fix center parameter metadata

update validation
disble center for DShot servos (only UI)
2026-05-23 20:57:35 +08:00 · 2026-03-05 11:29:33 +01:00 · 2026-03-02 12:00:39 +01:00 · 2026-03-02 11:57:43 +01:00 · 2026-03-02 11:57:20 +01:00 · 2026-03-02 11:34:46 +01:00
3175 changed files with 59833 additions and 113088 deletions
@@ -141,6 +141,8 @@ Checks:          '*,
                  -cppcoreguidelines-avoid-goto,
                  -hicpp-avoid-goto,
                  -bugprone-branch-clone,
+                  -bugprone-unhandled-self-assignment,
+                  -cert-oop54-cpp,
                  -performance-enum-size,
                  -readability-avoid-nested-conditional-operator,
                  -cppcoreguidelines-prefer-member-initializer,
@@ -148,8 +150,10 @@ Checks:          '*,
                  -readability-convert-member-functions-to-static,
                  -readability-make-member-function-const,
                  -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-macro-parentheses,
                  -bugprone-multi-level-implicit-pointer-conversion,
                  -bugprone-signed-char-misuse,
+                  -bugprone-too-small-loop-variable,
                  -cppcoreguidelines-avoid-non-const-global-variables,
                  -cppcoreguidelines-use-default-member-init,
                  -hicpp-multiway-paths-covered,
@@ -1,28 +0,0 @@
---
-name: commit
-description: Create a conventional commit for PX4 changes
-disable-model-invocation: true
-argument-hint: "[optional: description of changes]"
-allowed-tools: Bash, Read, Glob, Grep
---
-
-# PX4 Conventional Commit
-
-Create a git commit: `type(scope): description`
-
-**NEVER add Co-Authored-By lines. No Claude attribution in commits.**
-
-Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
-
-## Steps
-
-1. **Read [CONTRIBUTING.md](../../CONTRIBUTING.md)** for commit message format, types, scopes, and conventions.
-2. Check branch (`git branch --show-current`). If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
-3. Run `git status` and `git diff --staged`. If nothing staged, ask what to stage.
-4. Follow the commit message convention from CONTRIBUTING.md: pick the correct **type** and **scope**, write a concise imperative description.
-5. Body (if needed): explain **why**, not what.
-6. Run `make format` or `./Tools/astyle/fix_code_style.sh <file>` on changed C/C++ files before committing.
-7. Check if GPG signing is available: `git config --get user.signingkey`. If set, use `git commit -S -s`. Otherwise, use `git commit -s`.
-8. Stage and commit. No `Co-Authored-By`.
-
-If the user provided arguments, use them as context: $ARGUMENTS
@@ -1,24 +0,0 @@
---
-name: pr
-description: Create a pull request with conventional commit title and description
-disable-model-invocation: true
-argument-hint: "[optional: target branch or description]"
-allowed-tools: Bash, Read, Glob, Grep
---
-
-# PX4 Pull Request
-
-**No Claude attribution anywhere (no Co-Authored-By, no "Generated with Claude").**
-
-Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
-
-## Steps
-
-1. Check branch. If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
-2. Gather context: `git status`, `git log --oneline main..HEAD`, `git diff main...HEAD --stat`, check if remote tracking branch exists.
-3. PR **title**: `type(scope): description` — under 72 chars, describes the overall change across all commits. This becomes the squash-merge commit message.
-4. PR **body**: brief summary + bullet points for key changes. No filler.
-5. Push with `-u` if needed, then `gh pr create`. Default base is `main` unless user says otherwise.
-6. Return the PR URL.
-
-If the user provided arguments, use them as context: $ARGUMENTS
@@ -1,73 +0,0 @@
---
-name: rebase-onto-main
-description: Rebase a branch onto main, handling squash-merged parent branches cleanly
-argument-hint: "[optional: branch name, defaults to current branch]"
-allowed-tools: Bash, Read, Glob, Grep, Agent
---
-
-# Rebase Branch onto Main
-
-Rebase the current (or specified) branch onto `main`, correctly handling the case where the branch was built on top of another branch that has since been squash-merged into `main`.
-
-## Background
-
-When a parent branch is squash-merged, its individual commits become a single new commit on `main` with a different hash. A normal `git rebase main` will try to replay the parent's original commits, causing messy conflicts. The fix is to **cherry-pick only the commits unique to this branch** onto a fresh branch from `main`.
-
-## Steps
-
-1. **Identify the branch.** Use `$ARGUMENTS` if provided, otherwise use the current branch.
-
-2. **Fetch and update main:**
-   ```
-   git fetch origin main:main
-   ```
-
-3. **Find the merge base** between the branch and `main`:
-   ```
-   git merge-base <branch> main
-   ```
-
-4. **List all commits** on the branch since the merge base:
-   ```
-   git log --oneline <merge-base>..<branch>
-   ```
-
-5. **Identify which commits are unique to this branch** vs. inherited from a parent branch. Look for:
-   - Squash-merged commits on `main` that correspond to a group of commits at the bottom of the branch's history (check PR titles, commit message keywords).
-   - The boundary commit: the first commit that belongs to *this* branch's work, not the parent's.
-   - If ALL commits are unique (no parent branch), just do a normal `git rebase main` and skip the rest.
-
-6. **Create a fresh branch from `main`:**
-   ```
-   git checkout -b <branch>-rebase main
-   ```
-
-7. **Cherry-pick only the unique commits** (oldest first):
-   ```
-   git cherry-pick <first-unique-commit>^..<branch>
-   ```
-   The `A^..B` range means "from the parent of A through B inclusive."
-
-8. **Handle conflicts** if any arise during cherry-pick. Resolve and `git cherry-pick --continue`.
-
-9. **Replace the old branch:**
-   ```
-   git branch -m <branch> <branch>-old
-   git branch -m <branch>-rebase <branch>
-   ```
-
-10. **Verify** the result:
-    ```
-    git log --oneline main..<branch>
-    ```
-    Confirm only the expected commits are present.
-
-11. **Ask the user** before force-pushing. When approved:
-    ```
-    git push origin <branch> --force-with-lease
-    ```
-
-12. **Clean up** the old branch:
-    ```
-    git branch -D <branch>-old
-    ```
@@ -265,8 +265,5 @@ jobs:
        with:
          draft: true
          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: |
-            artifacts/*.px4
-            artifacts/*.deb
-            artifacts/**/*.sbom.spdx.json
+          files: artifacts/*.px4
          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -46,8 +46,6 @@ jobs:
          fetch-depth: 0

      - name: Building [${{ matrix.check }}]
-        env:
-          PX4_SBOM_DISABLE: 1
        run: |
          cd "$GITHUB_WORKSPACE"
          git config --global --add safe.directory "$GITHUB_WORKSPACE"
@@ -1,148 +0,0 @@
-name: Commit Quality
-
-on:
-  pull_request:
-    types: [opened, edited, synchronize, reopened]
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  PR_NUMBER: ${{ github.event.pull_request.number }}
-  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
-
-jobs:
-  pr-title:
-    name: PR Title
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR title
-        id: check
-        run: |
-          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
-          exit 1
-
-  commit-messages:
-    name: Commit Messages
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check commit messages
-        id: check
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          gh api \
-            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
-            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-          # Check for warnings (non-empty markdown on exit 0)
-          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
-            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
-          else
-            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
-          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::Commit message errors found. See the PR comment for details."
-          exit 1
-
-  pr-body:
-    name: PR Description
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        if: env.IS_FORK == 'false'
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR body
-        id: check
-        env:
-          PR_BODY: ${{ github.event.pull_request.body }}
-        run: |
-          message=""
-          if [ -z "$PR_BODY" ]; then
-            message="PR description is empty. Please add a summary of the changes."
-            echo "::warning::PR description is empty."
-          else
-            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
-            if [ -z "$cleaned" ]; then
-              message="PR description contains only template comments. Please fill in the details."
-              echo "::warning::PR description contains only template comments."
-            fi
-          fi
-          echo "message=$message" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ -n "${{ steps.check.outputs.message }}" ]; then
-            printf '%s\n' \
-              "## PR Description (advisory)" \
-              "" \
-              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
-              "" \
-              "${{ steps.check.outputs.message }}" \
-              "" \
-              "A good PR description helps reviewers understand what changed and why." \
-              "" \
-              "---" \
-              "*This comment will be automatically removed once the issue is resolved.*" \
-            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
-          fi
@@ -130,8 +130,8 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
@@ -34,13 +34,13 @@ jobs:
          upload_sources: false
          upload_translations: false
          download_translations: true
-          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
+          commit_message: New Crowdin translations - ${{ matrix.lc }}
          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
          crowdin_branch_name: main
          create_pull_request: true
          pull_request_base_branch_name: 'main'
-          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
-          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
          pull_request_labels: 'Documentation 📑'
          pull_request_reviewers: hamishwillee
          download_language: ${{ matrix.lc }}
@@ -36,8 +36,8 @@ jobs:
            px4io/px4-dev-ros-melodic:2021-09-08 \
            bash -c '
              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
              ./test/rostest_px4_run.sh \
                mavros_posix_test_mission.test \
                mission:=MC_mission_box \
@@ -36,8 +36,8 @@ jobs:
            px4io/px4-dev-ros-melodic:2021-09-08 \
            bash -c '
              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
              ./test/rostest_px4_run.sh \
                mavros_posix_tests_offboard_posctl.test \
                vehicle:=iris
@@ -89,15 +89,7 @@ jobs:
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
-        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
-        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
-          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
-          git clone --recursive --branch "$BRANCH" "$REPO_URL"
-        else
-          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
-          git clone --recursive "$REPO_URL"
-        fi
+        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
@@ -110,8 +102,6 @@ jobs:
      run: ccache -s

    - name: Build PX4
-      env:
-        PX4_SBOM_DISABLE: 1
      run: make px4_sitl_default
    - name: ccache post-run px4/firmware
      run: ccache -s
@@ -1,42 +0,0 @@
-name: SBOM License Check
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-      - 'stable'
-    paths:
-      - '.gitmodules'
-      - 'Tools/ci/license-overrides.yaml'
-      - 'Tools/ci/generate_sbom.py'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - '.gitmodules'
-      - 'Tools/ci/license-overrides.yaml'
-      - 'Tools/ci/generate_sbom.py'
-
-permissions:
-  contents: read
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  verify-licenses:
-    runs-on: ubuntu-24.04
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 1
-          submodules: false
-
-      - name: Install PyYAML
-        run: pip install pyyaml --break-system-packages
-
-      - name: Verify submodule licenses
-        run: python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .
@@ -1,132 +0,0 @@
-name: SBOM Monthly Audit
-
-on:
-  schedule:
-    # First Monday of each month at 09:00 UTC
-    - cron: '0 9 1-7 * 1'
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: 'Branch to audit (leave empty for current)'
-        required: false
-        type: string
-
-permissions:
-  contents: read
-  issues: write
-
-jobs:
-  audit:
-    runs-on: ubuntu-24.04
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.branch || github.ref }}
-          fetch-depth: 1
-          submodules: recursive
-
-      - name: Install PyYAML
-        run: pip install pyyaml --break-system-packages
-
-      - name: Run license verification
-        id: verify
-        continue-on-error: true
-        run: |
-          python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir . 2>&1 | tee /tmp/sbom-verify.txt
-          echo "exit_code=$?" >> "$GITHUB_OUTPUT"
-
-      - name: Check for issues
-        id: check
-        run: |
-          if grep -q "NOASSERTION" /tmp/sbom-verify.txt; then
-            echo "has_issues=true" >> "$GITHUB_OUTPUT"
-            # Extract NOASSERTION lines
-            grep "NOASSERTION" /tmp/sbom-verify.txt | grep -v "skipped" > /tmp/sbom-issues.txt || true
-            # Extract copyleft lines
-            sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
-          else
-            echo "has_issues=false" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Create issue if problems found
-        if: steps.check.outputs.has_issues == 'true'
-        uses: actions/github-script@v7
-        with:
-          script: |
-            const fs = require('fs');
-
-            const fullOutput = fs.readFileSync('/tmp/sbom-verify.txt', 'utf8');
-            let issueLines = '';
-            try {
-              issueLines = fs.readFileSync('/tmp/sbom-issues.txt', 'utf8');
-            } catch (e) {
-              issueLines = 'No specific NOASSERTION lines captured.';
-            }
-            let copyleftLines = '';
-            try {
-              copyleftLines = fs.readFileSync('/tmp/sbom-copyleft.txt', 'utf8');
-            } catch (e) {
-              copyleftLines = '';
-            }
-
-            const date = new Date().toISOString().split('T')[0];
-            const branch = '${{ inputs.branch || github.ref_name }}';
-
-            // Check for existing open issue to avoid duplicates
-            const existing = await github.rest.issues.listForRepo({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              labels: 'sbom-audit',
-              state: 'open',
-            });
-
-            if (existing.data.length > 0) {
-              // Update existing issue with new findings
-              await github.rest.issues.createComment({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                issue_number: existing.data[0].number,
-                body: `## Monthly audit update (${date})\n\nIssues still present:\n\n\`\`\`\n${issueLines}\n\`\`\`\n${copyleftLines ? `\n### Copyleft warnings\n\`\`\`\n${copyleftLines}\n\`\`\`` : ''}`,
-              });
-              return;
-            }
-
-            await github.rest.issues.create({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              title: `chore(sbom): license audit found NOASSERTION entries on ${branch} (${date})`,
-              labels: ['sbom-audit'],
-              assignees: ['mrpollo'],
-              body: [
-                `## SBOM Monthly Audit -- ${branch} -- ${date}`,
-                '',
-                'The automated SBOM license audit found submodules with unresolved licenses.',
-                '',
-                '### NOASSERTION entries',
-                '',
-                '```',
-                issueLines,
-                '```',
-                '',
-                copyleftLines ? `### Copyleft warnings\n\n\`\`\`\n${copyleftLines}\n\`\`\`\n` : '',
-                '### How to fix',
-                '',
-                '1. Check the submodule repo for a LICENSE file',
-                '2. Add an override to `Tools/ci/license-overrides.yaml`',
-                '3. Run `python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .` to confirm',
-                '',
-                '### Full output',
-                '',
-                '<details>',
-                '<summary>Click to expand</summary>',
-                '',
-                '```',
-                fullOutput,
-                '```',
-                '',
-                '</details>',
-                '',
-                'cc @mrpollo',
-              ].join('\n'),
-            });
@@ -71,7 +71,6 @@ jobs:
      - name: Build PX4
        env:
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          PX4_SBOM_DISABLE: 1
        run: make px4_sitl_default

