fix(ci): lint test files on PRs without breaking push-to-main

The pr-review-poster was flagging `gtest/gtest.h file not found` on any PR that added or modified a test file, because clang-tidy-diff-18.py ran against files that weren't in the compilation database. PR #27004 and PR #26233 both hit this. The root cause is that test TUs only enter compile_commands.json when BUILD_TESTING is ON, which the historical clang-tidy build does not enable. This PR fixes both halves of the problem: 1. Add a second make target `px4_sitl_default-clang-test` that configures a separate build dir with -DCMAKE_TESTING=ON. Test TUs land in its compile_commands.json with resolved gtest/fuzztest include paths. 2. Add an umbrella `clang-ci` target that depends on both `px4_sitl_default-clang` and `px4_sitl_default-clang-test` so the PR job prepares both build dirs with one make invocation. 3. On PR events the workflow uses `make clang-ci`, installs libclang-rt-18-dev (needed so fuzztest's FUZZTEST_FUZZING_MODE flags do not fail the abseil try_compile with a misleading "pthreads not found" error), and routes the clang-tidy-diff producer at the test-enabled build dir. 4. Push-to-main is left entirely alone: same single build dir, same `make px4_sitl_default-clang`, same `make clang-tidy`. Test files are not in that DB so run-clang-tidy.py keeps ignoring them exactly as before. This preserves green main while ~189 pre-existing clang-tidy issues in test files remain untouched; fixing those is out of scope for this change. 5. Replace the fragile `:!*/test/*` pathspec filter (which missed flat `*Test.cpp` files in module roots) with `Tools/ci/clang-tidy-diff-filter.py`, which reads the compilation database and drops any changed source file that is not a TU. Headers always pass through. Production code that happens to use test-like names (src/systemcmds/actuator_test, src/drivers/test_ppm, etc.) stays analyzed because those are real px4_add_module targets. Verified in the ghcr.io/px4/px4-dev:v1.17.0-rc2 container and on the real CI runner: - cmake configure with CMAKE_TESTING=ON succeeds after installing libclang-rt-18-dev (Found Threads: TRUE) - compile_commands.json grows from 1333 to 1521 TUs - Modifying HysteresisTest.cpp with a new `const char *p = NULL` correctly flags hicpp-use-nullptr and clang-diagnostic-unused-variable on the new line, while pre-existing issues on other lines of the same file stay suppressed by clang-tidy-diff-18.py's line filter ("Suppressed ... 1 due to line filter") - No gtest/gtest.h false positives - Push-to-main path unchanged, still green Signed-off-by: Ramon Roche <mrpollo@gmail.com>
ci(compile-ubuntu): replace quick_check with targeted SITL and NuttX builds
2026-05-24 21:47:35 +08:00 · 2026-04-11 10:03:51 -06:00 · 2026-04-11 09:57:02 -06:00 · 2026-04-11 09:45:14 -06:00 · 2026-04-10 20:33:34 -06:00 · 2026-04-10 18:49:53 -07:00
561 changed files with 11325 additions and 65449 deletions
@@ -0,0 +1,207 @@
+---
+name: review-pr
+description: Review a pull request with structured, domain-aware feedback
+argument-hint: "<PR number or URL>"
+allowed-tools: Bash, Read, Glob, Grep, Agent
+---
+
+# PX4 Pull Request Review
+
+Review a pull request with domain-aware checks based on which files are changed.
+
+**No Claude attribution anywhere.**
+
+## Steps
+
+1. **Fetch PR context.** Run these in parallel:
+   - `gh pr view <PR> --json number,title,body,baseRefName,headRefName,files,commits,reviewRequests,reviews,author`
+   - `gh pr checks <PR>` (exit code 8 means some checks are pending, this is normal, not an error)
+   - `gh pr diff <PR>` -- if this fails with HTTP 406 (300+ files), do NOT retry. Instead use `gh api repos/OWNER/REPO/pulls/NUMBER/files --paginate` to get the full file list in one call, then fetch patches for key infrastructure files individually and sample representative changes from each domain touched.
+   - `gh api repos/OWNER/REPO/pulls/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, path: .path, created_at: .created_at}'` to get inline review comments
+   - `gh api repos/OWNER/REPO/issues/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, created_at: .created_at}'` to get PR conversation comments
+
+   From the PR metadata, note:
+   - **Assigned reviewers**: who has been requested to review (from `reviewRequests`)
+   - **Existing reviews**: who has already reviewed and their verdict (from `reviews` -- approved, changes_requested, commented, dismissed)
+   - **PR comments and inline comments**: read all existing feedback to avoid duplicating points already raised by other reviewers, and to build on their discussion rather than ignoring it
+
+2. **Check CI status.** From the `gh pr checks` output in step 1, summarize pass/fail/pending. If there are failures, fetch logs with `gh run view <run-id> --log-failed`. Include CI status in the output.
+
+3. **Recommend merge strategy.** Analyze the commit history and recommend squash or rebase merge. This decision informs all subsequent commit hygiene feedback.
+
+   **Recommend rebase merge** when:
+   - Commits are atomic, each builds/works independently
+   - Each commit has a proper `type(scope): description` message
+   - The PR intentionally separates logical changes (e.g., refactor + feature, or one commit per module)
+   - The commit history tells a useful story that would be lost by squashing
+
+   **Recommend squash merge** when:
+   - There are WIP, fixup, or review-response commits
+   - Commit messages are messy or inconsistent
+   - The PR is a single logical change spread across multiple commits
+   - There are "oops" or "make format" commits mixed in
+
+   Include the recommendation in the output. If recommending rebase, flag any commits that break atomicity or have bad messages. If recommending squash, don't bother flagging individual commit messages (they'll be discarded) but ensure the PR title is correct since it becomes the squash commit message.
+
+4. **Check conventional commit title.** Verify the PR title follows `type(scope): description` per CONTRIBUTING.md. The PR title becomes the commit message on squash-merge, so it must be accurate and descriptive. Verify the scope matches the primary area of changed files. If the PR introduces breaking changes, the title must include `!` before the colon. If rebase merge was recommended in step 3, also scan individual commit messages for anti-patterns: vague messages ("fix", "update"), missing type prefix, review-response noise ("apply suggestions from code review", "do make format"), or WIP markers. Flag these for rewording.
+
+5. **Identify domains touched.** Classify changed files into domains based on paths (a PR may touch multiple):
+   - **Estimation**: `src/modules/ekf2/`, `src/lib/wind_estimator/`, `src/lib/world_magnetic_model/`
+   - **Control**: `src/modules/mc_*control*/`, `src/modules/fw_*control*/`, `src/modules/flight_mode_manager/`, `src/lib/rate_control/`, `src/lib/npfg/`, `src/modules/vtol_att_control/`
+   - **Drivers/CAN**: `src/drivers/`, `src/modules/cyphal/`, `src/drivers/uavcan*/`
+   - **Simulation**: `src/modules/simulation/`, `Tools/simulation/`
+   - **System**: `src/modules/commander/`, `src/modules/logger/`, `src/systemcmds/`, `platforms/`, `src/modules/dataman/`
+   - **Board Addition**: `boards/{manufacturer}/{board}/` (new directories only, not modifications to existing boards)
+   - **CI/Build**: `.github/`, `CMakeLists.txt`, `Makefile`, `cmake/`, `Tools/`, `Kconfig`
+   - **Messages/Protocol**: `msg/`, `src/modules/mavlink/`, `src/modules/uxrce_dds_client/`
+
+6. **Apply core checks** (always):
+   - **Correctness**: logic errors, off-by-ones, unhandled edge cases
+   - **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
+   - **Initialization**: uninitialized variables, missing default construction
+   - **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
+   - **Magic numbers**: every numeric literal needs a named constant or justification
+   - **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
+   - **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
+   - **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
+   - **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical. When automated testing is infeasible (hardware-specific), require a flight log link from https://logs.px4.io or bench test evidence.
+   - **PR hygiene**: focused scope, no unrelated formatting, no stale submodule changes. Commits should be atomic and independently revertable. Multiple WIP or review-response commits should be squashed. Clean, logical commits will be preserved individually on main via rebase merge. **Do NOT assume PRs are squash-merged. Both squash and rebase merge are enabled; merge commits are disabled.** Verify the PR targets `main` unless it is a backport or release-specific fix.
+   - **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean. Python files checked with `mypy` and `flake8`. PRs failing CI format or lint checks will not be merged.
+   - **Coding style**: C/C++ must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html)
+   - **Necessity**: challenge every addition with "Why?" Is this actually needed or just copied? Can we change a default instead of adding runtime detection?
+   - **Root cause vs symptom**: is this fixing the real problem or masking it?
+   - **Ecosystem impact**: what does this change mean for QGC users, log analysis tools, and third-party integrations?
+   - **Sustainability**: who will maintain this? Does it create long-term burden?
+   - **Architecture fit**: does the code live in the module that naturally owns the data? Are there unnecessary cross-module dependencies?
+   - **End user impact**: will parameters confuse less-technical users? Are error messages actionable in QGC?
+
+7. **Apply domain checks** based on step 5:
+
+   **Estimation:**
+   - Singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
+   - Aliasing from downsampling sensor data without filtering
+   - Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
+   - CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
+   - Frame/coordinate system correctness (FRD vs NED, body vs earth)
+
+   **Control:**
+   - Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
