fix(flight_mode_manager): remove optical flow velocity constraint in manual modes

When relying exclusively on optical flow, the EKF publishes a
vxy_max limit proportional to altitude (0.5 × max_flow_rate × height).
Both ManualPosition and ManualAcceleration flight tasks applied this
as a hard cap on the pilot's stick velocity authority.

At low altitudes the constraint severely limits pilot control — e.g.
at 0.3 m with SENS_FLOW_MAXR=8 the cap is only 1.2 m/s. This is
counterproductive because optical flow is least reliable near the
ground, drift is most likely, and the pilot needs full stick authority
to correct it.

The constraint remains in autonomous modes via
MulticopterPositionControl where it is appropriate since there is no
pilot to intervene.

.claude/skills/commit/SKILL.md

@@ -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

.claude/skills/pr/SKILL.md

@@ -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

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

@@ -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
-    ```

.github/workflows/build_all_targets.yml

@@ -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 }}

.github/workflows/checks.yml

@@ -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"

.github/workflows/mavros_mission_tests.yml

@@ -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 \

.github/workflows/mavros_offboard_tests.yml

@@ -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

.github/workflows/ros_integration_tests.yml

@@ -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

.github/workflows/sbom_license_check.yml

@@ -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 .

.github/workflows/sbom_monthly_audit.yml

@@ -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'),
-            });

.github/workflows/sitl_tests.yml

@@ -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]

.github/workflows/sync_release_to_ros2_interface_lib.yml

@@ -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"

.github/workflows/tag_px4_msgs_from_px4_release_tag.yml

@@ -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}"

.gitignore

@@ -112,6 +112,3 @@ keys/
 
 # metadata
 _emscripten_sdk/
-
-# virtual Python environment
-.venv

CMakeLists.txt

@@ -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

Kconfig

@@ -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"

Makefile

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default 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

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

@@ -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
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -119,11 +119,11 @@ else
 	param set SYS_AUTOCONFIG 1
 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, total flight time, flight UUID
+	param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi
 

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

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default 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

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

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default 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

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

@@ -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

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -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

ROMFS/px4fmu_common/init.d/rcS

@@ -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, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* 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.

Tools/HIL/test_airframes.sh

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

Tools/astyle/fix_code_style.sh

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

Tools/auterion/remote_update_fmu.sh

@@ -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]"

Tools/ci/build_all_runner.sh

@@ -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

Tools/ci/check_msg_versioning.sh

@@ -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 )

Tools/ci/generate_board_targets_json.py

@@ -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("============================")

Tools/ci/generate_sbom.py

@@ -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()

Tools/ci/inspect_sbom.py

@@ -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()

Tools/ci/license-overrides.yaml

@@ -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."

Tools/ci/package_build_artifacts.sh

@@ -1,9 +1,8 @@
-#!/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=${build_dir_path#*/}
@@ -29,8 +28,6 @@ for build_dir_path in build/*/ ; do
   # Events
   mkdir -p artifacts/$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
   ls -la artifacts/$build_dir
   echo "----------"
 done

Tools/ci/run_fuzz_tests.sh

@@ -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
 

Tools/copy_to_ros_ws.sh

@@ -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 )

Tools/docker_run.sh

@@ -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"

Tools/migrate_c_params.py

@@ -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():

Tools/module_config/generate_params.py

@@ -108,7 +108,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                 tags = '@group {:}'.format(param_group)
                 if param['type'] == 'enum':
                     param_type = 'INT32'
-                    for key in 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']))
 

Tools/msg/generate_msg_docs.py

@@ -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"
 

Tools/run-shellcheck.sh

@@ -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

Tools/setup/docker-entrypoint.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 
 GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color