      - name: Cache Post-Run [px4_sitl_default]
@@ -1,43 +0,0 @@
-name: Sync release branch to px4-ros2-interface-lib
-
-on:
-  create:
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: 'Release branch name (e.g. release/1.18)'
-        required: true
-        type: string
-
-permissions: {}
-
-jobs:
-  notify-interface-lib:
-    if: >-
-      github.repository == 'PX4/PX4-Autopilot' &&
-      (
-        (github.event_name == 'create' && github.ref_type == 'branch' && startsWith(github.ref_name, 'release/')) ||
-        github.event_name == 'workflow_dispatch'
-      )
-    runs-on: ubuntu-latest
-    steps:
-      - name: Determine branch name
-        id: params
-        run: |
-          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
-            BRANCH="${{ inputs.branch }}"
-          else
-            BRANCH="${{ github.ref_name }}"
-          fi
-          echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
-          echo "Dispatching for branch: $BRANCH"
-
-      - name: Dispatch release branch creation
-        run: |
-          BRANCH="${{ steps.params.outputs.branch }}"
-          curl -s -f -X POST \
-            -H "Authorization: token ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}" \
-            -H "Accept: application/vnd.github.v3+json" \
-            https://api.github.com/repos/Auterion/px4-ros2-interface-lib/dispatches \
-            -d "{\"event_type\":\"px4_release_branch\",\"client_payload\":{\"branch\":\"$BRANCH\"}}"
-          echo "Dispatched px4_release_branch event for $BRANCH"
@@ -1,135 +0,0 @@
-name: Tag px4_msgs from PX4 release tags
-
-on:
-  push:
-    tags:
-      - 'v*.*.*'
-  workflow_dispatch:
-    inputs:
-      tag_name:
-        description: 'PX4 tag to propagate (example: v1.17.0)'
-        required: true
-        type: string
-
-permissions:
-  contents: read
-
-jobs:
-  tag_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    env:
-      TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          fetch-tags: true
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Resolve release branch from tag
-        id: tag_info
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          if [[ ! "${TAG_NAME}" =~ ^v([0-9]+)\.([0-9]+)\.([0-9]+)$ ]]; then
-            echo "Tag format is not stable vX.Y.Z, skipping: ${TAG_NAME}"
-            echo "should_run=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-
-          echo "should_run=true" >> "$GITHUB_OUTPUT"
-
-          major="${BASH_REMATCH[1]}"
-          minor="${BASH_REMATCH[2]}"
-          release_branch="release/${major}.${minor}"
-
-          git show-ref --verify --quiet "refs/heads/${release_branch}" || {
-            echo "PX4 branch ${release_branch} not found"
-            exit 1
-          }
-
-          tag_date="$(git for-each-ref --format='%(creatordate:iso8601)' "refs/tags/${TAG_NAME}")"
-          if [[ -z "${tag_date}" ]]; then
-            echo "Unable to resolve tag date for ${TAG_NAME}"
-            exit 1
-          fi
-
-          echo "release_branch=${release_branch}" >> "$GITHUB_OUTPUT"
-          echo "tag_date=${tag_date}" >> "$GITHUB_OUTPUT"
-
-      - name: Clone px4_msgs repo
-        if: steps.tag_info.outputs.should_run == 'true'
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Checkout matching px4_msgs release branch
-        if: steps.tag_info.outputs.should_run == 'true'
-        shell: bash
-        run: |
-          set -euo pipefail
-          cd px4_msgs
-
-          release_branch="${{ steps.tag_info.outputs.release_branch }}"
-          if git show-ref --verify --quiet "refs/remotes/origin/${release_branch}"; then
-            git checkout -B "${release_branch}" "origin/${release_branch}"
-          else
-            echo "px4_msgs branch ${release_branch} does not exist"
-            exit 1
-          fi
-
-      - name: Verify msg and srv trees are identical
-        if: steps.tag_info.outputs.should_run == 'true'
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          release_branch="${{ steps.tag_info.outputs.release_branch }}"
-          git checkout "${release_branch}"
-
-          # Use the same synchronization logic as sync_to_px4_msgs.yml,
-          # then verify there are no changes in px4_msgs.
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-          if ! git -C px4_msgs diff --exit-code -- msg srv; then
-            echo "Message/service definitions differ between PX4 ${release_branch} and px4_msgs ${release_branch}"
-            exit 1
-          fi
-
-      - name: Create and push tag in px4_msgs
-        if: steps.tag_info.outputs.should_run == 'true'
-        shell: bash
-        run: |
-          set -euo pipefail
-          cd px4_msgs
-
-          target="$(git rev-parse HEAD)"
-          existing_target="$(git rev-parse "refs/tags/${TAG_NAME}^{}" 2>/dev/null || true)"
-
-          if [[ -n "${existing_target}" ]]; then
-            if [[ "${existing_target}" == "${target}" ]]; then
-              echo "Tag ${TAG_NAME} already exists on ${target}; nothing to do"
-              exit 0
-            fi
-            echo "Tag ${TAG_NAME} already exists on ${existing_target}, expected ${target}"
-            exit 1
-          fi
-
-          GIT_COMMITTER_DATE="${{ steps.tag_info.outputs.tag_date }}" \
-            git tag -a "${TAG_NAME}" "${target}" \
-              -m "PX4 msgs and srvs definitions matching PX4 stable release ${TAG_NAME#v}"
-
-          git push origin "refs/tags/${TAG_NAME}"
@@ -112,6 +112,3 @@ keys/

 # metadata
 _emscripten_sdk/
-
-# virtual Python environment
-.venv
@@ -1,27 +0,0 @@
-cff-version: 1.2.0
-title: "PX4 Autopilot"
-message: "If you use PX4 in your research, please cite it using this metadata."
-type: software
-authors:
-  - family-names: Meier
-    given-names: Lorenz
-  - name: "The PX4 Contributors"
-repository-code: "https://github.com/PX4/PX4-Autopilot"
-url: "https://px4.io"
-abstract: >-
-  PX4 is an open-source autopilot stack for drones and
-  unmanned vehicles. It supports multirotors, fixed-wing,
-  VTOL, rovers, and many more platforms. PX4 runs on both
-  RTOS and POSIX-compatible operating systems.
-keywords:
-  - autopilot
-  - drone
-  - uav
-  - flight-controller
-  - robotics
-  - ros2
-license: BSD-3-Clause
-identifiers:
-  - type: doi
-    value: "10.5281/zenodo.595432"
-    description: "Zenodo concept DOI (resolves to latest version)"
@@ -240,15 +240,8 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()

-if(CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN)
-	set(PX4_DEBUG_OPT_LEVEL -Og)
-	message(STATUS "fortified toolchain support enabled: PX4_DEBUG_OPT_LEVEL=${PX4_DEBUG_OPT_LEVEL}")
-else()
-	set(PX4_DEBUG_OPT_LEVEL -O0)
-endif()
-
 if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL ${PX4_DEBUG_OPT_LEVEL})
+	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
 elseif(CMAKE_BUILD_TYPE MATCHES "Release")
@@ -491,7 +484,6 @@ include(bloaty)

 include(metadata)
 include(package)
-include(sbom)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
@@ -1,170 +1,44 @@
-# Contributing to PX4-Autopilot
+# Contributing to PX4 Firmware

-We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.

-## Fork the project, then clone your repo
+### Fork the project, then clone your repo

-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.

-## Create a feature branch
+### Create a feature branch

-Always branch off `main` for new features.
+*Always* branch off main for new features.

 ```
 git checkout -b mydescriptivebranchname
 ```

-## Edit and build the code
+### Edit and build the code

-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.

-### Coding standards
+### Commit your changes

-All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
+Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)

-Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
-
-## Commit message convention
-
-PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
-
-### Format
+**Example:**

 ```
-type(scope): short description of the change
+Change how the attitude controller works
+
+- Fixes rate feed forward
+- Allows a local body rate override
+
+Fixes issue #123
 ```

-| Part | Rule |
-|------|------|
-| **type** | Category of change (see types table below) |
-| **scope** | The module, driver, board, or area of PX4 affected |
-| **`!`** (optional) | Append before `:` to mark a breaking change |
-| **description** | What the change does, at least 5 characters, written in imperative form |
+### Test your changes

-### Types
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.

-| Type | Description |
-|------|-------------|
-| `feat` | A new feature |
-| `fix` | A bug fix |
-| `docs` | Documentation only changes |
-| `style` | Formatting, whitespace, no code change |
-| `refactor` | Code change that neither fixes a bug nor adds a feature |
-| `perf` | Performance improvement |
-| `test` | Adding or correcting tests |
-| `build` | Build system or external dependencies |
-| `ci` | CI configuration files and scripts |
-| `chore` | Other changes that don't modify src or test files |
-| `revert` | Reverts a previous commit |
+### Push your changes

-### Scopes
-
-The scope identifies which part of PX4 is affected. Common scopes:
-
-| Scope | Area |
-|-------|------|
-| `ekf2` | Extended Kalman Filter (state estimation) |
-| `mavlink` | MAVLink messaging protocol |
-| `commander` | Commander and mode management |
-| `navigator` | Mission, RTL, Land, and other navigation modes |
-| `sensors` | Sensor drivers and processing |
-| `drivers` | Hardware drivers |
-| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
-| `mc_att_control` | Multicopter attitude control |
-| `mc_pos_control` | Multicopter position control |
-| `fw_att_control` | Fixed-wing attitude control |
-| `vtol` | VTOL-specific logic |
-| `actuators` | Mixer and actuator output |
-| `battery` | Battery monitoring and estimation |
-| `logger` | On-board logging |
-| `param` | Parameter system |
-| `simulation` | SITL, Gazebo, SIH |
-| `ci` | Continuous integration and workflows |
-| `docs` | Documentation |
-| `build` | CMake, toolchain, build system |
-| `uorb` | Inter-module messaging |
-
-For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
-
-### Breaking changes
-
-Append `!` before the colon to indicate a breaking change:
-
-```
-feat(ekf2)!: remove deprecated height fusion API
-```
-
-### Good commit messages
-
-```
-feat(ekf2): add height fusion timeout
-fix(mavlink): correct BATTERY_STATUS_V2 parsing
-refactor(navigator): simplify RTL altitude logic
-ci(workflows): migrate to reusable workflows
-docs(ekf2): update tuning guide
-feat(boards/px4_fmu-v6x)!: remove deprecated driver API
-perf(mc_rate_control): reduce loop latency
-```
-
-### Commits to avoid
-
-These will be flagged by CI and should be squashed or reworded before merging:
-
-```
-fix                                    # too vague, no type or scope
-update                                 # too vague, no type or scope
-ekf2: fix something                   # missing type prefix
-apply suggestions from code review     # squash into parent commit
-do make format                         # squash into parent commit
-WIP: trying something                  # not ready for main
-oops                                   # not descriptive
-```
-
-### PR titles
-
-The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
-
-### Merge policy
-
-Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
-
-### Cleaning up commits
-
-If CI flags your commit messages, you can fix them with an interactive rebase:
-
-```bash
-# Squash all commits into one:
-git rebase -i HEAD~N   # replace N with the number of commits
-# mark all commits except the first as 'squash' or 'fixup'
-# reword the remaining commit to follow the format
-git push --force-with-lease
-
-# Or reword specific commits:
-git rebase -i HEAD~N
-# mark the bad commits as 'reword'
-git push --force-with-lease
-```
-
-## Test your changes
-
-PX4 is safety-critical software. All contributions must include adequate testing where practical:
-
- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
-
-### Types of tests
-
-| Test type | When to use | How to run |
-|-----------|-------------|------------|
-| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
-| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
-| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
-
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
-
-## Push your changes
-
-Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
+Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).