+   - Circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
+   - NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
+   - Setpoint generation vs output-stage hacks: prefer proper setpoint smoothing over controller output filtering
+   - Yaw control edge cases: heading lock, drift, setpoint propagation
+   - Flight task inheritance chain: correct base class for the desired behavior
+   - Control allocation: actuator function ordering, motor index mapping
+
+   **Drivers/CAN:**
+   - CAN bus devices behave differently from serial/SPI; check driver assumptions
+   - ESC index mapping: telemetry index != channel when motors are disabled
+   - ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
+   - device_id correctness and I2CSPIDriver patterns
+   - Time representation: prefer `hrt_abstime` over iteration counts
+
+   **Simulation:**
+   - Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
+   - Keep gz_bridge generic; vehicle-specific logic belongs in plugins
+   - Prefer gz-transport over ROS2 dependencies when possible
+   - Wrench commands for physics correctness vs kinematic constraints
+   - Library generic/specific boundary: only base classes in common libs
+
+   **System:**
+   - Race conditions and concurrency: no partial fixes, demand complete solutions
+   - Semaphore/scheduling edge cases; understand RTOS guarantees
+   - State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
+   - uORB-driven scheduling (`SubscriptionCallback`), not extra threads
+   - param_set triggers auto-save; no redundant param_save_default
+   - Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
+   - Constructor initialization order matters
+
+   **CI/Build:**
+   - Pipeline race conditions (tag + branch push double-trigger, git describe correctness)
+   - Container image size (check layer bloat)
+   - Ubuntu LTS support policy (latest + one prior only)
+   - Build time impact
+   - CMake preferred over Makefiles
+
+   **Messages/Protocol:**
+   - Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
+   - uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
+   - Don't version messages unless strictly needed
+   - Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
+   - MAVLink: use library constants, don't implement custom stream rates
+
+   **Board Addition:**
+   - **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
+   - **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
+   - **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
+   - **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
+   - **Unique board_id**: registered in `boards/boards.json`, no collisions
+   - **Copied code cleanup**: check for leftover files, configs, or comments from the template board; "Is this real or leftover?"
+   - **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
+   - **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
+   - **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
+   - **CI integration**: board must be added to CI compile workflows so it builds on every PR
+   - **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
+   - **Port labels**: serial port labels must match what is physically printed on the board
+   - **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
+
+8. **Format output** as:
+   - **CI status**: pass/fail summary, link to failed runs if any
+   - **Merge strategy**: recommend squash or rebase merge with reasoning
+   - **Title check**: pass/fail with suggestion
+   - **Review status**: list assigned reviewers and any existing reviews (who approved, who requested changes, key points already raised). Note if your review would duplicate feedback already given.
+   - **Domains detected**: list which domain checks were applied
+   - **Summary**: one paragraph on what the PR does and whether the approach is sound
+   - **Issues**: numbered list, each with file:line, severity (blocker/warning/nit), and explanation. Skip issues already raised by other reviewers unless you have something to add.
+   - **Verdict**: approve, request changes, or needs discussion
+
+   After the structured output, also display a **draft PR comment** formatted using the PR comment formatting rules from step 9. This gives the user a preview of what would be posted.
+
+9. **Interactive dialog.** After displaying the review, present the user with these options:
+
+   Present options based on the verdict:
+
+   If verdict is **approve**:
+   ```
+   What would you like to do?
+   1. Chat about this PR (ask questions, explore code) [default]
+   2. Approve this PR and post the review comment
+   3. Adjust the review or draft (tell me what to change)
+   4. Done for now
+   ```
+
+   If verdict is **request changes**:
+   ```
+   What would you like to do?
+   1. Chat about this PR (ask questions, explore code) [default]
+   2. Request changes on this PR and post the review comment
+   3. Adjust the review or draft (tell me what to change)
+   4. Done for now
+   ```
+
+   If verdict is **needs discussion**:
+   ```
+   What would you like to do?
+   1. Chat about this PR (ask questions, explore code) [default]
+   2. Post the review as a comment (no approval or rejection)
+   3. Adjust the review or draft (tell me what to change)
+   4. Done for now
+   ```
+
+   Wait for the user to choose before proceeding. If they pick:
+   - **1 (chat)**: enter a free-form conversation about the PR. The user can ask about specific files, code paths, or decisions. When done, loop back to the options. This is the default if the user just presses enter.
+   - **2 (submit)**: use the draft PR comment already shown. Before posting, check if you have review permissions: run `gh api repos/OWNER/REPO/collaborators/$(gh api user --jq .login)/permission --jq .permission` -- if `admin` or `write`, submit as a formal review with `gh pr review <PR> --approve --body "..."` or `gh pr review <PR> --request-changes --body "..."` based on the verdict. If no write access, fall back to `gh pr comment <PR> --body "..."`. Always confirm with the user before posting.
+   - **3 (adjust)**: ask what to change, update the review and draft, then loop back to the options.
+   - **4 (done)**: stop.
+
+   **PR comment formatting rules** (for the draft):
+   When writing the GitHub comment, rewrite the review to sound like a human reviewer, not a structured report. Do NOT include the full skill output. Instead:
+   - Drop most meta-sections (CI status, title check, domains detected, severity labels) but keep the merge strategy recommendation (e.g., "I'd suggest a rebase merge here since the commits are clean and atomic" or "This should be squash-merged, the commit history is messy")
+   - Write conversationally: "Nice work on this. A few things I noticed:" not "Issues: 1. file:line (warning):"
+   - Lead with a brief take on the overall change (1-2 sentences)
+   - List only actionable feedback as natural review comments, not numbered checklists
+   - Skip nits unless they are particularly useful
+   - End with a clear stance: looks good to merge, needs a few changes, or let's discuss X
+   - Post with `gh pr comment <PR> --body "$(cat <<'EOF' ... EOF)"`. Do not post without explicit confirmation.
+
+If the user provided arguments, use them as context: $ARGUMENTS
@@ -0,0 +1 @@
+build/
@@ -0,0 +1,115 @@
+name: Build PX4 .deb Package
+description: Build PX4 SITL, run cpack, validate the .deb, and upload artifact
+
+inputs:
+  target:
+    description: 'Build target: default or sih'
+    required: true
+  artifact-name:
+    description: Name for the uploaded artifact
+    required: true
+  ccache-key-prefix:
+    description: Prefix for ccache cache keys
+    default: deb-ccache
+  ccache-max-size:
+    description: Maximum ccache size
+    default: 400M
+
+runs:
+  using: composite
+  steps:
+    - name: Restore ccache
+      id: ccache-restore
+      uses: actions/cache/restore@v5
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
+        restore-keys: |
+          ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-
+          ${{ inputs.ccache-key-prefix }}-${{ github.base_ref || 'main' }}-
+          ${{ inputs.ccache-key-prefix }}-
+
+    - name: Configure ccache
+      shell: bash
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = ${{ inputs.ccache-max-size }}" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z
+
+    - name: Build PX4 SITL
+      shell: bash
+      run: make px4_sitl_${{ inputs.target }}
+
+    - name: ccache stats
+      if: always()
+      shell: bash
+      run: ccache -s
+
+    - name: Save ccache
+      uses: actions/cache/save@v5
+      if: always()
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
+
+    - name: Build .deb package
+      shell: bash
+      run: |
+        cd build/px4_sitl_${{ inputs.target }}
+        cpack -G DEB
+
+    - name: Print package info and contents
+      shell: bash
+      run: |
+        cd build/px4_sitl_${{ inputs.target }}
+        echo "--- Package info ---"
+        dpkg-deb -I *.deb
+        echo "--- Package contents ---"
+        dpkg-deb -c *.deb
+
+    - name: Validate sih package
+      if: inputs.target == 'sih'
+      shell: bash
+      run: |
+        cd build/px4_sitl_sih
+        echo "--- Verify NO Gazebo resources ---"
+        ! dpkg-deb -c px4_*.deb | grep share/gz > /dev/null && echo "PASS: no Gazebo" || { echo "FAIL: Gazebo found"; exit 1; }
+        echo "--- Install test ---"
+        dpkg -i px4_*.deb
+        test -x /opt/px4/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
+        test -L /usr/bin/px4 || { echo "FAIL: symlink not created"; exit 1; }
+        test ! -d /opt/px4/share/gz || { echo "FAIL: Gazebo dir should not exist"; exit 1; }
+        echo "--- Smoke test ---"
+        /opt/px4/bin/px4 -h
+        echo "PASS: sih package validation successful"
+
+    - name: Validate gazebo package
+      if: inputs.target == 'default'
+      shell: bash
+      run: |
+        cd build/px4_sitl_default
+        echo "--- Verify Gazebo resources in package ---"
+        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/models > /dev/null || { echo "FAIL: models missing"; exit 1; }
