 5    | [Position Tuning](position_tuning.md) | [Auto modes](../flight_modes_rover/auto.md)                               |
 
 ::: warning

docs/en/config_rover/position_tuning.md

@@ -3,7 +3,7 @@
 Position tuning is required in order to use [Auto modes](../flight_modes_rover/auto.md).
 
 :::warning
-The [velocity tuning](velocity_tuning.md) must've already been completed before this step!
+The [speed tuning](speed_tuning.md) must've already been completed before this step!
 :::
 
 The position controller is responsible for autonomously guiding the vehicle to a position setpoint.
@@ -41,7 +41,7 @@ To tune the position controller configure the [parameters](../advanced_config/pa
    These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
    :::
 
-3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
+3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
    If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).
 
 ## Path Following
@@ -79,7 +79,7 @@ The following parameters are used to tune the algorithm:
 
 During any auto navigation task observe the behaviour of the rover and if you are unsatisfied with the path following, there are 2 steps to take:
 
-1. Check if all the setpoints ([rate](rate_tuning.md), [attitude](attitude_tuning.md) and [velocity](velocity_tuning.md)) are properly tracked.
+1. Check if all the setpoints ([rate](rate_tuning.md), [attitude](attitude_tuning.md) and [speed](speed_tuning.md)) are properly tracked.
 2. Further tune the [path following algorithm](#path-following).
 
 ## Ackermann Rover Only
@@ -157,7 +157,7 @@ When targeting a position setpoint this line is constructed from the current pos
 The radius of the circle around the vehicle is used to tune the controller and is often referred to as look-ahead distance.
 
 The look-ahead distance sets how aggressive the controller behaves and is defined as $l_d = v \cdot k$.
-It depends on the velocity $v$ of the rover and a tuning parameter $k$ that can be set with the parameter [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN).
+It depends on the speed $v$ of the rover and a tuning parameter $k$ that can be set with the parameter [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN).
 
 ::: info
 A lower value of [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) makes the controller more aggressive but can lead to oscillations!

docs/en/config_rover/rate_tuning.md

@@ -22,8 +22,9 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
 
    If you see no need to limit the yaw rate, set this parameter to the maximum yaw rate the rover can achieve:
 
-   1. In [Manual mode](../flight_modes_rover/manual.md#manual-mode) drive the rover at full throttle and with the maximum steering angle.
+   1. Set the [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to the maximum possible value, then in [Acro mode](../flight_modes_rover/manual.md#acro-mode) drive the rover at full throttle and with the maximum steering input.
    2. Plot the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) and enter the highest observed value for [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM).
+      Pay attention to the units, in the log the rate is given as $rad/s$, but the parameter has to be set in $deg/s$.
 
    :::
 
@@ -53,9 +54,9 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
    To tune this parameter:
 
    1. Put the rover in [Acro mode](../flight_modes_rover/manual.md#acro-mode) and hold the throttle stick and the right stick at a few different levels for a couple of seconds each.
-   1. Disarm the rover and from the flight log plot the `adjusted_yaw_rate_setpoint` and the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) over each other.
-   1. Increase [RO_YAW_RATE_P](#RO_YAW_RATE_P) if the measured value does not track the setpoint fast enough or decrease it if the measurement overshoots the setpoint by too much.
-   1. Repeat until you are satisfied with the behaviour.
+   2. Disarm the rover and from the flight log plot the `adjusted_yaw_rate_setpoint` and the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) over each other.
+   3. Increase [RO_YAW_RATE_P](#RO_YAW_RATE_P) if the measured value does not track the setpoint fast enough or decrease it if the measurement overshoots the setpoint by too much.
+   4. Repeat until you are satisfied with the behaviour.
       :::
 
 4. [RO_YAW_RATE_I](#RO_YAW_RATE_I) [-]: Integral gain of the closed loop yaw rate controller.

docs/en/config_rover/speed_tuning.md

@@ -1,4 +1,4 @@
-# Velocity Tuning
+# Speed Tuning
 
 :::warning
 The [attitude tuning](attitude_tuning.md) must've already been completed before this step!
@@ -6,13 +6,13 @@ The [attitude tuning](attitude_tuning.md) must've already been completed before
 
 ::: info
 To tune we will be using the manual [Position mode](../flight_modes_rover/manual.md#position-mode).
-This mode requires a global position estimate (GPS) and tuning of some parameters that go beyond the velocity controller.
-If you use a custom external flight mode that controls velocity but does not require a global position estimate you can ignore the [manual position mode parameters](#manual-position-mode-parameters).
+This mode requires a global position estimate (GPS) and tuning of some parameters that go beyond the speed controller.
+If you use a custom external flight mode that controls speed but does not require a global position estimate you can ignore the [manual position mode parameters](#manual-position-mode-parameters).
 :::
 
 ## Speed Parameters
 
-To tune the velocity controller configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
+To tune the speed controller configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
 
 1. [RO_SPEED_LIM](#RO_SPEED_LIM) [m/s]: This is the maximum speed you want to allow for your rover.
    This will define the stick-to-speed mapping for [Position mode](../flight_modes_rover/manual.md#position-mode) and set an upper limit for the speed setpoint.
@@ -27,7 +27,7 @@ To tune the velocity controller configure the following [parameters](../advanced
    1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
       This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
    2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
-   3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
+   3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
    4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
       If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.
 
@@ -86,15 +86,10 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
 
 The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).
 
-## Velocity Controller Structure (Info Only)
+## Speed Controller Structure (Info Only)
 
 This section provides additional information for developers and people with experience in control system design.
 
-The velocity vector is defined by the following two values:
-
-1. The absolute speed [$m/s$]
-2. The direction (bearing) [$rad$]
-
 The speed controller uses the following structure:
 
 ![Rover Speed Controller](../../assets/config/rover/rover_speed_controller.png)
@@ -103,7 +98,7 @@ The feed forward mapping is done by interpolating the speed setpoint from [-[RO_
 
 For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
 
-For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction.
+For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the speed vector into one speed component in body x direction and one in body y direction.
 Both these setpoint are then sent to their own closed loop speed controllers.
 
 ## Parameter Overview

docs/en/debug/failure_injection.md

@@ -9,7 +9,7 @@ Failure injection is disabled by default, and can be enabled using the [SYS_FAIL
 Failure injection still in development.
 At time of writing (PX4 v1.14):
 
-- It can only be used in simulation (support for both failure injection in real flight is planned).
+- Support may vary by failure type and between simulatiors and real vehicle.
 - It requires support in the simulator.
   It is supported in Gazebo Classic
 - Many failure types are not broadly implemented.
@@ -33,31 +33,31 @@ where:
 