 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
@@ -67,16 +67,6 @@ menu "Toolchain"
        help
            Enables Cmake Release for -O3 optimization

-    config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
-        bool "Fortified toolchain support"
-        default n
-        help
-            Enable compatibility with toolchains that define
-            _FORTIFY_SOURCE.
-
-            This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
-            disabled unless the fortified toolchain requires optimization.
-
    config BOARD_ROMFSROOT
        string "ROMFSROOT"
        default "px4fmu_common"
@@ -162,12 +162,6 @@ else

 endif

-# Prefer the interpreter from an active Python virtual environment.
-# Otherwise leave PYTHON_EXECUTABLE unset and let CMake resolve Python.
-ifneq ($(strip $(VIRTUAL_ENV)),)
-	PYTHON_EXECUTABLE ?= $(VIRTUAL_ENV)/bin/python
-endif
-
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
@@ -232,22 +226,9 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))

-# Multi-processor boards: build all processor targets together
-# VOXL2 apps processor (default) depends on SLPI DSP being built first
-modalai_voxl2_default: modalai_voxl2_slpi
-modalai_voxl2: modalai_voxl2_slpi
-modalai_voxl2_deb: modalai_voxl2_slpi
-
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)

-# DEB package targets: builds _default config, then runs cpack.
-# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
-# via existing cmake prerequisites.
-%_deb:
-	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
-	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
-
 updateconfig:
 	@./Tools/kconfig/updateconfig.py

@@ -554,8 +535,7 @@ validate_module_configs:
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
-	-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
@@ -10,7 +10,6 @@

 <p align="center">
  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
-  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
@@ -34,7 +34,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 param set SIH_VEHICLE_TYPE 0
@@ -44,8 +44,7 @@ param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 # Rate controllers
 param set-default FW_RR_P 0.0500
@@ -11,8 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters

 param set-default SENS_EN_GPSSIM 1
@@ -27,8 +27,7 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60
@@ -18,7 +18,6 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

 param set SIH_VEHICLE_TYPE 4
-param set-default MAV_TYPE 13

 # Symmetric hexacopter X clockwise motor numbering
 param set-default CA_ROTOR_COUNT 6
@@ -45,5 +44,4 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
@@ -44,6 +44,8 @@ param set-default FW_T_SINK_MIN 3

 param set-default FW_W_EN 1

+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -104,3 +104,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0
@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -26,6 +26,7 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -28,6 +28,7 @@ param set-default SIM_GZ_EN 1

 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0

 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
@@ -28,6 +28,7 @@ param set-default SIM_GZ_EN 1

 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0

 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
@@ -2,8 +2,7 @@
 # shellcheck disable=SC2154

 # EKF2 specifics
-param set-default SENS_GPS0_DELAY 10
-param set-default SENS_GPS1_DELAY 10
+param set-default EKF2_GPS_DELAY 10
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0

@@ -119,11 +119,10 @@ else
 	param set SYS_AUTOCONFIG 1
 fi

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

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -47,9 +47,8 @@ param set-default EKF2_BCOEF_Y 25.5

 param set-default EKF2_DRAG_CTRL 1

-param set-default SENS_GPS0_DELAY 100
-param set-default SENS_GPS1_DELAY 100
-param set-default SENS_GPS0_OFFX 0.06
+param set-default EKF2_GPS_DELAY 100
+param set-default EKF2_GPS_POS_X 0.06
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06
@@ -238,7 +238,7 @@ then
 fi

 # Start TMP102 temperature sensor
-if param compare -s SENS_EN_TMP102 1
+if param compare SENS_EN_TMP102 1
 then
 	tmp102 start -X
 fi
@@ -188,11 +188,11 @@ else
 		netman update -i eth0
 	fi

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

 	#
@@ -633,15 +633,12 @@ else
 	#
 	# Start the VTX services.
 	#
-	if ! param compare -s VTX_SER_CFG 0
+	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+	if [ -f ${RC_VTXTABLE} ]
 	then
-		set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-		if [ -f ${RC_VTXTABLE} ]
-		then
-			. ${RC_VTXTABLE}
-		fi
-		unset RC_VTXTABLE
+		. ${RC_VTXTABLE}
 	fi
+	unset RC_VTXTABLE

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -2,40 +2,24 @@

 ## Supported Versions

-The following versions receive security updates:
+The following is a list of versions the development team is currently supporting.

 | Version | Supported          |
 | ------- | ------------------ |
-| 1.16.x  | :white_check_mark: |
-| < 1.16  | :x:                |
+| 1.4.x   | :white_check_mark: |
+| 1.3.3   | :white_check_mark: |
+| < 1.3   | :x:                |

 ## Reporting a Vulnerability

-We receive security vulnerability reports through GitHub Security Advisories.
+We currently only receive security vulnerability reports through GitHub.

-To begin a report, go to the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository
-and click on the **Security** tab. If you are on mobile, click the **...** dropdown menu, then click **Security**.
+To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
+and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.

-Click **Report a Vulnerability** to open the advisory form. Fill in the advisory details form.
-Make sure your title is descriptive and the description contains all relevant details needed
-to verify the issue. We welcome logs, screenshots, photos, and videos.
+Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive, and the development team can find all of the relevant details needed
+to verify on the description box. We recommend you add as much data as possible. We welcome logs,
+screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.

-At the bottom of the form, click **Submit report**.
-
-## Response Process
-
-1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
-2. **Triage**: We will assess severity and impact and communicate next steps.
-3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
-
-If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
-
-## Secure Development Practices
-
-The PX4 development team applies the following practices to reduce security risk:
-
- **Code review**: All changes require peer review before merging.
- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.
+At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#! /bin/bash

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

 if [[ $# -eq 0 ]] ; then
  exit 0
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 # Flash PX4 to a device running AuterionOS in the local network
 if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
 	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 # This script is meant to be used by the build_all.yml workflow in a github runner
 # Please only modify if you know what you are doing
 set -e
@@ -1,331 +0,0 @@
-#!/usr/bin/env python3
-"""Validate commit messages in a PR against conventional commits format.
-
-Reads a JSON array of GitHub commit objects from stdin (as returned by the
-GitHub API's /pulls/{n}/commits endpoint) and checks each message for
-blocking errors and advisory warnings.
-
-With --markdown, outputs a formatted PR comment body instead of plain text.
-"""
-
-import json
-import sys
-
-from conventional_commits import (
-    EXEMPT_PREFIXES,
-    parse_header,
-)
-
-# Blocking: prefixes that indicate unsquashed fixup commits
-FIXUP_PREFIXES = ('fixup!', 'squash!', 'amend!')
-
-# Blocking: single-word throwaway messages (case-insensitive exact match)
-THROWAWAY_WORDS = frozenset({
-    'fix', 'fixed', 'fixes',
-    'update', 'updated', 'updates',
-    'test', 'tests', 'testing',
-    'tmp', 'temp',
-    'oops', 'wip',
-    'debug', 'cleanup',
-})
-
-# Blocking: debug session leftovers
-DEBUG_KEYWORDS = ('tmate',)
-
-# Warning: review-response messages (case-insensitive substring match)
-REVIEW_RESPONSE_PATTERNS = (
-    'address review',
-    'apply suggestions from code review',
-    'code review',
-)
-
-# Warning: formatter-only commits
-FORMATTER_PATTERNS = (
-    'do make format',
-    'make format',
-    'run formatter',
-    'apply format',
-)
-
-MIN_MESSAGE_LENGTH = 5
-
-
-def check_commit(message: str) -> tuple[list[str], list[str]]:
-    """Return (errors, warnings) for a single commit message."""
-    errors: list[str] = []
-    warnings: list[str] = []
-
-    first_line = message.split('\n', 1)[0].strip()
-    lower = first_line.lower()
-
-    # --- Blocking checks ---
-
-    for prefix in FIXUP_PREFIXES:
-        if lower.startswith(prefix):
-            errors.append(f'Unsquashed commit: starts with "{prefix}"')
-
-    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
-        errors.append('WIP commit should not be merged')
-
-    if len(first_line) < MIN_MESSAGE_LENGTH:
-        errors.append(f'Message too short ({len(first_line)} chars, minimum {MIN_MESSAGE_LENGTH})')
-
-    if first_line.strip() and first_line.strip().lower() in THROWAWAY_WORDS:
-        errors.append(f'Single-word throwaway message: "{first_line.strip()}"')
-
-    for kw in DEBUG_KEYWORDS:
-        if kw in lower:
-            errors.append(f'Debug session leftover: contains "{kw}"')
-
-    # --- Warning checks ---
-
-    for pattern in REVIEW_RESPONSE_PATTERNS:
-        if pattern in lower:
-            warnings.append('Review-response commit')
-            break
-
-    for pattern in FORMATTER_PATTERNS:
-        if pattern in lower:
-            warnings.append('Formatter-only commit')
-            break
-
-    if not parse_header(first_line):
-        # Exempt merge commits
-        for prefix in EXEMPT_PREFIXES:
-            if first_line.startswith(prefix):
-                break
-        else:
-            warnings.append(
-                'Missing conventional commit format '
-                '(e.g. "feat(ekf2): add something")'
-            )
-
-    return errors, warnings
-
-
-def suggest_commit(message: str) -> str | None:
-    """Suggest how to fix a bad commit message."""
-    first_line = message.split('\n', 1)[0].strip()
-    lower = first_line.lower()
-
-    for prefix in FIXUP_PREFIXES:
-        if lower.startswith(prefix):
-            return 'Squash this into the commit it fixes'
-
-    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
-        return 'Reword with a descriptive message (e.g. "feat(scope): what changed")'
-
-    if len(first_line) < MIN_MESSAGE_LENGTH:
-        return 'Reword with a descriptive message (e.g. "feat(ekf2): what changed")'
-
-    if first_line.strip().lower() in THROWAWAY_WORDS:
-        return 'Reword with a descriptive message (e.g. "fix(scope): what changed")'
-
-    return None
-
-
-def format_plain(data: list) -> tuple[bool, bool]:
-    """Print plain text output. Returns (has_blocking, has_warnings)."""
-    has_blocking = False
-    has_warnings = False
-
-    for commit in data:
-        sha = commit.get('sha', '?')[:10]
-        message = commit.get('commit', {}).get('message', '')
-        first_line = message.split('\n', 1)[0].strip()
-
-        errors, warnings = check_commit(message)
-
-        if errors or warnings:
-            print(f"\n  {sha}  {first_line}")
-
-        for err in errors:
-            print(f"    ERROR: {err}")
-            has_blocking = True
-
-        for warn in warnings:
-            print(f"    WARNING: {warn}")
-            has_warnings = True
-
-    if has_blocking:
-        print(
-            "\n"
-            "ERROR = must fix before merging (CI will block the PR)\n"
-            "WARNING = advisory, not blocking, but recommended to fix\n"
-            "\n"
-            "See the contributing guide for details:\n"
-            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
-        )
-
-    elif has_warnings:
-        print(
-            "\n"
-            "WARNING = advisory, not blocking, but recommended to fix\n"
-            "\n"
-            "See the contributing guide for details:\n"
-            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
-        )
-
-    return has_blocking, has_warnings
-
-
-def format_markdown_blocking(data: list) -> str:
-    """Format a blocking error markdown comment."""
-    error_groups: dict[str, list[str]] = {}
-    unique_commits: list[tuple[str, str, list[str], str]] = []
-
-    for commit in data:
-        sha = commit.get('sha', '?')[:10]
-        message = commit.get('commit', {}).get('message', '')
-        first_line = message.split('\n', 1)[0].strip()
-
-        errors, _ = check_commit(message)
-        if not errors:
-            continue
-
-        suggestion = suggest_commit(message) or ''
-        unique_commits.append((sha, first_line, errors, suggestion))
-
-        for err in errors:
-            error_groups.setdefault(err, []).append(sha)
-
-    lines = [
-        "## \u274c Commit messages need attention before merging",
-        "",
-    ]
-
-    has_large_group = any(len(shas) > 3 for shas in error_groups.values())
-
-    if has_large_group:
-        lines.extend([
-            "**Issues found:**",
-            "",
-        ])
-        for err_msg, shas in error_groups.items():
-            if len(shas) > 3:
-                lines.append(f"- **{len(shas)} commits**: {err_msg} "
-                             f"(`{shas[0]}`, `{shas[1]}`, ... `{shas[-1]}`)")
-            else:
-                sha_list = ', '.join(f'`{s}`' for s in shas)
-                lines.append(f"- {err_msg}: {sha_list}")
-
-        distinct_messages = {msg for _, msg, _, _ in unique_commits}
-        if len(distinct_messages) <= 5:
-            lines.extend(["", "**Affected commits:**", ""])
-            for sha, msg, errors, suggestion in unique_commits:
-                safe_msg = msg.replace('|', '\\|')
-                lines.append(f"- `{sha}` {safe_msg}")
-    else:
-        lines.extend([
-            "| Commit | Message | Issue | Suggested fix |",
-            "|--------|---------|-------|---------------|",
-        ])
-        for sha, msg, errors, suggestion in unique_commits:
-            issues = '; '.join(errors)
-            safe_msg = msg.replace('|', '\\|')
-            lines.append(f"| `{sha}` | {safe_msg} | {issues} | {suggestion} |")
-
-    lines.extend([
-        "",
-        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
-        "for how to clean up commits.",
-        "",
-        "---",
-        "*This comment will be automatically removed once the issues are resolved.*",
-    ])
-
-    return '\n'.join(lines)
-
-
-def format_markdown_advisory(data: list) -> str:
-    """Format an advisory warning markdown comment."""
-    lines = [
-        "## \U0001f4a1 Commit messages could be improved",
-        "",
-        "Not blocking, but these commit messages could use some cleanup.",
-        "",
-        "| Commit | Message | Suggestion |",
-        "|--------|---------|------------|",
-    ]
-
-    for commit in data:
-        sha = commit.get('sha', '?')[:10]
-        message = commit.get('commit', {}).get('message', '')
-        first_line = message.split('\n', 1)[0].strip()
-
-        _, warnings = check_commit(message)
-        if not warnings:
-            continue
-
-        suggestion = '; '.join(warnings)
-        safe_msg = first_line.replace('|', '\\|')
-        lines.append(f"| `{sha}` | {safe_msg} | {suggestion} |")
-
-    lines.extend([
-        "",
-        "See the [commit message convention](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
-        "for details.",
-        "",
-        "---",
-        "*This comment will be automatically removed once the issues are resolved.*",
-    ])
-
-    return '\n'.join(lines)
-
-
-def main() -> None:
-    markdown_stdout = '--markdown' in sys.argv
-    markdown_file = None
-    for i, a in enumerate(sys.argv):
-        if a == '--markdown-file' and i + 1 < len(sys.argv):
-            markdown_file = sys.argv[i + 1]
-        elif a.startswith('--markdown-file='):
-            markdown_file = a.split('=', 1)[1]
-
-    try:
-        data = json.load(sys.stdin)
-    except json.JSONDecodeError as exc:
-        print(f"Failed to parse JSON input: {exc}", file=sys.stderr)
-        sys.exit(2)
-
-    if not isinstance(data, list):
-        print("Expected a JSON array of commit objects.", file=sys.stderr)
-        sys.exit(2)
-
-    # Always compute blocking/warning state
-    has_blocking = False
-    has_warnings = False
-    for commit in data:
-        message = commit.get('commit', {}).get('message', '')
-        errors, warnings = check_commit(message)
-        if errors:
-            has_blocking = True
-        if warnings:
-            has_warnings = True
-
-    # Generate markdown if needed
-    md = None
-    if has_blocking:
-        md = format_markdown_blocking(data)
-    elif has_warnings:
-        md = format_markdown_advisory(data)
-
-    if md:
-        if markdown_stdout:
-            print(md)
-        if markdown_file:
-            with open(markdown_file, 'w') as f:
-                f.write(md + '\n')
-    elif markdown_file:
-        with open(markdown_file, 'w') as f:
-            pass
-
-    # Plain text output to stderr for CI logs (always, unless --markdown only)
-    if not markdown_stdout:
-        has_blocking, _ = format_plain(data)
-
-    sys.exit(1 if has_blocking else 0)
-
-
-if __name__ == '__main__':
-    main()
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#! /bin/bash
 # Copy a git diff between two commits if msg versioning is added