+        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/worlds > /dev/null || { echo "FAIL: worlds missing"; exit 1; }
+        echo "--- Install test ---"
+        dpkg -i px4-gazebo_*.deb
+        test -x /opt/px4-gazebo/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
+        test -x /opt/px4-gazebo/bin/px4-gazebo || { echo "FAIL: wrapper not found"; exit 1; }
+        test -L /usr/bin/px4-gazebo || { echo "FAIL: symlink not created"; exit 1; }
+        test -d /opt/px4-gazebo/share/gz/models || { echo "FAIL: Gazebo models not installed"; exit 1; }
+        echo "--- Smoke test ---"
+        /opt/px4-gazebo/bin/px4 -h
+        echo "PASS: gazebo package validation successful"
+
+    - name: Upload .deb artifacts
+      uses: actions/upload-artifact@v7
+      with:
+        name: ${{ inputs.artifact-name }}
+        path: build/px4_sitl_${{ inputs.target }}/*.deb
+        if-no-files-found: error
@@ -0,0 +1,21 @@
+name: Build Gazebo Classic SITL
+description: Build PX4 firmware and Gazebo Classic plugins with ccache stats
+
+runs:
+  using: composite
+  steps:
+    - name: Build - PX4 Firmware (SITL)
+      shell: bash
+      run: make px4_sitl_default
+
+    - name: Cache - Stats after PX4 Firmware
+      shell: bash
+      run: ccache -s
+
+    - name: Build - Gazebo Classic Plugins
+      shell: bash
+      run: make px4_sitl_default sitl_gazebo-classic
+
+    - name: Cache - Stats after Gazebo Plugins
+      shell: bash
+      run: ccache -s
@@ -0,0 +1,22 @@
+name: Save ccache
+description: Print ccache stats and save to cache
+
+inputs:
+  cache-primary-key:
+    description: Primary cache key from setup-ccache output
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Stats
+      if: always()
+      shell: bash
+      run: ccache -s
+
+    - name: Cache - Save ccache
+      if: always()
+      uses: actions/cache/save@v5
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-primary-key }}
@@ -0,0 +1,56 @@
+name: Setup ccache
+description: Restore ccache from cache and configure ccache.conf
+
+inputs:
+  cache-key-prefix:
+    description: Cache key prefix (e.g. ccache-sitl)
+    required: true
+  max-size:
+    description: Max ccache size (e.g. 300M)
+    required: false
+    default: '300M'
+  base-dir:
+    description: ccache base_dir value
+    required: false
+    default: '${GITHUB_WORKSPACE}'
+  install-ccache:
+    description: Install ccache via apt before configuring
+    required: false
+    default: 'false'
+
+outputs:
+  cache-primary-key:
+    description: Primary cache key (pass to save-ccache)
+    value: ${{ steps.restore.outputs.cache-primary-key }}
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Install ccache
+      if: inputs.install-ccache == 'true'
+      shell: bash
+      run: apt-get update && apt-get install -y ccache
+
+    - name: Cache - Restore ccache
+      id: restore
+      uses: actions/cache/restore@v5
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
+        restore-keys: |
+          ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-
+          ${{ inputs.cache-key-prefix }}-${{ github.base_ref || 'main' }}-
+          ${{ inputs.cache-key-prefix }}-
+
+    - name: Cache - Configure ccache
+      shell: bash
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${{ inputs.base-dir }}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = ${{ inputs.max-size }}" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z
@@ -0,0 +1,21 @@
+---
+applyTo: "boards/**"
+---
+
+# Board Addition Review Guidelines
+
+In addition to the core code review guidelines, when reviewing new board additions:
+
+- **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
+- **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
+- **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
+- **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
+- **Unique board_id**: registered in `boards/boards.json`, no collisions
+- **Copied code cleanup**: check for leftover files, configs, or comments from the template board. Ask "Is this real or leftover?"
+- **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
+- **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
+- **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
+- **CI integration**: board must be added to CI compile workflows so it builds on every PR
+- **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
+- **Port labels**: serial port labels must match what is physically printed on the board
+- **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
@@ -0,0 +1,13 @@
+---
+applyTo: ".github/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,**/Kconfig"
+---
+
+# CI/Build Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Check for pipeline race conditions (tag + branch push double-trigger, git describe correctness)
+- Container image size: check for layer bloat
+- Ubuntu LTS support policy: only latest + one prior LTS version
+- Consider build time impact of changes
+- Prefer CMake over Makefiles
@@ -0,0 +1,32 @@
+---
+applyTo: "src/**,boards/**,platforms/**,msg/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,.github/**"
+---
+
+# PX4 Code Review Guidelines
+
+## Conventions
+
+- PR titles must follow conventional commits: `type(scope): description` (see CONTRIBUTING.md)
+- Types: `feat`, `fix`, `docs`, `style`, `refactor`, `perf`, `test`, `build`, `ci`, `chore`, `revert`
+- Scope should match the primary area of changed files
+- Append `!` before the colon for breaking changes
+- Both squash merge and rebase merge are enabled; merge commits are disabled
+- Commits should be atomic and independently revertable
+- WIP or review-response commits should be squashed before merge
+
+## Core Checks (always apply)
+
+- **Correctness**: logic errors, off-by-ones, unhandled edge cases
+- **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
+- **Initialization**: uninitialized variables, missing default construction
+- **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
+- **Magic numbers**: every numeric literal needs a named constant or justification
+- **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
+- **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
+- **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
+- **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical
+- **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean
+- **Coding style**: C/C++ must follow the PX4 coding style (https://docs.px4.io/main/en/contribute/code.html)
+- **Necessity**: challenge every addition. Is this actually needed or just copied?
+- **Architecture fit**: does the code live in the module that naturally owns the data? No unnecessary cross-module dependencies
+- **Ecosystem impact**: consider QGC users, log analysis tools, and third-party integrations
@@ -0,0 +1,15 @@
+---
+applyTo: "src/modules/mc_*control*/**,src/modules/fw_*control*/**,src/modules/flight_mode_manager/**,src/lib/rate_control/**,src/lib/npfg/**,src/modules/vtol_att_control/**"
+---
+
+# Control Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
+- Check for circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
+- NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
+- Prefer proper setpoint smoothing over controller output filtering (setpoint generation vs output-stage hacks)
+- Check yaw control edge cases: heading lock, drift, setpoint propagation
+- Verify flight task inheritance chain uses the correct base class for desired behavior
+- Control allocation: verify actuator function ordering and motor index mapping
@@ -0,0 +1,13 @@
+---
+applyTo: "src/drivers/**,src/modules/cyphal/**"
+---
+
+# Drivers/CAN Review Guidelines
+
+In addition to the core code review guidelines:
+
+- CAN bus devices behave differently from serial/SPI; check driver assumptions
+- ESC index mapping: telemetry index != channel when motors are disabled
+- ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
+- Verify device_id correctness and I2CSPIDriver patterns
+- Time representation: prefer `hrt_abstime` over iteration counts
@@ -0,0 +1,13 @@
+---
+applyTo: "src/modules/ekf2/**,src/lib/wind_estimator/**,src/lib/world_magnetic_model/**"
+---
+
+# Estimation Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Check for singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
+- Flag aliasing from downsampling sensor data without proper filtering
+- Verify Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
+- Consider CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
+- Verify frame/coordinate system correctness (FRD vs NED, body vs earth frame)
@@ -0,0 +1,13 @@
+---
+applyTo: "msg/**,src/modules/mavlink/**,src/modules/uxrce_dds_client/**"
+---
+
+# Messages/Protocol Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
+- uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
+- Don't version messages unless strictly needed
+- Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
+- MAVLink: use library constants, don't implement custom stream rates
@@ -0,0 +1,13 @@
+---
+applyTo: "src/modules/simulation/**,Tools/simulation/**"
+---
+
+# Simulation Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
+- Keep gz_bridge generic; vehicle-specific logic belongs in plugins
+- Prefer gz-transport over ROS2 dependencies when possible
+- Use wrench commands for physics correctness vs kinematic constraints
+- Library generic/specific boundary: only base classes in common libs
@@ -0,0 +1,15 @@
+---
+applyTo: "src/modules/commander/**,src/modules/logger/**,src/systemcmds/**,platforms/**,src/modules/dataman/**"
+---
+
+# System Review Guidelines
+
+In addition to the core code review guidelines:
+
+- Race conditions and concurrency: no partial fixes, demand complete solutions
+- Semaphore/scheduling edge cases; understand RTOS guarantees
+- State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
+- Use uORB-driven scheduling (`SubscriptionCallback`), not extra threads
+- `param_set` triggers auto-save; no redundant `param_save_default`
+- Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
+- Constructor initialization order matters
@@ -69,32 +69,31 @@ jobs:
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
+      seeders: ${{ steps.set-seeders.outputs.seeders }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6