 - _component_:
   - Sensors:
-    - `gyro`: Gyro.
-    - `accel`: Accelerometer.
+    - `gyro`: Gyroscope
+    - `accel`: Accelerometer
     - `mag`: Magnetometer
     - `baro`: Barometer
-    - `gps`: GPS
+    - `gps`: Global navigation satellite system
     - `optical_flow`: Optical flow.
-    - `vio`: Visual inertial odometry.
+    - `vio`: Visual inertial odometry
     - `distance_sensor`: Distance sensor (rangefinder).
-    - `airspeed`: Airspeed sensor.
+    - `airspeed`: Airspeed sensor
   - Systems:
-    - `battery`: Battery.
-    - `motor`: Motor.
-    - `servo`: Servo.
-    - `avoidance`: Avoidance.
-    - `rc_signal`: RC Signal.
-    - `mavlink_signal`: MAVLink signal (data telemetry).
+    - `battery`: Battery
+    - `motor`: Motor
+    - `servo`: Servo
+    - `avoidance`: Avoidance
+    - `rc_signal`: RC Signal
+    - `mavlink_signal`: MAVLink data telemetry connection
 - _failure_type_:
-  - `ok`: Publish as normal (Disable failure injection).
-  - `off`: Stop publishing.
-  - `stuck`: Report same value every time (_could_ indicate a malfunctioning sensor).
-  - `garbage`: Publish random noise. This looks like reading uninitialized memory.
-  - `wrong`: Publish invalid values (that still look reasonable/aren't "garbage").
-  - `slow`: Publish at a reduced rate.
-  - `delayed`: Publish valid data with a significant delay.
-  - `intermittent`: Publish intermittently.
+  - `ok`: Publish as normal (Disable failure injection)
+  - `off`: Stop publishing
+  - `stuck`: Constantly report the same value which _can_ happen on a malfunctioning sensor
+  - `garbage`: Publish random noise. This looks like reading uninitialized memory
+  - `wrong`: Publish invalid values that still look reasonable/aren't "garbage"
+  - `slow`: Publish at a reduced rate
+  - `delayed`: Publish valid data with a significant delay
+  - `intermittent`: Publish intermittently
 - _instance number_ (optional): Instance number of affected sensor.
   0 (default) indicates all sensors of specified type.
 
@@ -65,7 +65,7 @@ where:
 
 To simulate losing RC signal without having to turn off your RC controller:
 
-1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN).
+1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
 1. Enter the following commands on the MAVLink console or SITL _pxh shell_:
 
    ```sh

docs/en/dev_log/ulog_file_format.md

@@ -486,6 +486,7 @@ A valid ULog parser must fulfill the following requirements:
   - [replay module](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay)
   - [hardfault_log module](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log): append hardfault crash data.
 - [pyulog](https://github.com/PX4/pyulog): python, ULog reader and writer library with CLI scripts.
+  The project also has tools to convert ULog to rosbag and other formats.
 - [ulog_cpp](https://github.com/PX4/ulog_cpp): C++, ULog reader and writer library.
 - [FlightPlot](https://github.com/PX4/FlightPlot): Java, log plotter.
 - [MAVLink](https://github.com/mavlink/mavlink): Messages for ULog streaming via MAVLink (note that appending data is not supported, at least not for cut off messages).

docs/en/flight_controller/autopilot_manufacturer_supported.md

@@ -32,6 +32,7 @@ The boards in this category are:
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
+- [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)