 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-"""Validate that a PR title follows conventional commits format.
-
-Format: type(scope): description
-
-Can output plain text for CI logs or markdown for PR comments.
-"""
-
-import re
-import sys
-
-from conventional_commits import (
-    CONVENTIONAL_TYPES,
-    EXEMPT_PREFIXES,
-    parse_header,
-    suggest_scope,
-    suggest_type,
-)
-
-
-def suggest_title(title: str) -> str | None:
-    """Try to suggest a corrected title in conventional commits format."""
-    stripped = title.strip()
-
-    # Remove common bracket prefixes like [docs], [CI], etc.
-    bracket_match = re.match(r'^\[([^\]]+)\]\s*(.+)', stripped)
-    if bracket_match:
-        prefix = bracket_match.group(1).strip().lower()
-        rest = bracket_match.group(2).strip()
-        rest = re.sub(r'^[\-:]\s*', '', rest).strip()
-        if len(rest) >= 5:
-            # Try to map bracket content to a type
-            commit_type = prefix if prefix in CONVENTIONAL_TYPES else suggest_type(rest)
-            scope = suggest_scope(rest)
-            if scope:
-                return f"{commit_type}({scope}): {rest}"
-
-    # Already has old-style "subsystem: description" format - convert it
-    colon_match = re.match(r'^([a-zA-Z][a-zA-Z0-9_/\-\. ]*): (.+)$', stripped)
-    if colon_match:
-        old_subsystem = colon_match.group(1).strip()
-        desc = colon_match.group(2).strip()
-        if len(desc) >= 5:
-            commit_type = suggest_type(desc)
-            # Use the old subsystem as scope (clean it up)
-            scope = old_subsystem.lower().replace(' ', '_')
-            return f"{commit_type}({scope}): {desc}"
-
-    # No format at all - try to guess both type and scope
-    commit_type = suggest_type(stripped)
-    scope = suggest_scope(stripped)
-    if scope:
-        desc = stripped[0].lower() + stripped[1:] if stripped else stripped
-        return f"{commit_type}({scope}): {desc}"
-
-    return None
-
-
-def check_title(title: str) -> bool:
-    title = title.strip()
-
-    if not title:
-        print("PR title is empty.", file=sys.stderr)
-        return False
-
-    for prefix in EXEMPT_PREFIXES:
-        if title.startswith(prefix):
-            return True
-
-    if parse_header(title):
-        return True
-
-    types_str = ', '.join(f'`{t}`' for t in CONVENTIONAL_TYPES.keys())
-    print(
-        f"PR title does not match conventional commits format.\n"
-        f"\n"
-        f"  Title: {title}\n"
-        f"\n"
-        f"Expected format:  type(scope): description\n"
-        f"\n"
-        f"Valid types: {types_str}\n"
-        f"\n"
-        f"Good examples:\n"
-        f"  feat(ekf2): add height fusion timeout\n"
-        f"  fix(mavlink): correct BATTERY_STATUS_V2 parsing\n"
-        f"  ci(workflows): migrate to reusable workflows\n"
-        f"  feat(boards/px4_fmu-v6x)!: remove deprecated driver API\n"
-        f"\n"
-        f"Bad examples:\n"
-        f"  fix stuff\n"
-        f"  Update file\n"
-        f"  ekf2: fix something   (missing type prefix)\n"
-        f"\n"
-        f"See the contributing guide for details:\n"
-        f"  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
-        file=sys.stderr,
-    )
-    return False
-
-
-def format_markdown(title: str) -> str:
-    """Format a markdown PR comment body for a bad title."""
-    lines = [
-        "## \u274c PR title needs conventional commit format",
-        "",
-        "Expected format: `type(scope): description` "
-        "([conventional commits](https://www.conventionalcommits.org/)).",
-        "",
-        "**Your title:**",
-        f"> {title}",
-        "",
-    ]
-
-    suggestion = suggest_title(title)
-    if suggestion:
-        lines.extend([
-            "**Suggested fix:**",
-            f"> {suggestion}",
-            "",
-        ])
-
-    lines.extend([
-        "**To fix this:** click the ✏️ next to the PR title at the top "
-        "of this page and update it.",
-        "",
-        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
-        "for details.",
-        "",
-        "---",
-        "*This comment will be automatically removed once the issue is resolved.*",
-    ])
-
-    return '\n'.join(lines)
-
-
-def main() -> None:
-    import argparse
-    parser = argparse.ArgumentParser(description='Check PR title format')
-    parser.add_argument('title', help='The PR title to validate')
-    parser.add_argument('--markdown', action='store_true',
-                        help='Output markdown to stdout on failure')
-    parser.add_argument('--markdown-file', metavar='FILE',
-                        help='Write markdown to FILE on failure')
-    args = parser.parse_args()
-
-    passed = check_title(args.title)
-
-    if not passed:
-        md = format_markdown(args.title)
-        if args.markdown:
-            print(md)
-        if args.markdown_file:
-            with open(args.markdown_file, 'w') as f:
-                f.write(md + '\n')
-    elif args.markdown_file:
-        with open(args.markdown_file, 'w') as f:
-            pass
-
-    sys.exit(0 if passed else 1)
-
-
-if __name__ == '__main__':
-    main()
@@ -1,146 +0,0 @@
-"""Shared constants and helpers for conventional commit validation.
-
-Format: type(scope): description
-Optional breaking change marker: type(scope)!: description
-"""
-
-import re
-
-CONVENTIONAL_TYPES = {
-    'feat':     'A new feature',
-    'fix':      'A bug fix',
-    'docs':     'Documentation only changes',
-    'style':    'Formatting, whitespace, no code change',
-    'refactor': 'Code change that neither fixes a bug nor adds a feature',
-    'perf':     'Performance improvement',
-    'test':     'Adding or correcting tests',
-    'build':    'Build system or external dependencies',
-    'ci':       'CI configuration files and scripts',
-    'chore':    'Other changes that don\'t modify src or test files',
-    'revert':   'Reverts a previous commit',
-}
-
-# type(scope)[!]: description
-# - type: one of CONVENTIONAL_TYPES keys
-# - scope: required, alphanumeric with _/-/.
-# - !: optional breaking change marker
-# - description: at least 5 chars
-HEADER_PATTERN = re.compile(
-    r'^(' + '|'.join(CONVENTIONAL_TYPES.keys()) + r')'
-    r'\(([a-zA-Z0-9_/\-\.]+)\)'
-    r'(!)?'
-    r': (.{5,})$'
-)
-
-EXEMPT_PREFIXES = ('Merge ',)
-
-# Common PX4 subsystem scopes for suggestions
-KNOWN_SCOPES = [
-    'ekf2', 'mavlink', 'commander', 'navigator', 'sensors',
-    'mc_att_control', 'mc_pos_control', 'mc_rate_control',
-    'fw_att_control', 'fw_pos_control', 'fw_rate_control',
-    'vtol', 'actuators', 'battery', 'param', 'logger',
-    'uorb', 'drivers', 'boards', 'simulation', 'sitl',
-    'gps', 'rc', 'safety', 'can', 'serial',
-    'ci', 'docs', 'build', 'cmake', 'tools',
-    'mixer', 'land_detector', 'airspeed', 'gyroscope',
-    'accelerometer', 'magnetometer', 'barometer',
-]
-
-# Keyword patterns to suggest scopes from description text
-KEYWORD_SCOPES = [
-    (r'\b(ekf|estimator|height|fusion|imu|baro)\b', 'ekf2'),
-    (r'\b(mavlink|MAVLink|MAVLINK|command_int|heartbeat)\b', 'mavlink'),
-    (r'\b(uorb|orb|pub|sub|topic)\b', 'uorb'),
-    (r'\b(board|fmu|nuttx|stm32)\b', 'boards'),
-    (r'\b(mixer|actuator|motor|servo|pwm|dshot)\b', 'actuators'),
-    (r'\b(battery|power)\b', 'battery'),
-    (r'\b(param|parameter)\b', 'param'),
-    (r'\b(log|logger|sdlog)\b', 'logger'),
-    (r'\b(sensor|accel|gyro)\b', 'sensors'),
-    (r'\b(land|takeoff|rtl|mission|navigator|geofence)\b', 'navigator'),
-    (r'\b(position|velocity|attitude|rate)\s*(control|ctrl)\b', 'mc_att_control'),
-    (r'\b(mc|multicopter|quad)\b', 'mc_att_control'),
-    (r'\b(fw|fixedwing|fixed.wing|plane)\b', 'fw_att_control'),
-    (r'\b(vtol|transition)\b', 'vtol'),
-    (r'\b(ci|workflow|github.action|pipeline)\b', 'ci'),
-    (r'\b(doc|docs|documentation|readme)\b', 'docs'),
-    (r'\b(cmake|make|toolchain|compiler)\b', 'build'),
-    (r'\b(sitl|simulation|gazebo|jmavsim|sih)\b', 'simulation'),
-    (r'\b(can|uavcan|cyphal|dronecan)\b', 'can'),
-    (r'\b(serial|uart|spi|i2c)\b', 'serial'),
-    (r'\b(safety|failsafe|arm|disarm|kill)\b', 'safety'),
-    (r'\b(rc|radio|sbus|crsf|elrs|dsm)\b', 'rc'),
-    (r'\b(gps|gnss|rtk|ubx)\b', 'gps'),
-    (r'\b(optical.flow|flow|rangefinder|lidar|distance)\b', 'sensors'),
-    (r'\b(orbit|follow|offboard)\b', 'commander'),
-    (r'\b(driver)\b', 'drivers'),
-]
-
-# Verb patterns to suggest conventional commit type
-VERB_TYPE_MAP = [
-    (r'^fix(e[ds])?[\s:]', 'fix'),
-    (r'^bug[\s:]', 'fix'),
-    (r'^add(s|ed|ing)?[\s:]', 'feat'),
-    (r'^implement', 'feat'),
-    (r'^introduce', 'feat'),
-    (r'^support', 'feat'),
-    (r'^enable', 'feat'),
-    (r'^update[ds]?[\s:]', 'feat'),
-    (r'^improv(e[ds]?|ing)', 'perf'),
-    (r'^optimi[zs](e[ds]?|ing)', 'perf'),
-    (r'^refactor', 'refactor'),
-    (r'^clean\s*up', 'refactor'),
-    (r'^restructure', 'refactor'),
-    (r'^simplif(y|ied)', 'refactor'),
-    (r'^remov(e[ds]?|ing)', 'refactor'),
-    (r'^delet(e[ds]?|ing)', 'refactor'),
-    (r'^deprecat', 'refactor'),
-    (r'^replac(e[ds]?|ing)', 'refactor'),
-    (r'^renam(e[ds]?|ing)', 'refactor'),
-    (r'^migrat', 'refactor'),
-    (r'^revert', 'revert'),
-    (r'^doc(s|ument)', 'docs'),
-    (r'^test', 'test'),
-    (r'^format', 'style'),
-    (r'^lint', 'style'),
-    (r'^whitespace', 'style'),
-    (r'^build', 'build'),
-    (r'^ci[\s:]', 'ci'),
-]
-
-
-def parse_header(text: str) -> dict | None:
-    """Parse a conventional commit header into components.
-
-    Returns dict with keys {type, scope, breaking, subject} or None if
-    the text doesn't match conventional commits format.
-    """
-    text = text.strip()
-    m = HEADER_PATTERN.match(text)
-    if not m:
-        return None
-    return {
-        'type': m.group(1),
-        'scope': m.group(2),
-        'breaking': m.group(3) == '!',
-        'subject': m.group(4),
-    }
-
-
-def suggest_type(text: str) -> str:
-    """Infer a conventional commit type from description text."""
-    lower = text.strip().lower()
-    for pattern, commit_type in VERB_TYPE_MAP:
-        if re.search(pattern, lower):
-            return commit_type
-    return 'feat'
-
-
-def suggest_scope(text: str) -> str | None:
-    """Infer a scope from keywords in the text."""
-    lower = text.strip().lower()
-    for pattern, scope in KEYWORD_SCOPES:
-        if re.search(pattern, lower, re.IGNORECASE):
-            return scope
-    return None
@@ -189,65 +189,6 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                if target is not None:
                    build_configs.append(target)