      - name: Cache Python pip
-        uses: actions/cache@v4
+        uses: actions/cache@v5
        with:
          path: ~/.cache/pip
          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
          restore-keys: |
            ${{ runner.os }}-pip-

-      - name: Update python packaging to avoid canonicalize_version() error
-        run: |
-            pip3 install -U packaging
-
      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
+        run: pip3 install -U packaging -r ./Tools/setup/requirements.txt

      - id: set-matrix
        name: Generate Build Matrix
        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT

+      - id: set-seeders
+        name: Generate Seeder Matrix
+        run: echo "seeders=$(./Tools/ci/generate_board_targets_json.py --group --seeders)" >> $GITHUB_OUTPUT
+
      - id: set-timestamp
        name: Save Current Timestamp
        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
@@ -116,11 +115,52 @@ jobs:
          echo "${{ steps.set-branch.outputs.branchname }}"
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

+  # ===========================================================================
+  # CACHE SEEDER JOBS
+  # ===========================================================================
+  # Build one representative target per chip family to warm the ccache.
+  # Matrix jobs fall back to these caches via restore-keys when no
+  # group-specific cache exists yet. If any seeder fails, the build matrix
+  # does not start, catching common build errors early.
+  # ===========================================================================
+
+  seed:
+    name: Seed [${{ matrix.chip_family }}]
+    needs: group_targets
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    strategy:
+      matrix: ${{ fromJson(needs.group_targets.outputs.seeders) }}
+      fail-fast: false
+    container:
+      image: ${{ matrix.container }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-seeder
+          max-size: 400M
+      - name: Build seed target
+        run: make ${{ matrix.target }}
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
  setup:
    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
-    needs: group_targets
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [group_targets, seed]
+    if: "!failure() && !cancelled()"
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
      fail-fast: false
@@ -131,41 +171,35 @@ jobs:
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
-
-      - name: Git ownership workaround
+      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
+      - name: Cache - Restore ccache
+        id: ccache-restore
+        uses: actions/cache/restore@v5
        with:
          path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
+          key: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-${{ github.sha }}
          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.base_ref || 'main' }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-

-      - name: Cache Config and Stats
+      - name: Cache - Configure ccache
        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = ${{ matrix.cache_size }}" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z

      - name: Building Artifacts for [${{ matrix.targets }}]
        run: |
@@ -176,23 +210,15 @@ jobs:
          ./Tools/ci/package_build_artifacts.sh

      - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
        with:
          name: px4_${{matrix.group}}_build_artifacts
          path: artifacts/

-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
-      - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
+      - uses: ./.github/actions/save-ccache
+        if: success()
        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+          cache-primary-key: ${{ steps.ccache-restore.outputs.cache-primary-key }}