docs/en/flight_controller/radiolink_pix6.md

@@ -0,0 +1,346 @@
+# RadiolinkPIX6 Flight Controller
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://radiolink.com.cn/) for hardware support or compliance issues.
+:::
+
+The autopilot is recommended for commercial systems integration, but is also suitable for academic research and any other use.
+
+![RadiolinkPIX6](http://www.radiolink.com.cn/firmware/wiki/RadiolinkPIX6/RadiolinkPIX6.png)
+
+The Radiolink PIX6 is a high-performance flight controller.
+Featuring STM32F7 CPU, vibration isolation of IMUs, redundant IMUs, integrated OSD chip, IMU heating, and DShot.
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## Quick Summary
+
+- Processor
+  - 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6
+  - 216 MHz/512 KB RAM/2 MB Flash
+  - 32-bit IOMCU co-processor - STM32F100
+  - 32KB FRAM - FM25V02A
+  - AT7456E OSD
+- Sensors
+  - Bosh BMI088 IMU (accel, gyro)
+  - InvenSense ICM-42688 IMU (accel, gyro)
+  - SPA06 barometer
+  - IST8310 magnetometer
+- Power
+  - SMBUS/I2C Power Module Inputs (I2C)
+  - voltage and current monitor inputs (Analog)
+- Interfaces
+  - 16 PWM Outputs with independent power rail for external power source
+  - 5x UART serial ports, 2 with HW flow control
+  - Camera Input and Video Output
+  - PPM/SBUS input, DSM/SBUS input
+  - RSSI (PWM or voltage) input
+  - I2C, SPI, 2x CAN, USB
+  - 3.3V and 6.6V ADC inputs
+  - Buzzer and Safety Switch
+  - microSD card
+- Weight and Dimensions:
+  - Weight 80g
+  - Size 94mm x 51.5mm x 14.5mm
+
+## Where to Buy
+
+[Radiolink Amazon](https://www.radiolink.com.cn/pix6_where_to_buy)（International users）
+
+[Radiolink Taobao](https://item.taobao.com/item.htm?spm=a21dvs.23580594.0.0.1d292c1bNMdSqV&ft=t&id=815993357068&skuId=5515756705284)（China Mainland user）
+
+## Connector assignments
+
+### Top View
+
+![Pix6 top view](../../assets/flight_controller/radiolink_pix6/top_view.png)
+
+### Left View
+
+![Pix6 left view](../../assets/flight_controller/radiolink_pix6/left_view.png)
+
+### Right View
+
+![Pix6 right view](../../assets/flight_controller/radiolink_pix6/right_view.png)
+
+### Rear View
+
+![Pix6 rear view](../../assets/flight_controller/radiolink_pix6/rear_view.png)
+
+## Pinouts
+
+Unless noted otherwise all connectors are JST GH.
+
+### TELEM1, TELEM2 ports
+
+| Pin | Signal  | Volt  |
+| --- | ------- | ----- |
+| 1   | VCC     | +5V   |
+| 2   | TX(OUT) | +3.3V |
+| 3   | RX(IN)  | +3.3V |
+| 4   | CTS     | +3.3V |
+| 5   | RTS     | +3.3V |
+| 6   | GND     | GND   |
+
+### OSD
+
+| Pin | Signal | Volt  |
+| --- | ------ | ----- |
+| 1   | GND    | GND   |
+| 2   | VOUT   | +3.3V |
+| 3   | VCC    | +5V   |
+| 4   | GND    | GND   |
+| 5   | VCC    | +5V   |
+| 6   | VIN    | +3.3V |
+
+### I2C port
+
+| Pin | Signal | Volt            |
+| --- | ------ | --------------- |
+| 1   | VCC    | +5V             |
+| 2   | SCL    | +3.3V (pullups) |
+| 3   | SDA    | +3.3V (pullups) |
+| 4   | GND    | GND             |
+
+### CAN1, CAN2 ports
+
+| Pin | Signal | Volt |
+| --- | ------ | ---- |
+| 1   | VCC    | +5V  |
+| 2   | CAN_H  | +12V |
+| 3   | CAN_L  | +12V |
+| 4   | GND    | GND  |
+
+### GPS1 port
+
+| Pin | Signal  | Volt  |
+| --- | ------- | ----- |
+| 1   | VCC     | +5V   |
+| 2   | TX(OUT) | +3.3V |
+| 3   | RX(IN)  | +3.3V |
+| 4   | SCL     | +3.3V |
+| 5   | SDA     | +3.3V |
+| 6   | GND     | GND   |
+
+### GPS2 Port
+
+| Pin | Signal  | Volt  |
+| --- | ------- | ----- |
+| 1   | VCC     | +5V   |
+| 2   | TX(OUT) | +3.3V |
+| 3   | RX(IN)  | +3.3V |
+| 4   | SCL     | +3.3V |
+| 5   | SDA     | +3.3V |
+| 6   | GND     | GND   |
+
+### SPI
+
+| Pin | Signal    | Volt  |
+| --- | --------- | ----- |
+| 1   | VCC       | +5V   |
+| 2   | SPI_SCK   | +3.3V |
+| 3   | SPI_MISO  | +3.3V |
+| 4   | SPI_MOSI  | +3.3V |
+| 5   | !SPI_NSS1 | +3.3V |
+| 6   | !SPI_NSS2 | +3.3V |
+| 7   | DRDY      | +3.3V |
+| 8   | GND       | GND   |
+
+### POWER1 (HY2.0-6P)
+
+Port for analog power monitors.
+
+| Pin | Signal  | Volt        |
+| --- | ------- | ----------- |
+| 1   | VCC     | +5V         |
+| 2   | VCC     | +5V         |
+| 3   | CURRENT | up to +3.3V |
+| 4   | VOLTAGE | up to +3.3V |
+| 5   | GND     | GND         |
+| 6   | GND     | GND         |
+
+### POWER2 (HY2.0-6P)
+
+Port for digital (I2C) power monitor.
+
+| Pin | Signal | Volt  |
+| --- | ------ | ----- |
+| 1   | VCC    | +5V   |
+| 2   | VCC    | +5V   |
+| 3   | SCL    | +3.3V |
+| 4   | SDA    | +3.3V |
+| 5   | GND    | GND   |
+| 6   | GND    | GND   |
+
+### ADC 3.3V
+
+| Pin | Signal  | Volt        |
+| --- | ------- | ----------- |
+| 1   | VCC     | +5V         |
+| 2   | ADC IN1 | up to +3.3V |
+| 3   | GND     | GND         |
+| 4   | ADC IN2 | up to +3.3v |
+| 5   | GND     | GND         |
+
+### ADC 6.6V
+
+| Pin | Signal | Volt       |
+| --- | ------ | ---------- |
+| 1   | VCC    | +5V        |
+| 2   | ADC IN | up to 6.6V |
+| 3   | GND    | GND        |
+
+### USB remote port
+
+| Pin | Signal  | Volt  |
+| --- | ------- | ----- |
+| 1   | USB VDD | +5V   |
+| 2   | DM      | +3.3V |
+| 3   | DP      | +3.3V |
+| 4   | GND     | GND   |
+
+### SWITCH
+
+| Pin | Signal         | Volt  |
+| --- | -------------- | ----- |
+| 1   | VCC            | +3.3V |
+| 2   | !IO_LED_SAFETY | GND   |
+| 3   | SAFETY         | GND   |
+
+### Buzzer port
+
+| Pin | Signal  | Volt |
+| --- | ------- | ---- |
+| 1   | VCC     | +5V  |
+| 2   | BUZZER- | +5V  |
+
+### Spektrum/DSM Port (PH1.25-3P)
+
+| Pin | Signal | Volt  |
+| --- | ------ | ----- |
+| 1   | VCC    | +3.3V |
+| 2   | GND    | GND   |
+| 3   | Signal | +3.3V |
+
+### Debug port (SH1.0-8P)
+
+| Pin | Signal    | Volt  |
+| --- | --------- | ----- |
+| 1   | VCC       | +5V   |
+| 2   | FMU_SWCLK | +3.3V |
+| 3   | FMU_SWDIO | +3.3V |
+| 4   | TX(UART7) | +3.3V |
+| 5   | RX(UART7) | +3.3V |
+| 6   | IO_SWCLK  | +3.3V |
+| 7   | IO_SWDIO  | +3.3V |
+| 8   | GND       | GND   |
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make radiolink_PIX6_default
+```
+
+## Installing PX4 Firmware
+
+The firmware can be installed in any of the normal ways:
+
+- Build and upload the source
+
+  ```sh
+  make radiolink_PIX6_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+  ::: info
+  At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+  Release builds will be supported for PX4 v1.17 and later.
+  :::
+
+## PX4 Configuration
+
+In addition to the [basic configuration](../config/index.md), the following parameters are important:
+
+| Parameter                                                            | Setting                                                                                                                 |
+| -------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- |
+| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
+
+### Powering the PIX6
+
+The PIX6 has 2 dedicated power monitor ports, each with a 6 pin connector.
+One is the Analog power monitor (`POWER1`), and the others is the I2C power monitor (`POWER2`).
+
+The power module that comes with the flight controller with a wide voltage input range of 2-12S (7.4-50.4V), a maximum detection current of 90A (single ESC maximum detection current is 22.5A), a BEC output voltage of 5.3±0.2V, and a BEC output current of 2A.
+
+![Radiolink power modules MODULES](../../assets/flight_controller/radiolink_pix6/radiolink_power_modules.png)
+
+The PIX6 also supports power modules from other manufacturers, such as [holybro_pm02d](../power_module/holybro_pm02d.md).
+
+## Recommended Accessories
+
+### GPS Modules
+
+Radiolink manufactures a variety of high-performance GPS，Dual Anti-interference Technology Worry-free of UAV High-power Image Transmission, High-Voltage Lines, or Other Strong Signal Interference.
+
+The PIX6 has 2 dedicated GPS ports, `GPS1` and `GPS2`, each with a 6 pin connector.
+
+Recommended modules include:
+
+- [Radiolink SE100](https://radiolink.com.cn/se100)
+- [Radiolink TS100](https://radiolink.com.cn/ts100v2)
+- [Radiolink RTK F9P](https://radiolink.com.cn/rtk_f9p)
+
+## Serial Port Mapping
+
+| UART   | Device     | Port                  |
+| ------ | ---------- | --------------------- |
+| UART1  | /dev/ttyS0 | GPS1                  |
+| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
+| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
+| UART4  | /dev/ttyS3 | GPS2                  |
+| UART7  | /dev/ttyS4 | Debug Console         |
+| UART8  | /dev/ttyS5 | PX4IO                 |
+
+## Analog inputs
+
+The Radiolink PIX6 has 3 analog inputs, one 6V tolerant and two 3.3V tolerant.
+
+- ADC Pin12 -> ADC 6.6V Sense
+- ADC Pin4 -> ADC IN1 3.3V Sense
+- ADC Pin13 -> ADC IN2 3.3V Sense
+
+## Radio Control
+
+A [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md) system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
+
+- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
+- PPM or SBUS receivers connect to the **RC IN** input port.
+- CRSF receiver must be wired to a spare port (UART) on the Flight Controller.
+  Then you can bind the transmitter and receiver together.
+
+#### CRSF Parameter Configuration
+
+[Find and set](../advanced_config/parameters.md) the following parameters:
+
+1. Set [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) to the port that is connected to the CRSF receiver (such as `TELEM1`).
+
+   This [configures the serial port](../peripherals/serial_configuration.md) to use the CRSF protocol.
+   Note that some serial ports may already have a [default serial port mapping](../peripherals/serial_configuration.md#default-serial-port-configuration) or [default MAVLink serial port mapping](../peripherals/mavlink_peripherals.md#default-mavlink-ports) that you will have to un-map before you can assign the port to CRSF.
+   For example, if you want to use `TELEM1` or `TELEM2` you first need to modify [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) or [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) to stop setting those ports.
+
+   There is no need to set the baud rate for the port, as this is configured by the driver.
+
+1. Enable [RC_CRSF_TEL_EN](../advanced_config/parameter_reference.md#RC_CRSF_TEL_EN) to activate Crossfire telemetry.
+
+For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).

docs/en/flight_modes/offboard.md

@@ -44,7 +44,7 @@ The following ROS 2 messages and their particular fields and field values are al
 In addition to providing heartbeat functionality, `OffboardControlMode` has two other main purposes:
 
 1. Controls the level of the [PX4 control architecture](../flight_stack/controller_diagrams.md) at which offboard setpoints must be injected, and disables the bypassed controllers.
-1. Determines which valid estimates (position or velocity) are required, and also which setpoint messages should be used.
+2. Determines which valid estimates (position or velocity) are required, and also which setpoint messages should be used.
 
 The `OffboardControlMode` message is defined as shown.
 
@@ -62,6 +62,11 @@ bool thrust_and_torque
 bool direct_actuator
 ```
 