Tools/setup/macos.sh

@@ -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."

Tools/simulation/gazebo-classic/setup_gazebo.bash

@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 #
 # Setup environment to make PX4 visible to Gazebo.
 #

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -1 +1 @@
-Subproject commit f835e077d06eaf09a57d5152fcfb85244b53b77a
+Subproject commit 5b6966ed572a02e8273f446acb504a45a841ca53

Tools/simulation/gazebo-classic/sitl_multiple_run.sh

@@ -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'
 

Tools/simulation/sitl_multiple_run.sh

@@ -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

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

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

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

@@ -421,6 +421,9 @@
 /* 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

boards/ark/fpv/init/rc.board_airframes

@@ -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

boards/ark/fpv/mavlink-dev.px4board

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

boards/ark/fpv/src/board_config.h

@@ -306,6 +306,9 @@
 /* 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

boards/ark/pi6x/mavlink-dev.px4board

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

boards/ark/pi6x/src/board_config.h

@@ -311,6 +311,9 @@
 /* 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

boards/bitcraze/crazyflie/syslink/CMakeLists.txt

@@ -42,8 +42,6 @@ px4_add_module(
 		syslink_bridge.cpp
 		syslink_memory.cpp
 		syslink.c
-	MODULE_CONFIG
-		syslink_params.yaml
 	DEPENDS
 		battery
 	)

boards/bitcraze/crazyflie/syslink/syslink_params.c

@@ -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

boards/bitcraze/crazyflie/syslink/syslink_params.yaml

@@ -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

boards/corvon/743v1/src/hw_config.h

@@ -104,7 +104,7 @@
 #define OSC_FREQ                       8
 
 #define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED  // RED
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
 #define BOARD_LED_ON                   0
 #define BOARD_LED_OFF                  1
 

boards/corvon/743v1/src/init.c

@@ -169,7 +169,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	drv_led_start();
 	led_off(LED_RED);
 	led_off(LED_BLUE);
-	led_off(LED_GREEN);
 
 	if (board_hardfault_init(2, true) != 0) {
 		led_on(LED_BLUE);

boards/corvon/743v1/src/led.c

@@ -63,23 +63,12 @@ extern void led_toggle(int led);
 __END_DECLS
 
 #  define xlat(p) (p)
-// index: 0=BLUE, 1=RED, 2=SAFETY, 3=GREEN
 static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,    // LED_BLUE (0)
-	GPIO_nLED_RED,     // LED_RED (1)
-	0,                 // LED_SAFETY (2) - no independent safety LED, use 0 placeholder
-	GPIO_nLED_GREEN,   // LED_GREEN (3)
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
 };
 
-#ifndef arraySize
-#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
-#endif
-
-static inline bool valid_led_index(int led)
-{
-	return (led >= 0) && ((size_t)led < arraySize(g_ledmap));
-}
-
 __EXPORT void led_init(void)
 {
 	/* Configure LED GPIOs for output */
@@ -92,10 +81,6 @@ __EXPORT void led_init(void)
 
 static void phy_set_led(int led, bool state)
 {
-	if (!valid_led_index(led)) {
-		return;
-	}
-
 	/* Drive Low to switch on */
 	if (g_ledmap[led] != 0) {
 		stm32_gpiowrite(g_ledmap[led], !state);
@@ -104,10 +89,6 @@ static void phy_set_led(int led, bool state)
 
 static bool phy_get_led(int led)
 {
-	if (!valid_led_index(led)) {
-		return false;
-	}
-
 	/* If Low it is on */
 	if (g_ledmap[led] != 0) {
 		return !stm32_gpioread(g_ledmap[led]);

boards/cuav/7-nano/pwm_voltage/CMakeLists.txt

@@ -37,8 +37,6 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
-	MODULE_CONFIG
-		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/7-nano/pwm_voltage/parameters.c

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Control PWM output voltage
+ *
+ * Enable:  PWM output voltage 5V
+ * Disable: PWM output voltage 3.3V
+ *
+ * @boolean
+ * @reboot_required true
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_LEVEL_CONT, 0);

boards/cuav/7-nano/pwm_voltage/parameters.yaml

@@ -1,13 +0,0 @@
-module_name: pwm_voltage
-parameters:
-- group: PWM Outputs
-  definitions:
-    PWM_LEVEL_CONT:
-      description:
-        short: Control PWM output voltage
-        long: |-
-          Enable:  PWM output voltage 5V
-          Disable: PWM output voltage 3.3V
-      type: boolean
-      default: 0
-      reboot_required: true

boards/cuav/fmu-v6x/pwm_voltage/CMakeLists.txt

@@ -37,8 +37,6 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
-	MODULE_CONFIG
-		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/fmu-v6x/pwm_voltage/parameters.c

@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Control PWM output voltage
+ *
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/cuav/fmu-v6x/pwm_voltage/parameters.yaml

@@ -1,13 +0,0 @@
-module_name: pwm_voltage
-parameters:
-- group: PWM Outputs
-  definitions:
-    PWM_VOLT_SEL:
-      description:
-        short: Control PWM output voltage
-      type: enum
-      values:
-        0: 3.3V
-        1: 5.0V
-      default: 0
-      reboot_required: true

boards/cuav/x25-evo/pwm_voltage/CMakeLists.txt

@@ -37,8 +37,6 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
-	MODULE_CONFIG
-		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/x25-evo/pwm_voltage/parameters.c

@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Control PWM output voltage
+ *
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/cuav/x25-evo/pwm_voltage/parameters.yaml

@@ -1,13 +0,0 @@
-module_name: pwm_voltage
-parameters:
-- group: PWM Outputs
-  definitions:
-    PWM_VOLT_SEL:
-      description:
-        short: Control PWM output voltage