  # ===========================================================================
  # ARTIFACT UPLOAD JOB
@@ -211,7 +237,7 @@ jobs:
      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
    steps:
      - name: Download Artifacts
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
        with:
          path: artifacts/
          merge-multiple: true
@@ -0,0 +1,218 @@
+name: SITL Packages and Containers
+
+on:
+  push:
+    tags: ['v*']
+  pull_request:
+    paths:
+      - 'cmake/package.cmake'
+      - 'platforms/posix/CMakeLists.txt'
+      - 'Tools/packaging/**'
+      - 'boards/px4/sitl/sih.px4board'
+      - '.github/workflows/build_deb_package.yml'
+      - '.github/actions/build-deb/**'
+  workflow_dispatch:
+    inputs:
+      deploy_containers:
+        description: 'Push container images to registry'
+        required: false
+        type: boolean
+        default: false
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+
+  # ---------------------------------------------------------------------------
+  # Setup: extract version and determine whether to push containers
+  # ---------------------------------------------------------------------------
+  setup:
+    name: Setup
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    outputs:
+      px4_version: ${{ steps.version.outputs.px4_version }}
+      should_push: ${{ steps.push.outputs.should_push }}
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+          fetch-tags: true
+
+      - name: Set PX4 version
+        id: version
+        run: echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
+      - name: Check if we should push containers
+        id: push
+        run: |
+          if [[ "${{ startsWith(github.ref, 'refs/tags/') }}" == "true" ]] || \
+             [[ "${{ github.event_name }}" == "workflow_dispatch" && "${{ github.event.inputs.deploy_containers }}" == "true" ]]; then
+            echo "should_push=true" >> $GITHUB_OUTPUT
+          else
+            echo "should_push=false" >> $GITHUB_OUTPUT
+          fi
+
+  # ---------------------------------------------------------------------------
+  # Build .deb packages (all distros, arches, targets)
+  # ---------------------------------------------------------------------------
+  build-deb:
+    name: "Build .deb (${{ matrix.target }}/${{ matrix.codename }}/${{ matrix.arch }})"
+    needs: setup
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    container:
+      image: ${{ matrix.container }}
+      volumes:
+        - /github/workspace:/github/workspace
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: default, setup_flags: "" }
+          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: default, setup_flags: "" }
+          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: default, setup_flags: "" }
+          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: default, setup_flags: "" }
+          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
+          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
+          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
+          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
+    env:
+      RUNS_IN_DOCKER: true
+    steps:
+      - uses: runs-on/action@v2
+
+      - name: Fix git in container
+        run: |
+          apt-get update && apt-get install -y git
+          git config --global --add safe.directory $(realpath .)
+
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+          fetch-tags: true
+
+      - name: Use AWS regional apt mirror
+        if: startsWith(runner.name, 'runs-on--')
+        run: ./Tools/ci/use_aws_apt_mirror.sh
+
+      - name: Cache apt packages
+        uses: actions/cache@v5
+        with:
+          path: /var/cache/apt/archives
+          key: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
+          restore-keys: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-
+
+      - name: Install dependencies
+        run: ./Tools/setup/ubuntu.sh --no-nuttx ${{ matrix.setup_flags }}
+
+      - name: Build and package .deb
+        uses: ./.github/actions/build-deb
+        with:
+          target: ${{ matrix.target }}
+          artifact-name: px4-sitl-debs-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
+          ccache-key-prefix: deb-ccache-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
+
+  # ---------------------------------------------------------------------------
+  # Build Docker images from Noble .debs
+  # ---------------------------------------------------------------------------
+  build-docker:
+    name: "Build Image (${{ matrix.image }}/${{ matrix.arch }})"
+    needs: [setup, build-deb]
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { image: sih,    repo: px4-sitl,        target: sih,     arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.sih }
+          - { image: sih,    repo: px4-sitl,        target: sih,     arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.sih }
+          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.gazebo }
+          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+
+      - name: Download Noble .deb artifact
+        uses: actions/download-artifact@v8
+        with:
+          name: px4-sitl-debs-${{ matrix.target }}-noble-${{ matrix.arch }}
+          path: docker-context
+
+      - name: Prepare build context
+        run: cp Tools/packaging/px4-entrypoint.sh docker-context/
+
+      - name: Login to registries
+        if: needs.setup.outputs.should_push == 'true'
+        run: |
+          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
+          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v4
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and push container image
+        uses: docker/build-push-action@v7
+        with:
+          context: docker-context
+          file: Tools/packaging/${{ matrix.dockerfile }}
+          tags: |
+            px4io/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/${{ matrix.repo }}:latest-${{ matrix.arch }}
+            ghcr.io/px4/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            ghcr.io/px4/${{ matrix.repo }}:latest-${{ matrix.arch }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ needs.setup.outputs.should_push == 'true' }}
+          provenance: false
+          cache-from: type=gha,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
+          cache-to: type=gha,mode=max,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
+
+  # ---------------------------------------------------------------------------
+  # Deploy: create multi-arch manifests and push to registries
+  # ---------------------------------------------------------------------------
+  deploy:
+    name: "Deploy (${{ matrix.image }})"
+    needs: [setup, build-docker]
+    if: needs.setup.outputs.should_push == 'true'
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    strategy:
+      matrix:
+        include:
+          - { image: sih,    repo: px4-sitl }
+          - { image: gazebo, repo: px4-sitl-gazebo }
+    steps:
+      - uses: runs-on/action@v2
+
+      - name: Login to registries
+        run: |
+          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
+          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
+
+      - name: Create and push multi-arch manifests
+        run: |
+          VERSION="${{ needs.setup.outputs.px4_version }}"
+
+          for REGISTRY in px4io ghcr.io/px4; do
+            IMAGE="${REGISTRY}/${{ matrix.repo }}"
+
+            for TAG in ${VERSION} latest; do
+              docker manifest create ${IMAGE}:${TAG} \
+                --amend ${IMAGE}:${TAG}-arm64 \
+                --amend ${IMAGE}:${TAG}-amd64
+
+              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-arm64 --arch arm64
+              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-amd64 --arch amd64
+
+              docker manifest push ${IMAGE}:${TAG}
+            done
+          done
@@ -12,51 +12,88 @@ on:
    paths-ignore:
      - 'docs/**'

+permissions:
+  contents: read
+
 concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

 jobs:
-  build:
-    runs-on: ubuntu-latest
-
+  gate_checks:
+    name: Gate Checks [${{ matrix.check }}]
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
-      fail-fast: false
+      fail-fast: true
      matrix:
        check: [
          "check_format",
          "check_newlines",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
          "module_documentation",
        ]
-
    steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
-          fetch-depth: 0
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'

      - name: Building [${{ matrix.check }}]
        env:
          PX4_SBOM_DISABLE: 1
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        run: make ${{ matrix.check }}

-      - name: Uploading Coverage to Codecov.io
-        if: contains(matrix.check, 'coverage')
-        uses: codecov/codecov-action@v1
+  tests:
+    name: Unit Tests
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: write
+    env:
+      GIT_COMMITTER_EMAIL: bot@px4.io
+      GIT_COMMITTER_NAME: PX4BuildBot
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: unittests
-          file: coverage/lcov.info
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl
+          max-size: 300M
+
+      - name: Build and run unit tests
+        env:
+          PX4_SBOM_DISABLE: 1
+        run: make tests
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+      - name: Auto-update EKF change indication baselines
+        if: github.event_name == 'push'
+        uses: stefanzweifel/git-auto-commit-action@v7
+        with:
+          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
+          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
+          commit_message: |
+            [AUTO COMMIT] update EKF change indication
+
+            See .github/workflows/checks.yml for more details
+
+      - name: Check for EKF functional changes
+        run: git diff --exit-code
+        working-directory: src/modules/ekf2/test/change_indication
@@ -16,14 +16,21 @@ permissions:
  contents: read

 jobs:
-  clang_tidy:
+  # Push-to-main: unchanged historical behavior. Single clang build dir
+  # with BUILD_TESTING=OFF. `make clang-tidy` builds and analyzes every
+  # TU in compile_commands.json. Test files are not in the DB and
+  # therefore never analyzed.
+  clang_tidy_push:
    name: Clang-Tidy
+    if: github.event_name != 'pull_request'
    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: read
    steps:
    - uses: runs-on/action@v2
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
      with:
        fetch-depth: 0
        fetch-tags: true
@@ -31,39 +38,124 @@ jobs:
    - name: Configure Git Safe Directory
      run: git config --system --add safe.directory '*'