+::: warning
+The following list shows the `OffboardControlMode` options for copter, fixed-wing, and VTOL.
+For rovers see the [rover section](#rover).
+:::
+
 The fields are ordered in terms of priority such that `position` takes precedence over `velocity` and later fields, `velocity` takes precedence over `acceleration`, and so on.
 The first field that has a non-zero value (from top to bottom) defines what valid estimate is required in order to use offboard mode, and the setpoint message(s) that can be used.
 For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `velocity estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message.
@@ -90,20 +95,93 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
     - Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
     - Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`)
 
-  - All values are interpreted in NED (Nord, East, Down) coordinate system and the units are \[m\], \[m/s\] and \[m/s^2\] for position, velocity and acceleration, respectively.
+  - All values are interpreted in NED (Nord, East, Down) coordinate system and the units are `[m]`, `[m/s]` and `[m/s^2]` for position, velocity and acceleration, respectively.
 
 - [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
   - The following input combination is supported:
     - quaternion `q_d` + thrust setpoint `thrust_body`.
-      Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
+      Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in `[rad/s]`.
 
-  - The quaternion represents the rotation between the drone body FRD (front, right, down) frame and the NED frame. The thrust is in the drone body FRD frame and expressed in normalized \[-1, 1\] values.
+  - The quaternion represents the rotation between the drone body FRD (front, right, down) frame and the NED frame.
+    The thrust is in the drone body FRD frame and expressed in normalized \[-1, 1\] values.
 
 - [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
   - The following input combination is supported:
     - `roll`, `pitch`, `yaw` and `thrust_body`.
 
-  - All the values are in the drone body FRD frame. The rates are in \[rad/s\] while thrust_body is normalized in \[-1, 1\].
+  - All the values are in the drone body FRD frame.
+    The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`.
+
+### Rover
+
+Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints.
+The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different:
+
+| Category                                                            | Usage                   | Setpoints                                                                                                                                                                                                                                                                                                                                                                  |
+| ------------------------------------------------------------------- | ----------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| (Recommended) [Rover Setpoints](#rover-setpoints)                   | General rover control   | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md), [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md), [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md), [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md), [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md), [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
+| [Actuator Setpoints](#actuator-setpoints)                           | Direct actuator control | [ActuatorMotors](../msg_docs/ActuatorMotors.md), [ActuatorServos](../msg_docs/ActuatorServos.md)                                                                                                                                                                                                                                                                           |
+| (Deprecated) [Trajectory Setpoint](#deprecated-trajectory-setpoint) | General vehicle control | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)                                                                                                                                                                                                                                                                                                                    |
+
+#### Rover Setpoints
+
+The rover modules use a hierarchical structure to propagate setpoints:
+
+![Rover Control Structure](../../assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg)
+
+The "highest" setpoint that is provided will be used within the PX4 rover modules to generate the setpoints that are below it (overriding them!).
+With this hierarchy there are clear rules for providing a valid control input:
+
+- Provide a position setpoint **or**
+- One of the setpoints on the "left" (speed **or** throttle) **and** one of the setpoints on the "right" (attitude, rate **or** steering).
+  All combinations of "left" and "right" setpoints are valid.
+
+The following are all valid setpoint combinations and their respective control flags that must be set through [OffboardControlMode](../msg_docs/OffboardControlMode.md) (set all others to _false_).
+Additionally, for some combinations we require certain setpoints to be published with `NAN` values so that the setpoints of interest are not overridden by the rover module (due to the hierarchy above).
+✓ are the relevant setpoints we publish, and ✗ are the setpoint that need to be published with `NAN` values.
+
+| Setpoint Combination | Control Flag      | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
+| -------------------- | ----------------- | ------------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------- |
+| Position             | position          | ✓                                                       |                                                         |                                                               |                                                               |                                                       |                                                               |
+| Speed + Attitude     | velocity          |                                                               | ✓                                                 |                                                               | ✓                                                       |                                                       |                                                               |
+| Speed + Rate         | velocity          |                                                               | ✓                                                 |                                                               | ✗                                                       | ✓                                               |                                                               |
+| Speed + Steering     | velocity          |                                                               | ✓                                                 |                                                               | ✗                                                       | ✗                                               | ✓                                                       |
+| Throttle + Attitude  | attitude          |                                                               |                                                         | ✓                                                       | ✓                                                       |                                                       |                                                               |
+| Throttle + Rate      | body_rate         |                                                               |                                                         | ✓                                                       |                                                               | ✓                                               |                                                               |
+| Throttle + Steering  | thrust_and_torque |                                                               |                                                         | ✓                                                       |                                                               |                                                       | ✓                                                       |
+
+::: info
+If you intend to use the rover setpoints, we recommend using the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) instead since it simplifies the publishing of these setpoints.
+:::
+
+#### Actuator Setpoints
+
+Instead of controlling the vehicle using position, speed, rate and other setpoints, you can directly control the motors and actuators using [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md).
+In [OffboardControlMode](../msg_docs/OffboardControlMode.md) set `direct_actuator` to _true_ and all other flags to _false_.
+
+::: info
+This bypasses the rover modules including any limits on steering rates or accelerations and the inverse kinematics step.
+We recommend using [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) and [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) instead for low level control (see [Rover Setpoints](#rover-setpoints)).
+:::
+
+#### (Deprecated) Trajectory Setpoint
+
+::: warning
+The [Rover Setpoints](#rover-setpoints) are a replacement for the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) and we highly recommend using those instead as they have a well defined behaviour and offer more flexibility.
+:::
+
+The rover modules support the _position_, _velocity_ and _yaw_ fields of the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md).
+However, only one of the fields is active at a time and is defined by the flags of [OffboardControlMode](../msg_docs/OffboardControlMode.md):
+
+| Control Mode Flag | Active Trajectory Setpoint Field |
+| ----------------- | -------------------------------- |
+| position          | position                         |
+| velocity          | velocity                         |
+| attitude          | yaw                              |
+
+::: info
+Ackermann rovers do not support the yaw setpoint.
+:::
 
 ### Generic Vehicle
 
@@ -116,8 +194,10 @@ The following offboard control modes bypass all internal PX4 control loops and s
 
 - [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
   - You directly control the motor outputs and/or servo outputs.
-  - Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode.
-  - All the values normalized in \[-1, 1\]. For outputs that do not support negative values, negative entries map to `NaN`.
+  - Currently works at lower level than then `control_allocator` module.
+    Do not publish these messages when not in offboard mode.
+  - All the values normalized in `[-1, 1]`.
+    For outputs that do not support negative values, negative entries map to `NaN`.
   - `NaN` maps to disarmed.
 