-      type: enum
-      values:
-        0: 3.3V
-        1: 5.0V
-      default: 0
-      reboot_required: true

boards/cuav/x25-super/pwm_voltage/CMakeLists.txt

@@ -37,8 +37,6 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
-	MODULE_CONFIG
-		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/x25-super/pwm_voltage/parameters.c

@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Control PWM output voltage
+ *
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/cuav/x25-super/pwm_voltage/parameters.yaml

@@ -1,13 +0,0 @@
-module_name: pwm_voltage
-parameters:
-- group: PWM Outputs
-  definitions:
-    PWM_VOLT_SEL:
-      description:
-        short: Control PWM output voltage
-      type: enum
-      values:
-        0: 3.3V
-        1: 5.0V
-      default: 0
-      reboot_required: true

boards/diatone/mamba-f405-mk2/default.px4board

@@ -25,14 +25,7 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_OPTICAL_FLOW is not set
-# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y

boards/holybro/kakuteh7-wing/nuttx-config/include/board_dma_map.h

@@ -58,13 +58,11 @@
 //#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
 //#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
 
-// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
-// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
-// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
-// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
-// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
-// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
-// Timer 15 - no TIM15UP DMA, cannot do DShot
+// Assigned in timer_config.cpp
+
+// TODO
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V

boards/holybro/kakuteh7-wing/src/timer_config.cpp

@@ -38,20 +38,18 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer15),
+	initIOTimer(Timer::Timer3),
+	initIOTimer(Timer::Timer2),
 };
 
-// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
-// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
 	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),

boards/modalai/fc-v2/scripts/run_docker.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 
 # Run this from the px4 project top level directory
 docker run -it --rm --privileged -v `pwd`:/usr/local/workspace px4io/px4-dev-nuttx-focal:2022-08-12

boards/modalai/voxl2-slpi/default.px4board

@@ -1,23 +1,5 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
-# Disable modules from default.px4board that are apps-only
-CONFIG_BOARD_LINUX_TARGET=n
-CONFIG_DRIVERS_OSD_MSP_OSD=n
-CONFIG_DRIVERS_QSHELL_POSIX=n
-CONFIG_DRIVERS_RC_INPUT=n
-CONFIG_MODULES_DATAMAN=n
-CONFIG_MODULES_LOGGER=n
-CONFIG_MODULES_MAVLINK=n
-CONFIG_MODULES_MUORB_APPS=n
-CONFIG_MODULES_NAVIGATOR=n
-CONFIG_MODULES_UXRCE_DDS_CLIENT=n
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
-CONFIG_SYSTEMCMDS_BSONDUMP=n
-CONFIG_SYSTEMCMDS_PERF=n
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
-CONFIG_SYSTEMCMDS_VER=n
-CONFIG_SYSTEMCMDS_REBOOT=n
-CONFIG_PARAM_PRIMARY=n
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -37,8 +19,6 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_VOXL2_IO=y

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -0,0 +1,84 @@
+############################################################################
+#
+#   Copyright (c) 2022 ModalAI, Inc. 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.
+#
+############################################################################
+
+# Need to make sure that the DSP processor on VOXL2
+# knows about all parameters since some modules need parameters
+# from other modules that are not running on the DSP.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
+add_library(drivers_board
+	board_config.h
+	i2c.cpp
+	init.c
+	spi.cpp
+    )
+
+# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
+# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
+# SLPI build is self-contained and does not depend on voxl2-default.
+set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
+set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
+
+px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
+
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
+	COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		--lang C --wire-protocol 2.0
+		--output ${MAVLINK_LIBRARY_DIR}
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+		> ${CMAKE_BINARY_DIR}/mavgen_common.log
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+	COMMENT "Generating MAVLink common headers for SLPI"
+)
+add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
+
+add_library(mavlink_common_headers INTERFACE)
+add_dependencies(mavlink_common_headers mavlink_common_generate)
+target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+target_include_directories(mavlink_common_headers INTERFACE
+	${MAVLINK_LIBRARY_DIR}
+	${MAVLINK_LIBRARY_DIR}/common
+)
+
+# Add custom drivers for SLPI
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)

boards/modalai/voxl2-slpi/src/board_config.h

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * VOXL2 internal definitions
+ */
+
+#pragma once
+
+#define CONFIG_BOARDCTL_RESET
+#define BOARD_HAS_NO_BOOTLOADER
+/*
+ * I2C buses
+ */
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    4
+
+/*
+ * SPI buses
+ */
+#define CONFIG_SPI 1
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
+
+/*
+ * Include these last to make use of the definitions above
+ */
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
+
+/*
+ *  Default port for the ESC
+ */
+#define VOXL_ESC_DEFAULT_PORT 	"2"
+
+/*
+ *  Default port for the GHST RC
+ */
+#define GHST_RC_DEFAULT_PORT 	"7"
+
+/*
+ * Default port for M0065
+*/
+#define VOXL2_IO_DEFAULT_PORT 	"2"
+
+
+/*
+ * M0065 PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS 4
+#define MAX_IO_TIMERS 3