-# Remove companion targets from CI groups (parent target builds them via Make prerequisite)
-for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
-    if not manufacturer.is_dir():
-        continue
-    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
-        if not board.is_dir():
-            continue
-        companion_file = os.path.join(board.path, 'companion_targets')
-        if os.path.exists(companion_file):
-            with open(companion_file) as f:
-                companions = {l.strip() for l in f if l.strip() and not l.startswith('#')}
-            for arch in grouped_targets:
-                for man in grouped_targets[arch]['manufacturers']:
-                    grouped_targets[arch]['manufacturers'][man] = [
-                        t for t in grouped_targets[arch]['manufacturers'][man]
-                        if t not in companions
-                    ]
-
-# Append _deb targets for boards that have cmake/package.cmake
-for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
-    if not manufacturer.is_dir():
-        continue
-    if manufacturer.name in excluded_manufacturers:
-        continue
-    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
-        if not board.is_dir():
-            continue
-        board_name = manufacturer.name + '_' + board.name
-        if board_name in excluded_boards:
-            continue
-        package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
-        if os.path.exists(package_cmake):
-            deb_target = board_name + '_deb'
-            if target_filter and not any(deb_target.startswith(f) for f in target_filter):
-                continue
-            # Determine the container and group for this board
-            container = default_container
-            if board_name in board_container_overrides:
-                container = board_container_overrides[board_name]
-            target_entry = {'target': deb_target, 'container': container}
-            if args.group:
-                # Find the group where this board's _default target already lives
-                default_target = board_name + '_default'
-                group = None
-                for g in grouped_targets:
-                    targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
-                    if default_target in targets_in_group:
-                        group = g
-                        break
-                if group is None:
-                    group = 'base'
-                target_entry['arch'] = group
-                if group not in grouped_targets:
-                    grouped_targets[group] = {'container': container, 'manufacturers': {}}
-                if manufacturer.name not in grouped_targets[group]['manufacturers']:
-                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
-                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
-            build_configs.append(target_entry)
-
 if(verbose):
    import pprint
    print("============================")
@@ -1,603 +0,0 @@
-#!/usr/bin/env python3
-"""Generate SPDX 2.3 JSON SBOM for a PX4 firmware build.
-
-Produces one SBOM per board target containing:
- PX4 firmware as the primary package
- Git submodules as CONTAINS dependencies
- Python build requirements as BUILD_DEPENDENCY_OF packages
- Board-specific modules as CONTAINS packages
-
-Requires PyYAML (pyyaml) for loading license overrides.
-"""
-import argparse
-import configparser
-import json
-import re
-import subprocess
-import uuid
-from datetime import datetime, timezone
-from pathlib import Path
-
-import yaml
-
-# Ordered most-specific first: all keywords must appear for a match.
-LICENSE_PATTERNS = [
-    # Copyleft licenses first (more specific keywords prevent false matches)
-    ("GPL-3.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 3"]),
-    ("GPL-2.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 2"]),
-    ("LGPL-3.0-only",   ["GNU LESSER GENERAL PUBLIC LICENSE", "Version 3"]),
-    ("LGPL-2.1-only",   ["GNU Lesser General Public License", "Version 2.1"]),
-    ("AGPL-3.0-only",   ["GNU AFFERO GENERAL PUBLIC LICENSE", "Version 3"]),
-    # Permissive licenses
-    ("Apache-2.0",      ["Apache License", "Version 2.0"]),
-    ("MIT",             ["Permission is hereby granted"]),
-    ("BSD-3-Clause",    ["Redistribution and use", "Neither the name"]),
-    ("BSD-2-Clause",    ["Redistribution and use", "THIS SOFTWARE IS PROVIDED"]),
-    ("ISC",             ["Permission to use, copy, modify, and/or distribute"]),
-    ("EPL-2.0",         ["Eclipse Public License", "2.0"]),
-    ("Unlicense",       ["The Unlicense", "unlicense.org"]),
-]
-
-COPYLEFT_LICENSES = {
-    "GPL-2.0-only", "GPL-3.0-only",
-    "LGPL-2.1-only", "LGPL-3.0-only",
-    "AGPL-3.0-only",
-}
-
-def load_license_overrides(source_dir):
-    """Load license overrides and comments from YAML config file.
-
-    Returns (overrides, comments) dicts mapping submodule path to values.
-    Falls back to empty dicts if the file is missing.
-    """
-    yaml_path = source_dir / "Tools" / "ci" / "license-overrides.yaml"
-    if not yaml_path.exists():
-        return {}, {}
-
-    with open(yaml_path) as f:
-        data = yaml.safe_load(f)
-
-    overrides = {}
-    comments = {}
-    for path, entry in (data.get("overrides") or {}).items():
-        overrides[path] = entry["license"]
-        if "comment" in entry:
-            comments[path] = entry["comment"]
-
-    return overrides, comments
-
-LICENSE_FILENAMES = ["LICENSE", "LICENSE.md", "LICENSE.txt", "LICENCE", "LICENCE.md", "COPYING", "COPYING.md"]
-
-
-def detect_license(submodule_dir):
-    """Auto-detect SPDX license ID from LICENSE/COPYING file in a directory.
-
-    Reads the first 100 lines of the first license file found and matches
-    keywords against LICENSE_PATTERNS. Returns 'NOASSERTION' if no file
-    is found or no pattern matches.
-    """
-    for fname in LICENSE_FILENAMES:
-        license_file = submodule_dir / fname
-        if license_file.is_file():
-            try:
-                lines = license_file.read_text(errors="replace").splitlines()[:100]
-                text = "\n".join(lines)
-            except OSError:
-                continue
-
-            text_upper = text.upper()
-            for spdx_id_val, keywords in LICENSE_PATTERNS:
-                if all(kw.upper() in text_upper for kw in keywords):
-                    return spdx_id_val
-
-            return "NOASSERTION"
-
-    return "NOASSERTION"
-
-
-def get_submodule_license(source_dir, sub_path, license_overrides):
-    """Return the SPDX license for a submodule: override > auto-detect."""
-    if sub_path in license_overrides:
-        return license_overrides[sub_path]
-    return detect_license(source_dir / sub_path)
-
-
-def spdx_id(name: str) -> str:
-    """Convert a name to a valid SPDX identifier (letters, digits, dots, hyphens)."""
-    return re.sub(r"[^a-zA-Z0-9.\-]", "-", name)
-
-
-def parse_gitmodules(source_dir):
-    """Parse .gitmodules and return list of {name, path, url}."""
-    gitmodules_path = source_dir / ".gitmodules"
-    if not gitmodules_path.exists():
-        return []
-
-    config = configparser.ConfigParser()
-    config.read(str(gitmodules_path))
-
-    submodules = []
-    for section in config.sections():
-        if section.startswith("submodule "):
-            name = section.split('"')[1] if '"' in section else section.split(" ", 1)[1]
-            path = config.get(section, "path", fallback="")
-            url = config.get(section, "url", fallback="")
-            submodules.append({"name": name, "path": path, "url": url})
-
-    return submodules
-
-
-def get_submodule_commits(source_dir):
-    """Get commit hashes for all submodules via git ls-tree -r (works without init)."""
-    try:
-        result = subprocess.run(
-            ["git", "ls-tree", "-r", "HEAD"],
-            cwd=str(source_dir),
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            text=True,
-            check=True,
-        )
-    except (subprocess.CalledProcessError, FileNotFoundError):
-        return {}
-
-    commits = {}
-    for line in result.stdout.splitlines():
-        parts = line.split()
-        if len(parts) >= 4 and parts[1] == "commit":
-            commits[parts[3]] = parts[2]
-
-    return commits
-
-
-def get_git_info(source_dir: Path) -> dict:
-    """Get PX4 git version and hash."""
-    info = {"version": "unknown", "hash": "unknown"}
-    try:
-        result = subprocess.run(
-            ["git", "describe", "--always", "--tags", "--dirty"],
-            cwd=str(source_dir),
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            text=True,
-            check=True,
-        )
-        info["version"] = result.stdout.strip()
-    except (subprocess.CalledProcessError, FileNotFoundError):
-        pass
-    try:
-        result = subprocess.run(
-            ["git", "rev-parse", "HEAD"],
-            cwd=str(source_dir),
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-            text=True,
-            check=True,
-        )
-        info["hash"] = result.stdout.strip()
-    except (subprocess.CalledProcessError, FileNotFoundError):
-        pass
-    return info
-
-
-def parse_requirements(requirements_path):
-    """Parse pip requirements.txt into list of {name, version_spec}."""
-    if not requirements_path.exists():
-        return []
-
-    deps = []
-    for line in requirements_path.read_text().splitlines():
-        line = line.strip()
-        if not line or line.startswith("#") or line.startswith("-"):
-            continue
-        # Split on version specifiers
-        match = re.match(r"^([a-zA-Z0-9_\-]+)(.*)?$", line)
-        if match:
-            deps.append({
-                "name": match.group(1),
-                "version_spec": match.group(2).strip() if match.group(2) else "",
-            })
-    return deps
-
-
-def read_module_list(modules_file, source_dir):
-    """Read board-specific module list from file.
-
-    Paths may be absolute; they are converted to relative paths under src/.
-    Duplicates are removed while preserving order.
-    """
-    if not modules_file or not modules_file.exists():
-        return []
-
-    seen = set()
-    modules = []
-    source_str = str(source_dir.resolve()) + "/"
-
-    for line in modules_file.read_text().splitlines():
-        path = line.strip()
-        if not path or path.startswith("#"):
-            continue
-        # Convert absolute path to relative
-        if path.startswith(source_str):
-            path = path[len(source_str):]
-        if path not in seen:
-            seen.add(path)
-            modules.append(path)
-
-    return modules
-
-
-def make_purl(pkg_type: str, namespace: str, name: str, version: str = "") -> str:
-    """Construct a Package URL (purl)."""
-    purl = f"pkg:{pkg_type}/{namespace}/{name}"
-    if version:
-        purl += f"@{version}"
-    return purl
-
-
-def extract_git_host_org_repo(url):
-    """Extract host type, org, and repo from a git URL.
-
-    Returns (host, org, repo) where host is 'github', 'gitlab', or ''.
-    """
-    match = re.search(r"github\.com[:/]([^/]+)/([^/]+?)(?:\.git)?$", url)
-    if match:
-        return "github", match.group(1), match.group(2)
-    match = re.search(r"gitlab\.com[:/](.+?)/([^/]+?)(?:\.git)?$", url)
-    if match:
-        return "gitlab", match.group(1), match.group(2)
-    return "", "", ""
-
-
-def generate_sbom(source_dir, board, modules_file, compiler, platform=""):
-    """Generate a complete SPDX 2.3 JSON document."""
-    license_overrides, license_comments = load_license_overrides(source_dir)
-    git_info = get_git_info(source_dir)
-    timestamp = datetime.now(timezone.utc).strftime("%Y-%m-%dT%H:%M:%SZ")
-
-    # Deterministic namespace using UUID5 from git hash + board
-    ns_seed = f"{git_info['hash']}:{board}"
-    doc_namespace = f"https://spdx.org/spdxdocs/{board}-{uuid.uuid5(uuid.NAMESPACE_URL, ns_seed)}"
-
-    doc = {
-        "spdxVersion": "SPDX-2.3",
-        "dataLicense": "CC0-1.0",
-        "SPDXID": "SPDXRef-DOCUMENT",
-        "name": f"PX4 Firmware SBOM for {board}",
-        "documentNamespace": doc_namespace,
-        "creationInfo": {
-            "created": timestamp,
-            "creators": [
-                "Tool: px4-generate-sbom",
-                "Organization: Dronecode Foundation",
-            ],
-            "licenseListVersion": "3.22",
-        },
-        "packages": [],
-        "relationships": [],
-    }
-
-    # Primary package: PX4 firmware
-    primary_spdx_id = f"SPDXRef-PX4-{spdx_id(board)}"
-    doc["packages"].append({
-        "SPDXID": primary_spdx_id,
-        "name": board,
-        "versionInfo": git_info["version"],
-        "packageFileName": f"{board}.px4",
-        "supplier": "Organization: Dronecode Foundation",
-        "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
-        "filesAnalyzed": False,
-        "primaryPackagePurpose": "FIRMWARE",
-        "licenseConcluded": "BSD-3-Clause",
-        "licenseDeclared": "BSD-3-Clause",
-        "copyrightText": "Copyright (c) PX4 Development Team",
-        "externalRefs": [
-            {
-                "referenceCategory": "PACKAGE-MANAGER",
-                "referenceType": "purl",
-                "referenceLocator": make_purl(
-                    "github", "PX4", "PX4-Autopilot", git_info["version"]
-                ),
-            }
-        ],
-    })
-
-    doc["relationships"].append({
-        "spdxElementId": "SPDXRef-DOCUMENT",
-        "relationshipType": "DESCRIBES",
-        "relatedSpdxElement": primary_spdx_id,
-    })
-
-    # Git submodules (filtered to those relevant to this board's modules)
-    submodules = parse_gitmodules(source_dir)
-    submodule_commits = get_submodule_commits(source_dir)
-    modules = read_module_list(modules_file, source_dir)
-
-    def submodule_is_relevant(sub_path):
-        """A submodule is relevant if any board module path overlaps with it."""
-        # NuttX platform submodules are only relevant for NuttX builds
-        if sub_path.startswith("platforms/nuttx/"):
-            return platform in ("nuttx", "")
-        if not modules:
-            return True  # no module list means include all
-        # Other platform submodules are always relevant
-        if sub_path.startswith("platforms/"):
-            return True
-        for mod in modules:
-            # Module is under this submodule, or submodule is under a module
-            if mod.startswith(sub_path + "/") or sub_path.startswith(mod + "/"):
-                return True
-        return False
-
-    for sub in submodules:
-        if not submodule_is_relevant(sub["path"]):
-            continue
-        sub_path = sub["path"]
-        sub_path_id = sub_path.replace("/", "-")
-        sub_spdx_id = f"SPDXRef-Submodule-{spdx_id(sub_path_id)}"
-        commit = submodule_commits.get(sub_path, "unknown")
-        license_id = get_submodule_license(source_dir, sub_path, license_overrides)
-
-        host, org, repo = extract_git_host_org_repo(sub["url"])
-        download = sub["url"] if sub["url"] else "NOASSERTION"
-
-        # Use repo name from URL for human-readable name, fall back to last path component
-        display_name = repo if repo else sub_path.rsplit("/", 1)[-1]
-
-        pkg = {
-            "SPDXID": sub_spdx_id,
-            "name": display_name,
-            "versionInfo": commit,
-            "supplier": f"Organization: {org}" if org else "NOASSERTION",
-            "downloadLocation": download,
-            "filesAnalyzed": False,
-            "licenseConcluded": license_id,