 ## MAVLink Messages
@@ -200,38 +280,7 @@ The following MAVLink messages and their particular fields and field values are
 
 ### Rover
 
-- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
-  - The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
-    - Position setpoint (only `x`, `y`, `z`)
-      - Specify the _type_ of the setpoint in `type_mask`:
-
-        ::: info
-        The _setpoint type_ values below are not part of the MAVLink standard for the `type_mask` field.
-        ::
-
-        The values are:
-        - 12288: Loiter setpoint (vehicle stops when close enough to setpoint).
-
-    - Velocity setpoint (only `vx`, `vy`, `vz`)
-
-  - PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
-
-- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
-  - The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
-    - Position setpoint (only `lat_int`, `lon_int`, `alt`)
-  - Specify the _type_ of the setpoint in `type_mask` (not part of the MAVLink standard).
-    The values are:
-    - Following bits not set then normal behaviour.
-    - 12288: Loiter setpoint (vehicle stops when close enough to setpoint).
-
-  - PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
-
-- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
-  - The following input combinations are supported:
-    - Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
-      ::: info
-      Only the yaw setting is actually used/extracted.
-      :::
+Rover does not support a MAVLink offboard API (ROS2 is supported).
 
 ## Offboard Parameters
 

docs/en/flight_modes_fw/return.md

@@ -25,6 +25,11 @@ The default type is recommended.
 
 :::
 
+::: warning
+There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
+Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
+:::
+
 ## Technical Summary
 
 Fixed-wing vehicles use the _mission landing/rally point_ return type by default.

docs/en/flight_modes_mc/position.md

@@ -43,7 +43,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi
 RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
 Centered sticks level vehicle and hold it to fixed altitude and position against wind.
 
-- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
+- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
 - Outside center:
   - Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
   - Throttle stick controls speed of ascent-descent.
@@ -60,19 +60,19 @@ Centered sticks level vehicle and hold it to fixed altitude and position against
 
 All the parameters in the [Multicopter Position Control](../advanced_config/parameter_reference.md#multicopter-position-control) group are relevant. A few parameters of particular note are listed below.
 
-| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                                  |
-| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)                | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range).                                                                                                                                                                                                                   |
-| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                                                                                            |
-| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                                                                                           |
-| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1)          | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |
-| <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2)          | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m.                                                                                                            |
-| <a id="RCX_DZ"></a>`RCX_DZ`                                                                                 | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone.          |
-| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                                       |
-| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)             | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits.     |
-| <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)    | Maximum horizontal acceleration.                                                                                                                                                                                                                                                                             |
-| <a id="MPC_VEL_MANUAL"></a>[MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL)       | Maximum horizontal velocity.                                                                                                                                                                                                                                                                                 |
-| <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED)       | Landing descend rate. Default 0.7 m/s.                                                                                                                                                                                                                                                                       |
+| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                                                 |
+| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)             | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range).                                                                                                                                                                                                                                  |
+| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                                                                                                           |
+| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                                                                                                          |
+| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1)          | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m.                |
+| <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2)          | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m.                                                                                                                           |
+| <a id="RCX_DZ"></a>`RCX_DZ`                                                                                 | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone.                         |
+| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                                                      |
+| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)             | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits. |
+| <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)    | Maximum horizontal acceleration.                                                                                                                                                                                                                                                                                            |
+| <a id="MPC_VEL_MANUAL"></a>[MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL)       | Maximum horizontal velocity.                                                                                                                                                                                                                                                                                                |
+| <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED)       | Landing descend rate. Default 0.7 m/s.                                                                                                                                                                                                                                                                                      |
 
 ## Additional Information
 

docs/en/flight_modes_rover/api.md

@@ -0,0 +1,29 @@
+# Apps & API
+
+The rover modules have been tested and integrated with a subset of the available [Apps & API](../middleware/index.md) methods.
+We specifically provide guides for using [ROS 2](../ros2/index.md) to interface a companion computer with PX4 via [uXRCE-DDS](../middleware/uxrce_dds.md).
+
+| Method                                                    | Description                                                                                                                                       |
+| --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [PX4 ROS 2 Interface](#px4-ros-2-interface) (Recommended) | Register a custom mode and publish [RoverSetpointTypes](../ros2/px4_ros2_control_interface.md#rover-setpoints).                                   |
+| [ROS 2 Offboard Control](#ros-2-offboard-control)         | Use the PX4 internal [Offboard Mode](../flight_modes/offboard.md) and publish messages defined in [dds_topics.yaml](../middleware/dds_topics.md). |
+
+## PX4 ROS 2 Interface
+
+We recommend the use of the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) which allows you to register a custom drive mode and exposes [RoverSetpointTypes](../ros2/px4_ros2_control_interface.md#rover-setpoints).
+
+By using these setpoints (instead of the PX4 internal rover setpoints), you are guaranteed to send valid control inputs to your vehicle and the control flags for the setpoints you are using are automatically set for you.
+Registering a custom drive mode instead of using [ROS 2 Offboard Control](#ros-2-offboard-control) additionally provides the advantages listed [here](../concept/flight_modes.md#internal-vs-external-modes).
+
+To get familiar with this method, read through the guide for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) where we also provide an example app for rover.
+
+## ROS 2 Offboard Control
+
+[ROS 2 Offboard Control](../ros2/offboard_control.md) uses the PX4 internal [Offboard Mode](../flight_modes/offboard.md).
+
+While you can subscribe/publish to all topics specified in [dds_topics.yaml](../middleware/dds_topics.md), not all rover modules support all of these topics (see [Supported Setpoints](../flight_modes/offboard.md#rover)).
+Unlike the [RoverSetpointTypes](../ros2/px4_ros2_control_interface.md#rover-setpoints) exposed through the [PX4 ROS 2 Interface](#px4-ros-2-interface), there is no guarantee that the published setpoints lead to a valid control input.
+
+In addition, the correct control mode flags must be set through [OffboardControlMode](../msg_docs/OffboardControlMode.md).
+This requires a deeper understanding of PX4 and the structure of the rover modules.
+For general information on setting up offboard mode read through [Offboard Mode](../flight_modes/offboard.md) and then consult [Supported Setpoints](../flight_modes/offboard.md#rover).