-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
      with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 150M

-    - name: Configure Compiler Cache
+    - name: Build and Analyze - Clang-Tidy
+      run: make -j$(nproc) clang-tidy
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+  # Pull request: diff-based analysis with a second BUILD_TESTING=ON
+  # build dir so test files in the PR diff can be linted by
+  # clang-tidy-diff-18.py with resolved gtest/fuzztest includes.
+  # Results are uploaded as a `pr-review` artifact for the PR Review
+  # Poster workflow to post as inline comments.
+  clang_tidy_pr:
+    name: Clang-Tidy
+    if: github.event_name == 'pull_request'
+    runs-on: [runs-on, runner=8cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: read
+      pull-requests: read
+    steps:
+    - uses: runs-on/action@v2
+    - uses: actions/checkout@v6
+      with:
+        fetch-depth: 0
+        fetch-tags: true
+
+    - name: Configure Git Safe Directory
+      run: git config --system --add safe.directory '*'
+
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 150M
+
+    # fuzztest (enabled via BUILD_TESTING in the -test build dir) pulls
+    # in abseil via FetchContent, and abseil runs a try_compile with
+    # fuzztest's -fsanitize=address flags. The px4-dev container ships
+    # clang but not the clang compiler-rt runtime, so that link fails
+    # and the configure reports a misleading "pthreads not found".
+    # libclang-rt-18-dev provides libclang_rt.asan and friends.
+    - name: Install clang compiler-rt
      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+        apt-get update
+        apt-get install -y --no-install-recommends libclang-rt-18-dev
+
+    # `make clang-ci` prepares both clang build directories:
+    #   - build/px4_sitl_default-clang:       full build, BUILD_TESTING=OFF
+    #     (used by run-clang-tidy-pr.py for whole-file analysis of
+    #      changed production code)
+    #   - build/px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON
+    #     (used by clang-tidy-diff-18.py so test files are in the
+    #      compilation database with resolved gtest/fuzztest includes)
+    - name: Build clang SITL
+      run: make -j$(nproc) clang-ci

    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
+      run: python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}

-    - name: Compiler Cache Stats
+    # Produce a `pr-review` artifact for the PR Review Poster workflow
+    # to consume. clang-tidy-diff-18 emits a unified fixes.yml that
+    # the producer script translates into line-anchored review comments.
+    - name: Export clang-tidy fixes for PR review
      if: always()
-      run: ccache -s
+      run: |
+        mkdir -p pr-review
+        # Drop changed C/C++ source files that are not in
+        # compile_commands.json for the test-enabled build. Files not
+        # in the DB are platform-specific sources, vendored code, or
+        # submodule code we don't own. Feeding them to clang-tidy-diff
+        # produces false positives from unresolved headers.
+        python3 Tools/ci/clang-tidy-diff-filter.py \
+          --build-dir build/px4_sitl_default-clang-test \
+          --base-ref origin/${{ github.base_ref }} \
+          --out pr-review/diff.patch
+        if [ -s pr-review/diff.patch ]; then
+          clang-tidy-diff-18.py -p1 \
+            -path build/px4_sitl_default-clang-test \
+            -export-fixes pr-review/fixes.yml \
+            -j0 < pr-review/diff.patch || true
+        else
+          echo "No analyzable files in diff; skipping clang-tidy-diff"
+        fi

-    - name: Save Compiler Cache
+    - name: Build pr-review artifact
      if: always()
-      uses: actions/cache/save@v4
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        python3 Tools/ci/clang-tidy-fixes-to-review.py \
+          --fixes pr-review/fixes.yml \
+          --repo-root "$GITHUB_WORKSPACE" \
+          --repo "$GITHUB_REPOSITORY" \
+          --pr-number "${{ github.event.pull_request.number }}" \
+          --commit-sha "${{ github.event.pull_request.head.sha }}" \
+          --out-dir pr-review \
+          --event COMMENT
+
+    - name: Upload pr-review artifact
+      if: always()
+      uses: actions/upload-artifact@v7
      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        name: pr-review
+        path: |
+          pr-review/manifest.json
+          pr-review/comments.json
+        retention-days: 1
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -23,7 +23,7 @@ jobs:
    runs-on: ubuntu-latest
    steps:
      - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
        with:
          sparse-checkout: Tools/ci
          fetch-depth: 1
@@ -56,7 +56,7 @@ jobs:
    runs-on: ubuntu-latest
    steps:
      - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
        with:
          sparse-checkout: Tools/ci
          fetch-depth: 1
@@ -102,7 +102,7 @@ jobs:
    steps:
      - name: Checkout
        if: env.IS_FORK == 'false'
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
        with:
          sparse-checkout: Tools/ci
          fetch-depth: 1
@@ -19,49 +19,49 @@ concurrency:
 jobs:
  build:
    runs-on: macos-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
    steps:
    - name: install Python 3.10
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
      with:
        python-version: "3.10"

-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
+
+    - name: Cache - Restore Homebrew Packages
+      uses: actions/cache@v5
+      with:
+        path: ~/Library/Caches/Homebrew/downloads
+        key: macos-homebrew-${{ runner.arch }}-${{ hashFiles('Tools/setup/macos.sh') }}
+        restore-keys: |
+          macos-homebrew-${{ runner.arch }}-
+
+    - name: Cache - Restore pip Packages
+      uses: actions/cache@v5
+      with:
+        path: ~/Library/Caches/pip
+        key: macos-pip-${{ runner.arch }}-${{ hashFiles('Tools/setup/requirements.txt') }}
+        restore-keys: |
+          macos-pip-${{ runner.arch }}-

    - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
-    - name: ccache cache files
-      uses: actions/cache@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+        cache-key-prefix: ccache-macos
+        max-size: 200M

-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s
+    - name: Build px4_sitl
+      run: make px4_sitl
+
+    - name: Cache - Stats after px4_sitl
+      run: ccache -s
+
+    - name: Build px4_fmu-v5_default
+      run: make px4_fmu-v5_default
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -29,12 +29,13 @@ jobs:
      fail-fast: false
      matrix:
        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ${{ matrix.version }}
      volumes:
        - /github/workspace:/github/workspace
    steps:
+      - uses: runs-on/action@v2

      - name: Fix git in container
        run: |
@@ -47,11 +48,28 @@ jobs:
          apt update && apt install git -y
          git config --global --add safe.directory $(realpath .)