-            "licenseDeclared": license_id,
-            "copyrightText": "NOASSERTION",
-        }
-
-        comment = license_comments.get(sub_path)
-        if comment:
-            pkg["licenseComments"] = comment
-
-        if host and org and repo:
-            pkg["externalRefs"] = [
-                {
-                    "referenceCategory": "PACKAGE-MANAGER",
-                    "referenceType": "purl",
-                    "referenceLocator": make_purl(host, org, repo, commit),
-                }
-            ]
-
-        doc["packages"].append(pkg)
-        doc["relationships"].append({
-            "spdxElementId": primary_spdx_id,
-            "relationshipType": "CONTAINS",
-            "relatedSpdxElement": sub_spdx_id,
-        })
-
-    # Python build dependencies
-    requirements_path = source_dir / "Tools" / "setup" / "requirements.txt"
-    py_deps = parse_requirements(requirements_path)
-
-    for dep in py_deps:
-        dep_name = dep["name"]
-        dep_spdx_id = f"SPDXRef-PyDep-{spdx_id(dep_name)}"
-        version_str = dep["version_spec"] if dep["version_spec"] else "NOASSERTION"
-
-        doc["packages"].append({
-            "SPDXID": dep_spdx_id,
-            "name": dep_name,
-            "versionInfo": version_str,
-            "supplier": "NOASSERTION",
-            "downloadLocation": f"https://pypi.org/project/{dep_name}/",
-            "filesAnalyzed": False,
-            "primaryPackagePurpose": "APPLICATION",
-            "licenseConcluded": "NOASSERTION",
-            "licenseDeclared": "NOASSERTION",
-            "copyrightText": "NOASSERTION",
-            "externalRefs": [
-                {
-                    "referenceCategory": "PACKAGE-MANAGER",
-                    "referenceType": "purl",
-                    "referenceLocator": f"pkg:pypi/{dep_name}",
-                }
-            ],
-        })
-        doc["relationships"].append({
-            "spdxElementId": dep_spdx_id,
-            "relationshipType": "BUILD_DEPENDENCY_OF",
-            "relatedSpdxElement": primary_spdx_id,
-        })
-
-    # Board-specific modules (already read above for submodule filtering)
-    for mod in modules:
-        mod_path_id = mod.replace("/", "-")
-        mod_spdx_id = f"SPDXRef-Module-{spdx_id(mod_path_id)}"
-
-        # Derive short name: strip leading src/ for readability
-        display_name = mod
-        if display_name.startswith("src/"):
-            display_name = display_name[4:]
-
-        doc["packages"].append({
-            "SPDXID": mod_spdx_id,
-            "name": display_name,
-            "versionInfo": git_info["version"],
-            "supplier": "Organization: Dronecode Foundation",
-            "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
-            "filesAnalyzed": False,
-            "licenseConcluded": "BSD-3-Clause",
-            "licenseDeclared": "BSD-3-Clause",
-            "copyrightText": "NOASSERTION",
-        })
-        doc["relationships"].append({
-            "spdxElementId": primary_spdx_id,
-            "relationshipType": "CONTAINS",
-            "relatedSpdxElement": mod_spdx_id,
-        })
-
-    # Compiler as a build tool
-    if compiler:
-        compiler_spdx_id = f"SPDXRef-Compiler-{spdx_id(compiler)}"
-        doc["packages"].append({
-            "SPDXID": compiler_spdx_id,
-            "name": compiler,
-            "versionInfo": "NOASSERTION",
-            "supplier": "NOASSERTION",
-            "downloadLocation": "NOASSERTION",
-            "filesAnalyzed": False,
-            "primaryPackagePurpose": "APPLICATION",
-            "licenseConcluded": "NOASSERTION",
-            "licenseDeclared": "NOASSERTION",
-            "copyrightText": "NOASSERTION",
-        })
-        doc["relationships"].append({
-            "spdxElementId": compiler_spdx_id,
-            "relationshipType": "BUILD_TOOL_OF",
-            "relatedSpdxElement": primary_spdx_id,
-        })
-
-    return doc
-
-
-def verify_licenses(source_dir):
-    """Verify license detection for all submodules. Returns exit code."""
-    license_overrides, _ = load_license_overrides(source_dir)
-    submodules = parse_gitmodules(source_dir)
-    if not submodules:
-        print("No submodules found in .gitmodules")
-        return 1
-
-    has_noassertion = False
-    print(f"{'Submodule Path':<65} {'Detected':<16} {'Override':<16} {'Final'}")
-    print("-" * 115)
-
-    for sub in submodules:
-        sub_path = sub["path"]
-        sub_dir = source_dir / sub_path
-
-        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
-        if not checked_out:
-            detected = "(not checked out)"
-            override = license_overrides.get(sub_path, "")
-            final = override if override else "NOASSERTION"
-        else:
-            detected = detect_license(sub_dir)
-            override = license_overrides.get(sub_path, "")
-            final = override if override else detected
-
-        if final == "NOASSERTION" and checked_out:
-            has_noassertion = True
-            marker = " <-- NOASSERTION"
-        elif final == "NOASSERTION" and not checked_out:
-            marker = " (skipped)"
-        else:
-            marker = ""
-
-        print(f"{sub_path:<65} {str(detected):<16} {str(override) if override else '':<16} {final}{marker}")
-
-    # Copyleft warning (informational, not a failure)
-    copyleft_found = []
-    for sub in submodules:
-        sub_path = sub["path"]
-        sub_dir = source_dir / sub_path
-        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
-        override = license_overrides.get(sub_path, "")
-        if checked_out:
-            final_lic = override if override else detect_license(sub_dir)
-        else:
-            final_lic = override if override else "NOASSERTION"
-        for cl in COPYLEFT_LICENSES:
-            if cl in final_lic:
-                copyleft_found.append((sub_path, final_lic))
-                break
-
-    print()
-    if copyleft_found:
-        print("Copyleft licenses detected (informational):")
-        for path, lic in copyleft_found:
-            print(f"  {path}: {lic}")
-        print()
-
-    if has_noassertion:
-        print("FAIL: Some submodules resolved to NOASSERTION. "
-              "Add an entry to Tools/ci/license-overrides.yaml or check the LICENSE file.")
-        return 1
-
-    print("OK: All submodules have a resolved license.")
-    return 0
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="Generate SPDX 2.3 JSON SBOM for PX4 firmware"
-    )
-    parser.add_argument(
-        "--source-dir",
-        type=Path,
-        default=Path.cwd(),
-        help="PX4 source directory (default: cwd)",
-    )
-    parser.add_argument(
-        "--verify-licenses",
-        action="store_true",
-        help="Verify license detection for all submodules and exit",
-    )
-    parser.add_argument(
-        "--board",
-        default=None,
-        help="Board target name (e.g. px4_fmu-v5x_default)",
-    )
-    parser.add_argument(
-        "--modules-file",
-        type=Path,
-        default=None,
-        help="Path to config_module_list.txt",
-    )
-    parser.add_argument(
-        "--compiler",
-        default="",
-        help="Compiler identifier (e.g. arm-none-eabi-gcc)",
-    )
-    parser.add_argument(
-        "--platform",
-        default="",
-        help="PX4 platform (nuttx, posix, qurt). Filters platform-specific submodules.",
-    )
-    parser.add_argument(
-        "--output",
-        type=Path,
-        default=None,
-        help="Output SBOM file path",
-    )
-
-    args = parser.parse_args()
-
-    if args.verify_licenses:
-        raise SystemExit(verify_licenses(args.source_dir))
-
-    if not args.board:
-        parser.error("--board is required when not using --verify-licenses")
-    if not args.output:
-        parser.error("--output is required when not using --verify-licenses")
-
-    sbom = generate_sbom(
-        source_dir=args.source_dir,
-        board=args.board,
-        modules_file=args.modules_file,
-        compiler=args.compiler,
-        platform=args.platform,
-    )
-
-    args.output.parent.mkdir(parents=True, exist_ok=True)
-    with open(args.output, "w") as f:
-        json.dump(sbom, f, indent=2)
-        f.write("\n")
-
-    pkg_count = len(sbom["packages"])
-    print(f"SBOM generated: {args.output} ({pkg_count} packages)")
-
-
-if __name__ == "__main__":
-    main()
@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-"""Inspect a PX4 SPDX SBOM file.
-
-Usage:
-    inspect_sbom.py <sbom.spdx.json>                  # full summary
-    inspect_sbom.py <sbom.spdx.json> search <term>    # search packages by name
-    inspect_sbom.py <sbom.spdx.json> ntia             # NTIA minimum elements check
-    inspect_sbom.py <sbom.spdx.json> licenses         # license summary
-    inspect_sbom.py <sbom.spdx.json> list <type>      # list packages (Submodule|PyDep|Module|all)
-"""
-
-import json
-import sys
-from collections import Counter
-from pathlib import Path
-
-
-def load(path):
-    return json.loads(Path(path).read_text())
-
-
-def pkg_type(pkg):
-    spdx_id = pkg["SPDXID"]
-    for prefix in ("Submodule", "PyDep", "Module", "Compiler", "PX4"):
-        if f"-{prefix}-" in spdx_id or spdx_id.startswith(f"SPDXRef-{prefix}"):
-            return prefix
-    return "Other"
-
-
-def summary(doc):
-    print(f"spdxVersion:  {doc['spdxVersion']}")
-    print(f"name:         {doc['name']}")
-    print(f"namespace:    {doc['documentNamespace']}")
-    print(f"created:      {doc['creationInfo']['created']}")
-    print(f"creators:     {', '.join(doc['creationInfo']['creators'])}")
-    print()
-
-    types = Counter(pkg_type(p) for p in doc["packages"])
-    print(f"Packages: {len(doc['packages'])}")
-    for t, c in types.most_common():
-        print(f"  {t}: {c}")
-    print()
-
-    rc = Counter(r["relationshipType"] for r in doc["relationships"])
-    print(f"Relationships: {len(doc['relationships'])}")
-    for t, n in rc.most_common():
-        print(f"  {t}: {n}")
-    print()
-
-    primary = doc["packages"][0]
-    print(f"Primary package:")
-    print(f"  name:    {primary['name']}")
-    print(f"  version: {primary['versionInfo']}")
-    print(f"  purpose: {primary.get('primaryPackagePurpose', 'N/A')}")
-    print(f"  license: {primary['licenseDeclared']}")
-    print()
-
-    noassert = [
-        p["name"]
-        for p in doc["packages"]
-        if pkg_type(p) == "Submodule" and p["licenseDeclared"] == "NOASSERTION"
-    ]
-    if noassert:
-        print(f"WARNING: {len(noassert)} submodules with NOASSERTION license:")
-        for n in noassert:
-            print(f"  - {n}")
-    else:
-        print("All submodule licenses mapped")
-
-    print(f"\nFile size: {Path(sys.argv[1]).stat().st_size // 1024}KB")
-
-
-def search(doc, term):
-    term = term.lower()
-    found = [p for p in doc["packages"] if term in p["name"].lower()]
-    if not found:
-        print(f"No packages matching '{term}'")
-        return
-    print(f"Found {len(found)} packages matching '{term}':\n")
-    for p in found:
-        print(json.dumps(p, indent=2))
-        print()
-
-
-def ntia_check(doc):
-    required = ["SPDXID", "name", "versionInfo", "supplier", "downloadLocation"]
-    missing = []
-    for p in doc["packages"]:
-        for f in required:
-            if f not in p or p[f] in ("", None):
-                missing.append((p["name"], f))
-
-    if missing:
-        print(f"FAIL: {len(missing)} missing fields:")
-        for name, field in missing:
-            print(f"  {name}: missing {field}")
-    else:
-        print(f"PASS: All {len(doc['packages'])} packages have required fields")
-
-    print(f"\nCreators:  {doc['creationInfo']['creators']}")
-    print(f"Timestamp: {doc['creationInfo']['created']}")
-
-    rels = [r for r in doc["relationships"] if r["relationshipType"] == "DESCRIBES"]
-    print(f"DESCRIBES relationships: {len(rels)}")
-
-    return len(missing) == 0
-
-
-def licenses(doc):
-    by_license = {}
-    for p in doc["packages"]:
-        lic = p.get("licenseDeclared", "NOASSERTION")
-        by_license.setdefault(lic, []).append(p["name"])
-
-    for lic in sorted(by_license.keys()):
-        names = by_license[lic]
-        print(f"\n{lic} ({len(names)}):")
-        for n in sorted(names):
-            print(f"  {n}")
-
-
-def list_packages(doc, filter_type):
-    filter_type = filter_type.lower()
-    for p in sorted(doc["packages"], key=lambda x: x["name"]):
-        t = pkg_type(p)
-        if filter_type != "all" and t.lower() != filter_type:
-            continue
-        lic = p.get("licenseDeclared", "?")
-        ver = p["versionInfo"][:20] if len(p["versionInfo"]) > 20 else p["versionInfo"]
-        print(f"  {t:10s}  {p['name']:50s}  {ver:20s}  {lic}")
-
-
-def main():
-    if len(sys.argv) < 2:
-        print(__doc__)
-        sys.exit(1)
-
-    doc = load(sys.argv[1])
-    cmd = sys.argv[2] if len(sys.argv) > 2 else "summary"
-
-    if cmd == "summary":
-        summary(doc)
-    elif cmd == "search":
-        if len(sys.argv) < 4:
-            print("Usage: inspect_sbom.py <file> search <term>")
-            sys.exit(1)
-        search(doc, sys.argv[3])
-    elif cmd == "ntia":
-        if not ntia_check(doc):
-            sys.exit(1)
-    elif cmd == "licenses":
-        licenses(doc)
-    elif cmd == "list":
-        filter_type = sys.argv[3] if len(sys.argv) > 3 else "all"
-        list_packages(doc, filter_type)
-    else:
-        print(f"Unknown command: {cmd}")
-        print(__doc__)
-        sys.exit(1)
-
-
-if __name__ == "__main__":
-    main()
@@ -1,56 +0,0 @@
-# SPDX license overrides for submodules where auto-detection fails or is wrong.
-# Each entry maps a submodule path to its SPDX license identifier and an
-# optional comment explaining why the override exists.
-#
-# Run `python3 Tools/ci/generate_sbom.py --verify-licenses` to validate.
-
-overrides:
-  src/modules/mavlink/mavlink:
-    license: "LGPL-3.0-only AND MIT"
-    comment: "Generator is LGPL-3.0; PX4 ships only MIT-licensed generated headers."
-
-  src/lib/cdrstream/cyclonedds:
-    license: "EPL-2.0 OR BSD-3-Clause"
-    comment: >-
-      Dual-licensed. PX4 elects BSD-3-Clause.
-      No board currently enables CONFIG_LIB_CDRSTREAM.
-
-  src/lib/cdrstream/rosidl:
-    license: "Apache-2.0"
-
-  src/lib/crypto/monocypher:
-    license: "BSD-2-Clause OR CC0-1.0"
-    comment: >-
-      Dual-licensed. LICENCE.md offers BSD-2-Clause with CC0-1.0 as
-      public domain fallback.
-
-  src/lib/crypto/libtomcrypt:
-    license: "Unlicense"
-    comment: "Public domain dedication. Functionally equivalent to Unlicense."
-
-  src/lib/crypto/libtommath:
-    license: "Unlicense"
-    comment: "Public domain dedication. Functionally equivalent to Unlicense."
-
-  platforms/nuttx/NuttX/nuttx:
-    license: "Apache-2.0"
-    comment: >-
-      Composite LICENSE (6652 lines) includes BSD/MIT/ISC sub-components.
-      Primary license is Apache-2.0. NOTICE file contains FAT LFN patent warnings.
-
-  platforms/nuttx/NuttX/apps:
-    license: "Apache-2.0"
-
-  boards/modalai/voxl2/libfc-sensor-api:
-    license: "NOASSERTION"
-    comment: >-
-      No LICENSE file in repo. README describes it as public interface
-      for proprietary sensor library.
-
-  boards/modalai/voxl2/src/lib/mpa/libmodal-json:
-    license: "LGPL-3.0-only"
-    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."
-
-  boards/modalai/voxl2/src/lib/mpa/libmodal-pipe:
-    license: "LGPL-3.0-only"
-    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."
@@ -1,50 +1,37 @@
-#!/usr/bin/env bash
+#!/bin/bash