docs/en/frames_rover/developer_guide.md

@@ -0,0 +1,69 @@
+# Developer Guide
+
+This developer guide aims to provide information on the structure and design philosophy of the rover modules to kick-start your development.
+The guide is structured into the following sections:
+- [Developer Guide](#developer-guide)
+	- [Module Structure](#module-structure)
+		- [Control Structure](#control-structure)
+		- [High Level Structure](#high-level-structure)
+		- [Code Structure](#code-structure)
+	- [Testing in Simulation](#testing-in-simulation)
+	- [Contributing](#contributing)
+
+## Module Structure
+The rover modules are structured with a focus on modularity and clearly defined interfaces. This allows a developer to work on a specific area or add a new feature without having to worry about the rest of the codebase.
+In the following we will elaborate on this structure on different levels:
+
+### Control Structure
+The rover modules use a hierarchical structure in which sepoints can be injected at various level through rover specific uORB messages:
+
+![Control Structure](../../assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg)
+
+The individual controllers (indicated with green boxes) will subscribe to the setpoint coming from the controller one level above and publish a setpoint to the lower level (setpoints indicated with blue boxes).
+The strucutre leads to a cascaded PID controller:
+
+![Rover Position Controller](../../assets/config/rover/rover_position_controller.png)
+
+This cascaded structure is highly modular, we only run the loops that are required to control the highest level setpoint that is provided.
+
+### High Level Structure
+Putting the control structure into context of the setpoint generation gives us the full picture of the rover module including its external interfaces:
+
+![High Level Structure](../../assets/airframes/rover/high_level_structure.png)
+
+Important to note, is that the highest setpoint that is provided to the control structure will cause the lower setpoints to be overriden by the controllers.
+The highest level setpoint is either provided by PX4 if the vehicle is in a PX4 internal drive mode or injected through the API (DDS Bridge).
+
+### Code Structure
+
+The bulk of the rover related code is located in [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules). Each rover type has its own subfolder i.e. [src/modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann).
+Inside the subfolder you will find the following structure exemplified with the ackermann rover module (some files are excluded here):
+
+| Folder or File Names   | Purpose                                                                                                                                                                               |
+| ---------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| RoverAckermann.hpp/cpp | Entry Point for the rover module. Responsible for configuring the module, generating Setpoints if the vehicle is in a PX4 internal drive mode and calling the individual controllers. |
+| module.yaml            | Definition of parameters specific to the rover type.                                                                                                                                  |
+| AckermannDriveModes    | Contains implementations of the PX4 internal drive modes.                                                                                                                             |
+| AckermannPosControl    | Position Controller: Turns position setpoints into speed and attitude setpoints.                                                                                                      |
+| AckermannSpeedControl  | Speed Controller: Turns speed sepoints into throttle setpoints.                                                                                                                       |
+| AckermannAttControl    | Attitude Controller: Turns attitude setpoints into rate setpoints.                                                                                                                    |
+| AckermannRateControl   | Rate Controller: Turns rate setpoints into normalized steering setpoints.                                                                                                             |
+| AckermannActControl    | Actuator Controller: Turns normalized steering/throttle setpoints into actuator setpoints.                                                                                            |
+
+Additionally, there is a [src/lib/rover_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/rover_control) library that includes functions and parameter definitions that are shared among the rover modules.
+
+## Testing in Simulation
+
+PX4 provides synthetic simulation models for [Gazebo](../sim_gazebo_gz/index.md) of all three rover types to test the software and validate changes and new features:
+
+- [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
+- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
+- [Mecanum rover](../sim_gazebo_gz/vehicles.md#mecanum-rover)
+
+![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)
+
+## Contributing
+When adding new features it is important to maintain the interfaces of the [High Level Structure](#high-level-structure).
+Before opening a PR test your features/improvements in simulation and ideally also on hardware.
+In your PR you should include a concise description of your changes and ideally provide logs, screenshots or videos of your code in action.
+

docs/en/frames_rover/index.md

@@ -5,16 +5,17 @@
 :::warning
 Support for rover is [experimental](../airframes/index.md#experimental-vehicles).
 Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
+Check the [Rover Developer Guide](../frames_rover/developer_guide.md) to kick-start your development!
 :::
 
-![Rovers](../../assets/airframes/rover/rovers.png)
+![Rovers](../../assets/airframes/rover/hiwonder_rovers/hiwonder_rovers.png)
 
 
 PX4 provides support for the three most common types of rovers:
 | Rover Type                        | Steering                                                                                                                                                      |
 | --------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | [**Ackermann**](#ackermann)       | Direction is controlled by pointing wheels in the direction of travel. This kind of steering is used on most commercial vehicles, including cars, trucks etc. |
-| [**Differential**](#differential) | Direction is controlled by moving the left- and right-side wheels at different speeds.                                                                        |
+| [**Differential**](#differential) | Direction is controlled by moving the left- and right-side wheels (or tracks) at different speeds.                                                            |
 | [**Mecanum**](#mecanum)           | Direction is controlled by moving each mecanum wheel individually at different speeds and in different directions.                                            |
 
 The supported frames can be seen in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover).
@@ -26,12 +27,12 @@ The supported frames can be seen in [Airframes Reference > Rover](../airframes/a
 An Ackermann rover controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
 This kind of steering is used on most commercial vehicles, including cars, trucks etc.
 
+![Ackermann rover](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann.png)
+
 ::: info
 PX4 does not require that the vehicle uses the Ackermann geometry and will work with any front-steering rover.
 :::
 
-![Axial Trail Honcho](../../assets/airframes/rover/axial_trail_honcho.png)
-
 ## Differential
 
 <Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
@@ -40,7 +41,7 @@ A differential rover's motion is controlled using a differential drive mechanism
 Forward motion is achieved by driving both wheels at the same speed in the same direction.
 Rotation is achieved by driving the wheels at different speeds in opposite directions, allowing the rover to turn on the spot.
 
-![Aion R1](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
+![Tracked Rover](../../assets/airframes/rover/hiwonder_rovers/hiwonder_tracked.png)
 
 ::: info
 The differential setup also work for rovers with skid or tank steering.
@@ -53,19 +54,12 @@ The differential setup also work for rovers with skid or tank steering.
 A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
 Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.
 
-![Mecanum rover](../../assets/airframes/rover/rover_mecanum.png)
+![Mecanum rover](../../assets/airframes/rover/hiwonder_rovers/hiwonder_mecanum.png)
 
 ## See Also
 
-- [Drive Modes](../flight_modes_rover/index.md).
+- [Drive Modes](../flight_modes_rover/index.md)
 - [Configuration/Tuning](../config_rover/index.md)
+- [Apps & API](../flight_modes_rover/api.md)
 - [Complete Vehicles](../complete_vehicles_rover/index.md)
-
-## Simulation
-
-[Gazebo](../sim_gazebo_gz/index.md) provides simulations for ackermann and differential rovers:
-
-- [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
-- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
-
-![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)
+- [Developer Guide](../frames_rover/developer_guide.md)

docs/en/middleware/uxrce_dds.md

@@ -106,12 +106,19 @@ The development version, fetched using `--edge` above, does work.
 