 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
 cp **/**/*.elf artifacts/ 2>/dev/null || true
-cp **/**/*.deb artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
-  mkdir -p artifacts/$build_dir
+  mkdir artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
-  airframes_src=""
-  if [ -f "$build_dir_path/airframes.xml" ]; then
-    airframes_src="$build_dir_path/airframes.xml"
-  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
-    airframes_src="$build_dir_path/docs/airframes.xml"
-  fi
-  if [ -n "$airframes_src" ]; then
-    cp "$airframes_src" "artifacts/$build_dir/"
-  fi
+  # Airframe
+  cp $build_dir_path/airframes.xml artifacts/$build_dir/
  # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/
+  cp $build_dir_path/parameters.json artifacts/$build_dir/
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
  # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json artifacts/$build_dir/
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
  # Events
-  mkdir -p artifacts/$build_dir/events/
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
-  # SBOM
-  cp $build_dir_path/*.sbom.spdx.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # ROS 2 msgs
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # Module Docs
  ls -la artifacts/$build_dir
  echo "----------"
 done

 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata (used by Flight Review and other downstream consumers)
-  mkdir -p artifacts/_general/
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
  # Airframe
-  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
-    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
  # Parameters
  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -53,11 +40,9 @@ if [ -d artifacts/px4_sitl_default ]; then
  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
  # Events
-  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
-    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
  ls -la artifacts/_general/
 fi
@@ -1,95 +0,0 @@
-#!/usr/bin/env python3
-"""Post, update, or delete a PR comment with deduplication.
-
-Uses hidden HTML markers to find existing comments and avoid duplicates.
-Reads comment body from stdin when posting or updating.
-
-Usage:
-    echo "comment body" | python3 pr_comment.py --marker pr-title --pr 123 --result fail
-    python3 pr_comment.py --marker pr-title --pr 123 --result pass
-
-Results:
-    fail  - post/update comment with body from stdin
-    warn  - post/update comment with body from stdin
-    pass  - delete existing comment if any
-
-Requires GH_TOKEN and GITHUB_REPOSITORY environment variables.
-"""
-
-import argparse
-import json
-import os
-import subprocess
-import sys
-
-
-def gh_api(endpoint: str, method: str = 'GET', body: dict | None = None) -> str:
-    """Call the GitHub API via gh cli."""
-    cmd = ['gh', 'api', endpoint, '-X', method]
-    if body:
-        for key, value in body.items():
-            cmd.extend(['-f', f'{key}={value}'])
-    result = subprocess.run(cmd, capture_output=True, text=True)
-    if result.returncode != 0 and method != 'DELETE':
-        print(f"gh api error: {result.stderr}", file=sys.stderr)
-    return result.stdout
-
-
-def find_comment(repo: str, pr: int, marker: str) -> str | None:
-    """Find an existing comment by its hidden marker. Returns comment ID or None."""
-    response = gh_api(f"repos/{repo}/issues/{pr}/comments?per_page=100")
-    try:
-        comments = json.loads(response)
-    except json.JSONDecodeError:
-        return None
-
-    if not isinstance(comments, list):
-        return None
-
-    for comment in comments:
-        if isinstance(comment, dict) and comment.get('body', '').startswith(marker):
-            return str(comment['id'])
-    return None
-
-
-def main() -> None:
-    parser = argparse.ArgumentParser(description='Manage PR quality comments')
-    parser.add_argument('--marker', required=True,
-                        help='Marker name (e.g. pr-title, commit-msgs, pr-body)')
-    parser.add_argument('--pr', required=True, type=int,
-                        help='Pull request number')
-    parser.add_argument('--result', required=True, choices=['pass', 'fail', 'warn'],
-                        help='Check result: pass deletes comment, fail/warn posts it')
-    args = parser.parse_args()
-
-    repo = os.environ.get('GITHUB_REPOSITORY', '')
-    if not repo:
-        print("GITHUB_REPOSITORY not set", file=sys.stderr)
-        sys.exit(2)
-
-    marker = f"<!-- commit-quality-{args.marker} -->"
-    existing_id = find_comment(repo, args.pr, marker)
-
-    if args.result == 'pass':
-        if existing_id:
-            gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='DELETE')
-        return
-
-    # Read comment body from stdin
-    body_content = sys.stdin.read().strip()
-    if not body_content:
-        print("No comment body provided on stdin", file=sys.stderr)
-        sys.exit(2)
-
-    full_body = f"{marker}\n{body_content}"
-
-    if existing_id:
-        gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='PATCH',
-               body={'body': full_body})
-    else:
-        gh_api(f"repos/{repo}/issues/{args.pr}/comments", method='POST',
-               body={'body': full_body})
-
-
-if __name__ == '__main__':
-    main()
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 # This script runs the fuzz tests from a given binary for a certain amount of time
 set -e

@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#! /bin/bash
 # Copy msgs and the message translation node into a ROS workspace directory

 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#! /bin/bash

 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
@@ -128,9 +128,6 @@ class SourceParser:
                        # start waiting for the next part - long comment.
                        if state == "wait-short-end":
                            state = "wait-long"
-                        elif state == "wait-long-end":
-                            # Preserve paragraph breaks in long description
-                            long_desc += "\n"
                    else:
                        m = self.re_comment_tag.match(comment_content)
                        if m:
@@ -211,7 +208,8 @@ class SourceParser:
                                raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name))
                            param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc)
                        if long_desc is not None:
-                            param.fields["long_desc"] = long_desc.rstrip('\n')
+                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
+                            param.fields["long_desc"] = long_desc
                        for tag in tags:
                            if tag == "group":
                                group = tags[tag]
@@ -409,15 +407,7 @@ def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str:
            g["definitions"][parameter.name] = p
        data["parameters"].append(g)

-    # Use block scalar style for multi-line strings
-    class BlockStyleDumper(yaml.SafeDumper):
-        pass
-    def str_representer(dumper, data):
-        if '\n' in data:
-            return dumper.represent_scalar('tag:yaml.org,2002:str', data, style='|')
-        return dumper.represent_scalar('tag:yaml.org,2002:str', data)
-    BlockStyleDumper.add_representer(str, str_representer)
-    return yaml.dump(data, Dumper=BlockStyleDumper, sort_keys=False)
+    return yaml.dump(data, sort_keys=False)


 def main():
@@ -108,7 +108,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                tags = '@group {:}'.format(param_group)
                if param['type'] == 'enum':
                    param_type = 'INT32'
-                    for key in sorted(param['values'], key=float):
+                    for key in param['values']:
                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                elif param['type'] == 'bitmask':
                    param_type = 'INT32'
@@ -124,9 +124,6 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                    param_type = 'INT32'
                elif param['type'] == 'float':
                    param_type = 'FLOAT'
-                    if 'values' in param:
-                        for key in sorted(param['values'], key=float):
-                            tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                else:
                    raise Exception("unknown param type {:}".format(param['type']))

@@ -17,10 +17,10 @@ VALID_FIELDS = { #Note, also have to add the message types as those can be field
    'uint32'
 }

-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "Wh", "dBm", "h", "minutes", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa", "%", "norm", "-"])
+ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
 invalid_units = set()
-ALLOWED_FRAMES = set(["NED", "Body", "FRD", "ENU"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0", "-1"])
+ALLOWED_FRAMES = set(["NED","Body"])
+ALLOWED_INVALID_VALUES = set(["NaN", "0"])
 ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])

 class Error:
@@ -316,9 +316,7 @@ Param | Units | Range/Enum | Description
                if val.minValue or val.maxValue:
                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"

-                units_str = ", ".join(val.units)
-                enums_str = ', '.join("[{}](#{})".format(e, e) for e in val.enums)
-                output+=f"{i} | {units_str}|{enums_str}{rangeVal} | {val.description}\n"
+                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
            else:
                output+=f"{i} | | | ?\n"

@@ -835,9 +833,11 @@ def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
        for message in data["subscriptions"]:
            all_message_types.add(message['type'].split("::")[-1])
            all_topics.add(message['topic'].split('/')[-1])
-        for message in (data.get("subscriptions_multi") or []):
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
+        if data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+            for message in data["subscriptions_multi"]:
+                all_message_types.add(message['type'].split("::")[-1])
+                all_topics.add(message['topic'].split('/')[-1])
        for message in allMessageFiles:
            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
        messagesNotExported = all_messages_in_source - all_message_types
@@ -874,17 +874,13 @@ Topic | Type| Rate Limit

        dds_markdown += "\n## Subscriptions Multi\n\n"

-        subscriptions_multi = data.get("subscriptions_multi") or []
-        if not subscriptions_multi:
+        if not data["subscriptions_multi"]: # There is none now
            dds_markdown += "None\n"
        else:
-            dds_markdown += "Topic | Type | Route Field | Max Instances\n--- | --- | --- | ---\n"
-            for message in subscriptions_multi:
-                type = message['type']
-                px4Type = type.split("::")[-1]
-                route_field = f"`{message['route_field']}`" if 'route_field' in message else "-"
-                max_instances = message.get('max_instances', '-')
-                dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md) | {route_field} | {max_instances}\n"
+            print("Warning - we now have subscription_multi data - check format")
+            dds_markdown += "Topic | Type\n--- | ---\n"
+            for message in data["subscriptions_multi"]:
+                dds_markdown += f"{message['topic']} | {message['type']}\n"

        if messagesNotExported:
            # Print the topics that are not exported to DDS
@@ -42,7 +42,6 @@
 import argparse
 import json
 import base64
-import os
 import zlib
 import time
 import subprocess
@@ -100,13 +99,14 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	git_dir = os.path.join(args.git_identity, '.git')
-	p = subprocess.run(["git", "--git-dir", git_dir, "describe", "--exclude", "ext/*", "--always", "--tags"],
-		stdout=subprocess.PIPE, text=True)
-	desc['git_identity']	= p.stdout.strip()
-	p = subprocess.run(["git", "--git-dir", git_dir, "rev-parse", "--verify", "HEAD"],
-		stdout=subprocess.PIPE, text=True)
-	desc['git_hash']	= p.stdout.strip()
+	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
+	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
+	desc['git_identity']	= p.read().strip().decode('utf-8')
+	p.close()
+	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
+	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
+	desc['git_hash']	= p.read().strip().decode('utf-8')
+	p.close()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
 	bytes = f.read()
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash

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

 GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
@@ -79,13 +79,6 @@ if [[ $INSTALL_SIM == "--sim-tools" ]]; then
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim
 	fi
-
-	# jMAVSim requires a JDK (Java 17 LTS recommended)
-	if ! brew ls --versions openjdk@17 > /dev/null; then
-		echo "[macos.sh] Installing OpenJDK 17 (required for jMAVSim)"
-		brew install openjdk@17
-		sudo ln -sfn $(brew --prefix openjdk@17)/libexec/openjdk.jdk /Library/Java/JavaVirtualMachines/openjdk-17.jdk
-	fi
 fi

 echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed."
@@ -196,11 +196,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	fi
 fi

-if [[ "${UBUNTU_RELEASE}" == "25.10" ]]; then
-	echo "[ubuntu.sh] Gazebo binaries are not available for 25.10, skipping installation"
-	INSTALL_SIM="false"
-fi
-
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then

@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 #
 # Setup environment to make PX4 visible to Gazebo.
 #
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
 # It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'

@@ -1,28 +1,25 @@
-#!/usr/bin/env bash
-# Run multiple instances of the 'px4' binary, without starting an external simulator.
-# It assumes px4 is already built with the specified build target.
-#
-# Usage: ./Tools/simulation/sitl_multiple_run.sh [num_instances] [model] [build_target]
-# Examples:
-#   ./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
-#   ./Tools/simulation/sitl_multiple_run.sh 2 gazebo-classic_iris px4_sitl_default
-#   ./Tools/simulation/sitl_multiple_run.sh     # defaults: 2 instances, gazebo-classic_iris, px4_sitl_default
+#!/bin/bash
+# run multiple instances of the 'px4' binary, but w/o starting the simulator.
+# It assumes px4 is already built, with 'make px4_sitl_default'

-sitl_num=${1:-2}
-sim_model=${2:-gazebo-classic_iris}
-build_target=${3:-px4_sitl_default}
+# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
+# For example jmavsim can be run like this:
+#./Tools/simulation/jmavsim/jmavsim_run.sh -p 4561 -l
+
+sitl_num=2
+[ -n "$1" ] && sitl_num="$1"

 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/../../"

-build_path=${src_path}/build/${build_target}
+build_path=${src_path}/build/px4_sitl_default

 echo "killing running instances"
 pkill -x px4 || true

 sleep 1

-export PX4_SIM_MODEL=${sim_model}
+export PX4_SIM_MODEL=gazebo-classic_iris

 n=0
 while [ $n -lt $sitl_num ]; do
@@ -221,10 +221,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -259,7 +257,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -286,7 +284,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -444,7 +442,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -452,7 +450,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -28,8 +28,12 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -17,21 +17,21 @@ param set-default MAV_2_UDP_PRT 14550
 param set-default SENS_EN_INA226 1
 param set-default SENS_EN_THERMAL 1
 param set-default SENS_IMU_MODE 1
-param set-default HEATER1_TEMP 10.0
-#param set-default HEATER1_TEMP_FF 0.0
-#param set-default HEATER1_TEMP_I 0.025
-#param set-default HEATER1_TEMP_P 1.0
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0

 param set-default UAVCAN_ESC_IFACE 2

 if ver hwtypecmp ARKV6X000
 then
-	param set-default HEATER1_IMU_ID 2818058
+	param set-default SENS_TEMP_ID 2818058
 fi

 if ver hwtypecmp ARKV6X001
 then
-	param set-default HEATER1_IMU_ID 3014666
+	param set-default SENS_TEMP_ID 3014666
 fi

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

 unset HAVE_PM2
@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"
@@ -224,10 +224,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -245,15 +243,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9

-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
-
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)

@@ -273,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -295,7 +284,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -421,6 +410,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

+/* This board has 4 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
+
 /* This board provides the board_on_reset interface */

 #define BOARD_HAS_ON_RESET 1
@@ -444,7 +436,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -452,7 +444,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -464,14 +456,6 @@
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
 		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}
@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 	SPI6_RESET(true);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -124,7 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);

@@ -221,7 +221,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	SPI6_RESET(false);
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -1,19 +0,0 @@
-4001_quad_x
-4050_generic_250
-6001_hexa_x
-12001_octo_cox
-13100_generic_vtol_tiltrotor
-5001_quad_+
-24001_dodeca_cox
-2100_standard_plane
-13000_generic_vtol_standard
-4601_droneblocks_dexi_5
-11001_hexa_cox
-14001_generic_mc_with_tilt
-16001_helicopter
-9001_octo_+
-7001_hexa_+
-3000_generic_wing
-2106_albatross
-13200_generic_vtol_tailsitter
-13030_generic_vtol_quad_tiltrotor
@@ -15,14 +15,14 @@ fi

 # TODO: Tune the following parameters
 param set-default SENS_EN_THERMAL 1
-param set-default HEATER1_TEMP 10.0
-#param set-default HEATER1_TEMP_FF 0.0
-#param set-default HEATER1_TEMP_I 0.025
-#param set-default HEATER1_TEMP_P 1.0
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0

 if ver hwtypecmp ARKFPV000
 then
-	param set-default HEATER1_IMU_ID 3014666
+	param set-default SENS_TEMP_ID 3014666
 fi

 param set-default BAT1_V_DIV 21.0
@@ -20,5 +20,5 @@ bmp388 -I -b 2 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -X
+	pca9685_pwm_out start
 fi
@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"
@@ -205,10 +205,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -225,16 +223,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9

-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PI5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
-#define GPIO_FMU_CH6                    /* PI6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
-#define GPIO_FMU_CH7                    /* PI7  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
-#define GPIO_FMU_CH8                    /* PI2  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
-#define GPIO_FMU_CH9                    /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
-
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)

 /* Power supply control and monitoring GPIOs */
@@ -306,6 +294,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

+/* This board has 3 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
+
 /* This board provides the board_on_reset interface */

 #define BOARD_HAS_ON_RESET 1
@@ -327,7 +318,7 @@
 		GPIO_HW_VER_REV_DRIVE,            \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_VDD_5V_PGOOD,                \
 		GPIO_VDD_12V_PGOOD,               \
 		GPIO_VDD_12V_EN,                  \
@@ -335,15 +326,6 @@
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_nARMED_INIT,                 \
 		SPI6_nRESET_EXTERNAL1,            \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
-		GPIO_FMU_CH9,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

@@ -21,17 +21,17 @@ param set-default SENS_EN_INA226 1

 # TODO: Tune the following parameters
 param set-default SENS_EN_THERMAL 1
-param set-default HEATER1_TEMP 10.0
-#param set-default HEATER1_TEMP_FF 0.0
-#param set-default HEATER1_TEMP_I 0.025
-#param set-default HEATER1_TEMP_P 1.0
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0

 param set-default UAVCAN_ESC_IFACE 1

 if ver hwtypecmp ARKPI6X000
 then
 	# TODO: Add the correct sensor ID
-	param set-default HEATER1_IMU_ID 2490378
+	param set-default SENS_TEMP_ID 2490378
 fi

 param set-default EKF2_MULTI_IMU 0
@@ -38,5 +38,5 @@ afbrs50 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -X
+	pca9685_pwm_out start
 fi
@@ -1 +0,0 @@
-CONFIG_MAVLINK_DIALECT="development"
@@ -188,10 +188,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -208,15 +206,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
-
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)

@@ -311,6 +300,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

+/* This board has 4 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
+
 /* This board provides the board_on_reset interface */

 #define BOARD_HAS_ON_RESET 1
@@ -332,7 +324,7 @@
 		GPIO_HW_VER_REV_DRIVE,            \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
@@ -340,14 +332,6 @@
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -69,7 +69,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -121,9 +121,7 @@
 #define BOARD_REAR_LED_MASK  (1 << 1) | (1 << 2)

 /* HEATER */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)

 #define BOARD_HAS_LED_PWM              1
 #define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
@@ -184,7 +182,7 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_REV_DRIVE,                \
 		GPIO_HW_VER_DRIVE,                \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_OTGFS_VBUS                   \
 	}
@@ -77,5 +77,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -X
+	pca9685_pwm_out start
 fi
@@ -224,10 +224,8 @@
 /* HEATER
 * PWM in future
 */
-#define GPIO_HEATER_OUTPUT
-#define HEATER_NUM 	1
-#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PE6 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -262,7 +260,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -289,7 +287,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -445,7 +443,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -453,7 +451,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -215,7 +215,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -42,8 +42,6 @@ px4_add_module(
 		syslink_bridge.cpp
 		syslink_memory.cpp
 		syslink.c
-	MODULE_CONFIG
-		syslink_params.yaml
 	DEPENDS
 		battery
 	)
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   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 syslink_params.c
+ *
+ * Parameters defined by the syslink module and the exposed NRF51 radio
+ *
+ * @author Dennis Shtatnov <densht@gmail.com>
+ */
+
+/**
+ * Operating channel of the NRF51
+ *
+ * @min 0
+ * @max 125
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_CHAN, 80);
+
+/**
+ * Operating datarate of the NRF51
+ *
+ * @min 0
+ * @max 2
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_RATE, 2);
+
+/**
+ * Operating address of the NRF51 (most significant byte)
+ *
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_ADDR1, 231); // 0xE7
+
+/**
+ * Operating address of the NRF51 (least significant 4 bytes)
+ *
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_ADDR2, 3890735079); // 0xE7E7E7E7
@@ -1,28 +0,0 @@
-module_name: syslink
-parameters:
- group: Syslink
-  definitions:
-    SLNK_RADIO_CHAN:
-      description:
-        short: Operating channel of the NRF51
-      type: int32
-      default: 80
-      min: 0
-      max: 125
-    SLNK_RADIO_RATE:
-      description:
-        short: Operating datarate of the NRF51
-      type: int32
-      default: 2
-      min: 0
-      max: 2
-    SLNK_RADIO_ADDR1:
-      description:
-        short: Operating address of the NRF51 (most significant byte)
-      type: int32
-      default: 231
-    SLNK_RADIO_ADDR2:
-      description:
-        short: Operating address of the NRF51 (least significant 4 bytes)
-      type: int32
-      default: -404232217
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Beat Küng	df498a776a	fix center parameter metadata	2026-03-05 11:29:33 +01:00
ttechnick	f466574804	update validation	2026-03-02 12:00:39 +01:00
ttechnick	13823b2a90	disble center for DShot servos (only UI)	2026-03-02 11:57:43 +01:00
ttechnick	77365e44df	move center for pca9685 board	2026-03-02 11:57:20 +01:00
ttechnick	dfb031e6aa	move center after standard params	2026-03-02 11:34:46 +01:00
ttechnick	6e550f2846	PWM center: move from standard_params	2026-03-02 11:34:45 +01:00