 ### Build/Run within ROS 2 Workspace
 
-The agent can be built and launched within a ROS 2 workspace (or build standalone and launched from a workspace.
+The agent can be built and launched within a ROS 2 workspace (or build standalone and launched from a workspace).
 You must already have installed ROS 2 following the instructions in: [ROS 2 User Guide > Install ROS 2](../ros2/user_guide.md#install-ros-2).
 
 ::: warning
 This approach will use the existing ROS 2 versions of the Agent dependencies, such as `fastcdr` and `fastdds`.
-This considerably speeds up the build process but requires that the Agent dependency versions match the ROS 2 ones.
+This considerably speeds up the build process but requires that the Agent dependency versions match the ROS 2 ones:
+
+| ROS 2 version | Micro-XRCE-DDS-Agent version |
+| ------------- | ---------------------------- |
+| Foxy          | v2.4.2                       |
+| Humble        | v2.4.2                       |
+| Jazzy         | v2.4.3                       |
+
 :::
 
 To build the agent within ROS:
@@ -124,15 +131,50 @@ To build the agent within ROS:
 
 1. Clone the source code for the eProsima [Micro-XRCE-DDS-Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) to the `/src` directory (the `main` branch is cloned by default):
 
+   ::::tabs
+
+   ::: tab jazzy
+
    ```sh
    cd ~/px4_ros_uxrce_dds_ws/src
    git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
    ```
 
+   :::
+
+   ::: tab humble
+
+   ```sh
+   cd ~/px4_ros_uxrce_dds_ws/src
+   git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+   ```
+
+   :::
+
+   ::: tab foxy
+
+   ```sh
+   cd ~/px4_ros_uxrce_dds_ws/src
+   git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+   ```
+
+   :::
+
+   ::::
+
 1. Source the ROS 2 development environment, and compile the workspace using `colcon`:
 
    :::: tabs
 
+   ::: tab jazzy
+
+   ```sh
+   source /opt/ros/jazzy/setup.bash
+   colcon build
+   ```
+
+   :::
+
    ::: tab humble
 
    ```sh
@@ -161,6 +203,15 @@ To run the micro XRCE-DDS agent in the workspace:
 
    :::: tabs
 
+   ::: tab jazzy
+
+   ```sh
+   source /opt/ros/jazzy/setup.bash
+   source install/local_setup.bash
+   ```
+
+   :::
+
    ::: tab humble
 
    ```sh
@@ -230,7 +281,6 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
 
 - [UXRCE_DDS_CFG](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG): Set the port to connect on, such as `TELEM2`, `Ethernet`, or `Wifi`.
 - If using an Ethernet connection:
-
   - [UXRCE_DDS_PRT](../advanced_config/parameter_reference.md#UXRCE_DDS_PRT):
     Use this to specify the agent UDP listening port.
     The default value is `8888`.
@@ -240,7 +290,6 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
     The default value is `2130706433` which corresponds to the _localhost_ `127.0.0.1`.
 
     You can use [Tools/convert_ip.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/convert_ip.py) to convert between the formats:
-
     - To obtain the `int32` version of an IP in decimal dot notation the command is:
 
       ```sh
@@ -254,14 +303,12 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
       ```
 
 - If using a serial connection:
-
   - [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD), [SER_URT6_BAUD](../advanced_config/parameter_reference.md#SER_URT6_BAUD) (and so on):
     Use the `_BAUD` parameter associated with the serial port to set the baud rate.
     For example, you'd set a value for `SER_TEL2_BAUD` if you are connecting to the companion using `TELEM2`.
     For more information see [Serial port configuration](../peripherals/serial_configuration.md#serial-port-configuration).
 
 - Some setups might also need these parameters to be set:
-
   - [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY): The uXRCE-DDS key.
     If you're working in a multi-client, single agent configuration, each client should have a unique non-zero key.
     This is primarily important for multi-vehicle simulations, where all clients are connected in UDP to the same agent.

docs/en/modules/modules_driver_ins.md

@@ -125,6 +125,31 @@ ilabs <command> [arguments...]
    status        Print driver status
 ```
 
+## sbgecom
+
+Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
+
+Description du module
+
+### Usage {#sbgecom_usage}
+
+```
+sbgecom <command> [arguments...]
+ Commands:
+   start         Start driver
+     [-d <val>]  Serial device
+                 default: /dev/ttyS0
+     [-b <val>]  Baudrate device
+                 default: 921600
+     [-f <val>]  Config JSON file path
+                 default: /etc/extras/sbg_settings\.json
+     [-s <val>]  Config JSON string
+
+   status        Driver status
+
+   stop          Stop driver
+```
+
 ## vectornav
 
 Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)

docs/en/modules/modules_system.md

@@ -140,9 +140,9 @@ commander <command> [arguments...]
    transition    VTOL transition
 
    mode          Change flight mode
-     manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
-                 to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
-                 Flight mode
+     manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
+                 |auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
+                 precland|ext1 Flight mode
 
    pair
 
@@ -154,6 +154,9 @@ commander <command> [arguments...]
 
    lat|lon|alt   Origin latitude longitude altitude
 
+   set_heading   Set current heading
+     heading     degrees from True North [0 360]
+
    poweroff      Power off board (if supported)
 
    stop
@@ -1062,7 +1065,9 @@ uxrce_dds_client <command> [arguments...]
                  values: <IP>
      [-p <val>]  Agent listening port. If not provided, defaults to
                  UXRCE_DDS_PRT
-     [-n <val>]  Client DDS namespace
+     [-n <val>]  Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
+                 between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
+                 be used
 
    stop
 

docs/en/msg_docs/ActuatorMotors.md

@@ -18,11 +18,11 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
 
-uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags  # [-] Bitset indicating which motors are configured to be reversible
 
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
 
 uint8 NUM_CONTROLS = 12  #
-float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
+float32[12] control      # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
 
 ```

docs/en/msg_docs/ActuatorServos.md

@@ -19,6 +19,6 @@ uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
 
 uint8 NUM_CONTROLS = 8  #
-float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+float32[8] control      # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
 
 ```

docs/en/msg_docs/ArmingCheckReply.md

@@ -1,6 +1,6 @@
 # ArmingCheckReply (UORB message)
 
-Arming check reply.
+Arming check reply
 
 This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
 
 ```c
-# Arming check reply.
+# Arming check reply
 #
 # This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 # The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -25,33 +25,33 @@ uint32 MESSAGE_VERSION  = 1
 
 uint64 timestamp # [us] Time since system start.
 
-uint8 request_id       # Id of ArmingCheckRequest for which this is a response.
-uint8 registration_id  # Id of external component emitting this response.
+uint8 request_id       # [-] Id of ArmingCheckRequest for which this is a response
+uint8 registration_id  # [-] Id of external component emitting this response
 
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies
 
 uint8 health_component_index      # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json)
 
-bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
+bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
 
-uint8 num_events  # Number of queued failure messages (Event) in the events field.
+uint8 num_events  # Number of queued failure messages (Event) in the events field
 
-Event[5] events  # Arming failure reasons (Queue of events to report to GCS).
+Event[5] events  # Arming failure reasons (Queue of events to report to GCS)
 
 # Mode requirements
-bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope).
-bool mode_req_attitude                 # Requires an attitude estimate.
-bool mode_req_local_alt                # Requires a local altitude estimate.
-bool mode_req_local_position           # Requires a local position estimate.
-bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate.
-bool mode_req_global_position          # Requires a global position estimate.
-bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate.
-bool mode_req_mission                  # Requires an uploaded mission.
-bool mode_req_home_position            # Requires a home position (such as RTL/Return mode).
-bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
+bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope)
+bool mode_req_attitude                 # Requires an attitude estimate
+bool mode_req_local_alt                # Requires a local altitude estimate
+bool mode_req_local_position           # Requires a local position estimate
+bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate
+bool mode_req_global_position          # Requires a global position estimate
+bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate
+bool mode_req_mission                  # Requires an uploaded mission
+bool mode_req_home_position            # Requires a home position (such as RTL/Return mode)
+bool mode_req_prevent_arming           # Prevent arming (such as in Land mode)
 bool mode_req_manual_control           # Requires a manual controller
 
 uint8 ORB_QUEUE_LENGTH  = 4

docs/en/msg_docs/ArmingCheckRequest.md

@@ -1,6 +1,6 @@
 # ArmingCheckRequest (UORB message)
 
-Arming check request.
+Arming check request
 
 Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
 
 ```c
-# Arming check request.
+# Arming check request
 #
 # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -23,10 +23,10 @@ The reply will also include the registration_id for each external component, pro
 
 uint32 MESSAGE_VERSION = 1
 
-uint64 timestamp  # [us] Time since system start.
+uint64 timestamp  # [us] Time since system start
 
-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+uint8 request_id  # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
 
-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
+uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
 
 ```

docs/en/msg_docs/BatteryStatus.md

@@ -16,76 +16,77 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
 # Battery instance information is also logged and streamed in MAVLink telemetry.
 
 uint32 MESSAGE_VERSION = 1
-uint8 MAX_INSTANCES = 4
+uint8 MAX_INSTANCES = 3
 
-uint64 timestamp # [us] Time since system start
-bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
-float32 voltage_v # [V] [@invalid 0] Battery voltage
-float32 current_a # [A] [@invalid -1] Battery current
-float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
-float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
-float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
-float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
-float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
-float32 temperature # [°C] [@invalid NaN] Temperature of the battery
-uint8 cell_count # [@invalid 0] Number of cells
+uint64 timestamp  # [us] Time since system start
+
+bool connected             # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+float32 voltage_v          # [V] [@invalid 0] Battery voltage
+float32 current_a          # [A] [@invalid -1] Battery current
+float32 current_average_a  # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 discharged_mah     # [mAh] [@invalid -1] Discharged amount
+float32 remaining          # [@range 0,1] [@invalid -1] Remaining capacity
+float32 scale              # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 time_remaining_s   # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 temperature        # [°C] [@invalid NaN] Temperature of the battery
+uint8 cell_count           # [-] [@invalid 0] Number of cells
 
 
-uint8 source # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module
-uint8 SOURCE_EXTERNAL = 1 # External
-uint8 SOURCE_ESCS = 2 # ESCs
+uint8 source                   # [@enum SOURCE] Battery source
+uint8 SOURCE_POWER_MODULE = 0  # Power module
+uint8 SOURCE_EXTERNAL = 1      # External
+uint8 SOURCE_ESCS = 2          # ESCs
 
-uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity # [mAh] Capacity of the battery when fully charged
-uint16 cycle_count # Number of discharge cycles the battery has experienced
-uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
-uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
-uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
-uint16 interface_error # Interface error counter
+uint8 priority                # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity               # [mAh] Capacity of the battery when fully charged
+uint16 cycle_count            # [-] Number of discharge cycles the battery has experienced
+uint16 average_time_to_empty  # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 manufacture_date       # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health        # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 max_error              # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint8 id                      # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error        # [-] Interface error counter
 
-float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
-float32 max_cell_voltage_delta # Max difference between individual cell voltages
+float32[14] voltage_cell_v      # [V] [@invalid 0] Battery individual cell voltages
+float32 max_cell_voltage_delta  # [V] Max difference between individual cell voltages
 
-bool is_powering_off # Power off event imminent indication, false if unknown
-bool is_required # Set if the battery is explicitly required before arming
+bool is_powering_off  # Power off event imminent indication, false if unknown
+bool is_required      # Set if the battery is explicitly required before arming
 
-uint8 warning # [@enum WARNING STATE] Current battery warning
-uint8 WARNING_NONE = 0 # No battery low voltage warning active
-uint8 WARNING_LOW = 1 # Low voltage warning
-uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
-uint8 WARNING_EMERGENCY = 3 # Immediate landing required
-uint8 WARNING_FAILED = 4 # Battery has failed completely
-uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
-uint8 STATE_CHARGING = 7 # Battery is charging
+uint8 warning                # [@enum WARNING STATE] Current battery warning
+uint8 WARNING_NONE = 0       # No battery low voltage warning active
+uint8 WARNING_LOW = 1        # Low voltage warning
+uint8 WARNING_CRITICAL = 2   # Critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3  # Immediate landing required
+uint8 WARNING_FAILED = 4     # Battery has failed completely
+uint8 STATE_UNHEALTHY = 6    # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_CHARGING = 7     # Battery is charging
 
-uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
-uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 FAULT_SPIKES = 1 # Voltage spikes
-uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 FAULT_OVER_CURRENT = 3 # Over-current
-uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
-uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
-uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
-uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
-uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+uint16 faults                          # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint8 FAULT_DEEP_DISCHARGE = 0         # Battery has deep discharged
+uint8 FAULT_SPIKES = 1                 # Voltage spikes
+uint8 FAULT_CELL_FAIL= 2               # One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3           # Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4       # Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5      # Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6   # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7  # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8     # Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9       # Hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10         # Battery had a problem while arming
+uint8 FAULT_COUNT = 11                 # Counter. Keep this as last element
 
-float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
-float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
-uint16 over_discharge_count # Number of battery overdischarge
-float32 nominal_voltage # [V] Nominal voltage of the battery pack
+float32 full_charge_capacity_wh  # [Wh] Compensated battery capacity
+float32 remaining_capacity_wh    # [Wh] Compensated battery capacity remaining
+uint16 over_discharge_count      # [-] Number of battery overdischarge
+float32 nominal_voltage          # [V] Nominal voltage of the battery pack
 
-float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
-float32 ocv_estimate # [V] Open circuit voltage estimate
-float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
-float32 voltage_prediction # [V] Predicted voltage
-float32 prediction_error # [V] Prediction error
-float32 estimation_covariance_norm # Norm of the covariance matrix
+float32 internal_resistance_estimate  # [Ohm] Internal resistance per cell estimate
+float32 ocv_estimate                  # [V] Open circuit voltage estimate
+float32 ocv_estimate_filtered         # [V] Filtered open circuit voltage estimate
+float32 volt_based_soc_estimate       # [-] [@range 0, 1] Normalized volt based state of charge estimate
+float32 voltage_prediction            # [V] Predicted voltage
+float32 prediction_error              # [V] Prediction error
+float32 estimation_covariance_norm    # [-] Norm of the covariance matrix
 
 ```