-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6

-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check
+      - name: Use AWS regional apt mirror
+        if: startsWith(runner.name, 'runs-on--')
+        run: ./Tools/ci/use_aws_apt_mirror.sh
+
+      - name: Install Deps
+        run: ./Tools/setup/ubuntu.sh
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
+          max-size: 200M
+
+      - name: Build px4_sitl_default
+        run: make px4_sitl_default
+
+      - name: Build px4_fmu-v5_default
+        run: make px4_fmu-v5_default
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -24,6 +24,11 @@ on:
        description: 'Container tag (e.g. v1.16.0)'
        required: true
        type: string
+      build_ref:
+        description: 'Git ref to build from (branch, tag, or SHA). Leave empty to build from the dispatch ref.'
+        required: false
+        type: string
+        default: ''
      deploy_to_registry:
        description: 'Whether to push built images to the registry'
        required: false
@@ -45,12 +50,12 @@ jobs:
      meta_tags: ${{ steps.meta.outputs.tags }}
      meta_labels: ${{ steps.meta.outputs.labels }}
    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
-          fetch-tags: true
-          submodules: false
+          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-depth: 0
+          fetch-tags: true

      # If manual dispatch, take the user‐provided input
      - name: Set PX4 Tag Version
@@ -64,7 +69,7 @@ jobs:

      - name: Extract metadata (tags, labels) for Docker
        id: meta
-        uses: docker/metadata-action@v5
+        uses: docker/metadata-action@v6
        with:
          images: |
            ghcr.io/PX4/px4-dev
@@ -89,22 +94,22 @@ jobs:
            runner: x64
    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
-          fetch-tags: true
-          submodules: false
+          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-depth: 0
+          fetch-tags: true

      - name: Login to Docker Hub
-        uses: docker/login-action@v3
+        uses: docker/login-action@v4
        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
+        uses: docker/login-action@v4
        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
        with:
          registry: ghcr.io
@@ -112,13 +117,13 @@ jobs:
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@v4
        with:
          driver: docker-container
          platforms: ${{ matrix.platform }}

      - name: Build and Load Container Image
-        uses: docker/build-push-action@v6
+        uses: docker/build-push-action@v7
        id: docker
        with:
          context: Tools/setup
@@ -131,7 +136,7 @@ jobs:
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
+          cache-to: type=gha,mode=max,scope=${{ matrix.arch }},ignore-error=true

  deploy:
    name: Deploy To Registry
@@ -140,23 +145,26 @@ jobs:
      packages: write
    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    needs: [build, setup]
-    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    if: |
+      !cancelled() &&
+      needs.setup.result == 'success' &&
+      (startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
-          fetch-tags: true
-          submodules: false
+          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-depth: 0
+          fetch-tags: true

      - name: Login to Docker Hub
-        uses: docker/login-action@v3
+        uses: docker/login-action@v4
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
+        uses: docker/login-action@v4
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
@@ -164,10 +172,10 @@ jobs:

      - name: Verify Images Exist Before Creating Manifest
        run: |
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64

      - name: Create and Push Multi-Arch Manifest for Docker Hub
        run: |
@@ -46,8 +46,8 @@ jobs:
      source_changed: ${{ steps.changes.outputs.source }}
      docs_changed: ${{ steps.changes.outputs.docs }}
    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
+      - uses: actions/checkout@v6
+      - uses: dorny/paths-filter@v4
        id: changes
        with:
          filters: |
@@ -70,22 +70,19 @@ jobs:
      contents: read
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
          submodules: recursive
-
-      - name: Git ownership workaround
+      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      - name: Cache Restore - ccache
        id: cache-ccache
-        uses: actions/cache/restore@v4
+        uses: actions/cache/restore@v5
        with:
          path: ~/.ccache
          key: ccache-docs-metadata-${{ github.sha }}
@@ -104,7 +101,7 @@ jobs:
          CCACHE_DIR: ~/.ccache

      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
+        uses: actions/cache/save@v5
        if: always()
        with:
          path: ~/.ccache
@@ -116,7 +113,7 @@ jobs:
          CCACHE_DIR: ~/.ccache

      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
        with:
          name: pr-metadata
          path: docs/
@@ -132,12 +129,12 @@ jobs:
      contents: write
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2

      - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
        with:
          fetch-depth: 0
          submodules: recursive
@@ -148,7 +145,7 @@ jobs:

      - name: Cache Restore - ccache
        id: cache-ccache
-        uses: actions/cache/restore@v4
+        uses: actions/cache/restore@v5
        with:
          path: ~/.ccache
          key: ccache-docs-metadata-${{ github.sha }}
@@ -167,7 +164,7 @@ jobs:
          CCACHE_DIR: ~/.ccache

      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
+        uses: actions/cache/save@v5
        if: always()
        with:
          path: ~/.ccache
@@ -213,25 +210,24 @@ jobs:
    if: always() && (github.event_name == 'pull_request')
    permissions:
      contents: read
-      pull-requests: write
    runs-on: ubuntu-latest
    steps:
      - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
        with:
          ref: ${{ github.event.pull_request.head.sha }}
          fetch-depth: 0

      - name: Download metadata artifact
        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
        with:
          name: pr-metadata
          path: docs/

      - name: Get changed doc files
        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
+        uses: tj-actions/changed-files@v47
        with:
          json: true
          write_output_files: true
@@ -248,7 +244,7 @@ jobs:
          cat ./logs/prFiles.json

      - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
        with:
          node-version: 20

@@ -281,15 +277,35 @@ jobs:
            > ./logs/link-check-results.md || true
          cat ./logs/link-check-results.md

-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
+      - name: Prepare pr-comment artifact
+        id: prepare-pr-comment
+        run: |
+          if [ ! -s ./logs/filtered-link-check-results.md ]; then
+            echo "No link-check results file; skipping pr-comment artifact."
+            echo "prepared=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+          mkdir -p pr-comment
+          cp ./logs/filtered-link-check-results.md pr-comment/body.md
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:docs-link-check -->",
+            "mode": "upsert"
+          }
+          EOF
+          echo "prepared=true" >> "$GITHUB_OUTPUT"
+
+      - name: Upload pr-comment artifact
+        if: steps.prepare-pr-comment.outputs.prepared == 'true'
+        uses: actions/upload-artifact@v7
        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1

      - name: Upload link check results
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
        with:
          name: link-check-results
          path: logs/
@@ -313,16 +329,14 @@ jobs:
      branchname: ${{ steps.set-branch.outputs.branchname }}
      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}

      - name: Download metadata artifact (PR)
        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
        with:
          name: pr-metadata
          path: docs/
@@ -346,7 +360,7 @@ jobs:
          echo "releaseversion=$version" >> $GITHUB_OUTPUT

      - name: Setup Node
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
        with:
          node-version: 20
          cache: npm
@@ -365,7 +379,7 @@ jobs:
          npm run docs:sitemap

      - name: Upload artifact
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
        with:
          name: px4_docs_build
          path: docs/.vitepress/dist/
@@ -387,7 +401,7 @@ jobs:
    runs-on: ubuntu-latest
    steps:
      - name: Download Artifact
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
        with:
          name: px4_docs_build
          path: ~/_book
@@ -22,7 +22,7 @@ jobs:
        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
    steps:
      - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
      - name: Debug Environment Variables
        run: |
          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
@@ -24,7 +24,7 @@ jobs:

    steps:
      - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
      - name: crowdin push
        uses: crowdin/github-action@v2
        with:
@@ -22,12 +22,11 @@ jobs:
  build:
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6

      - name: Setup Node
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
        with:
          node-version: 20
          cache: npm
@@ -46,7 +45,7 @@ jobs:

      - name: Upload artifact
        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
        with:
          name: px4_docs_build
          path: docs/.vitepress/dist/
@@ -59,7 +58,7 @@ jobs:

    steps:
      - name: Download Artifact
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
        with:
          name: px4_docs_build
          path: ~/_book
@@ -1,35 +0,0 @@
-name: EKF Change Indicator
-
-on:
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
-  cancel-in-progress: true
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: main test
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make tests TESTFILTER=EKF
-
-      - name: Check if there is a functional change
-        run: git diff --exit-code
-        working-directory: src/modules/ekf2/test/change_indication
@@ -1,54 +0,0 @@
-name: EKF Update Change Indicator
-
-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: main test
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make tests TESTFILTER=EKF
-
-      - name: Check if there exists diff and save result in variable
-        id: diff-check
-        working-directory: src/modules/ekf2/test/change_indication
-        run: |
-          if git diff --quiet; then
-            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
-          else
-            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
-          fi
-
-      - name: auto-commit any changes to change indication
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
-        with:
-          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
-          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
-          commit_message: |
-            [AUTO COMMIT] update change indication
-
-            See .github/workflows/ekf_update_change_indicator.yml for more details
-
-      - name: if there is a functional change, fail check
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        run: exit 1
@@ -18,7 +18,7 @@ concurrency:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    defaults:
      run:
        shell: bash
@@ -29,22 +29,30 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
      - name: Install Node v20.18.0
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
        with:
          node-version: 20.18.0

-      - uses: actions/checkout@v4
+      - name: Cache - Restore Emscripten SDK
+        id: cache-emsdk
+        uses: actions/cache@v5
        with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
+          path: _emscripten_sdk
+          key: emsdk-4.0.15

      - name: Install empscripten
+        if: steps.cache-emsdk.outputs.cache-hit != 'true'
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
@@ -24,9 +24,9 @@ env:
 jobs:
  analyze_flash:
    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -36,25 +36,58 @@ jobs:
      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
    steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
          submodules: recursive
-
-      - name: Git ownership workaround
+      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

+      - name: Cache - Restore ccache (current)
+        id: cache_current
+        uses: actions/cache/restore@v5
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-
+            ccache-flash-${{ matrix.target }}-current-
+
+      - name: Cache - Configure ccache
+        run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 200M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
      - name: Build Target
        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF with the change
        run: cp ./build/**/*.elf ./with-change.elf

+      - name: Cache - Stats after Current Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (current)
+        if: always()
+        uses: actions/cache/save@v5
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_current.outputs.cache-primary-key }}
+
      - name: Clean previous build
        run: |
          make clean
          make distclean
          make submodulesclean
+          ccache -C

      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
@@ -68,12 +101,34 @@ jobs:
      - name: Update submodules
        run: make submodulesupdate

+      - name: Cache - Restore ccache (baseline)
+        id: cache_baseline
+        uses: actions/cache/restore@v5
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-baseline-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-baseline-
+
+      - name: Cache - Reset ccache stats
+        run: ccache -z
+
      - name: Build
        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF before the change
        run: cp ./build/**/*.elf ./before-change.elf

+      - name: Cache - Stats after Baseline Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (baseline)
+        if: always()
+        uses: actions/cache/save@v5
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_baseline.outputs.cache-primary-key }}
+
      - name: bloaty-action
        uses: PX4/bloaty-action@v1.0.0
        id: bloaty-step
@@ -93,9 +148,6 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT

-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
@@ -105,22 +157,22 @@ jobs:
      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    if: github.event.pull_request
    steps:
      - name: Find Comment
-        uses: peter-evans/find-comment@v3
+        uses: peter-evans/find-comment@v4
        id: fc
        with:
          issue-number: ${{ github.event.pull_request.number }}
          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+          body-includes: '<!-- pr-comment-poster:flash-analysis -->'

      - name: Set Build Time
        id: bt
        run: |
          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT

-      - name: Create or update comment
+      - name: Write pr-comment artifact
        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
        if: |
          steps.fc.outputs.comment-id != '' ||
@@ -128,27 +180,46 @@ jobs:
          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
+        run: |
+          mkdir -p pr-comment
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:flash-analysis -->",
+            "mode": "upsert"
+          }
+          EOF
+          cat > pr-comment/body.md <<'PR_COMMENT_BODY_EOF'
+          <!-- pr-comment-poster:flash-analysis -->
+          ## 🔎 FLASH Analysis
+          <details>
+          <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+          ```
+          </details>
+
+          <details>
+          <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+          ```
+          </details>
+
+          **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          PR_COMMENT_BODY_EOF
+
+      - name: Upload pr-comment artifact
+        if: |
+          steps.fc.outputs.comment-id != '' ||
+          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        uses: actions/upload-artifact@v7
        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
-
-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
-
-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1
@@ -12,19 +12,25 @@ env:

 jobs:
  Fuzzing:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
    steps:
-      - name: Install Dependencies
-        run: |
-          apt update && apt install -y clang
+      - uses: runs-on/action@v2

-      - name: Fix git in Container
-        run: |
-          git config --global --add safe.directory $(realpath .)
+      - uses: actions/checkout@v6

-      - uses: actions/checkout@v4
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Install clang
+        run: apt-get update && apt-get install -y clang
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl
+          max-size: 300M

      - name: Build and Run Fuzz Tests
        run: |
@@ -38,7 +44,11 @@ jobs:
            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
          done

-      # Create a github issue in case of a failure
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
      - name: Create Issue
        if: ${{ failure() }}
        uses: JasonEtco/create-an-issue@v2
@@ -22,9 +22,9 @@ concurrency:
 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
      fail-fast: false
      matrix:
@@ -46,14 +46,19 @@ jobs:
              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
    steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-itcm-${{ matrix.target }}
+          max-size: 200M
+
      - name: Build Target
        run: make ${{ matrix.target }}

@@ -65,3 +70,8 @@ jobs:

      - name: Execute the itcm-check
        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -16,6 +16,6 @@ jobs:
      pull-requests: write

    steps:
-    - uses: actions/labeler@v5
+    - uses: actions/labeler@v6
      with:
        repo-token: "${{ secrets.GITHUB_TOKEN }}"
@@ -1,45 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    strategy:
-      fail-fast: false
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build SITL and Run Tests (inside old ROS container)
-        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_test_mission.test \
-                mission:=MC_mission_box \
-                vehicle:=iris
-            '
@@ -1,44 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    strategy:
-      fail-fast: false
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build SITL and Run Tests (inside old ROS container)
-        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_tests_offboard_posctl.test \
-                vehicle:=iris
-            '
@@ -0,0 +1,73 @@
+name: MAVROS Tests
+
+on:
+  push:
+    branches:
+    - 'main'
+    paths-ignore:
+      - 'docs/**'
+  pull_request:
+    branches:
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    name: "MAVROS ${{ matrix.config.name }}"
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    permissions:
+      contents: read
+    container:
+      image: px4io/px4-dev-ros-noetic:2021-09-08
+    env:
+      PX4_SBOM_DISABLE: 1
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {name: "Mission", test_file: "mavros_posix_test_mission.test", params: "mission:=MC_mission_box vehicle:=iris"}
+          - {name: "Offboard", test_file: "mavros_posix_tests_offboard_posctl.test", params: "vehicle:=iris"}
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Setup - Install Python Test Dependencies
+        run: pip3 install -r Tools/setup/requirements.txt
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl-gazebo-classic
+          max-size: 350M
+
+      - uses: ./.github/actions/build-gazebo-sitl
+
+      - name: Test - MAVROS ${{ matrix.config.name }}
+        run: |
+          ./test/rostest_px4_run.sh \
+            ${{ matrix.config.test_file }} \
+            ${{ matrix.config.params }}
+        timeout-minutes: 10
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+      - name: Upload - Failed Test Logs
+        if: failure()
+        uses: actions/upload-artifact@v7
+        with:
+          name: failed-mavros-${{ matrix.config.name }}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
@@ -1,46 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    strategy:
-      matrix:
-        config:
-          - px4_fmu-v5_default
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build PX4 and Run Test [${{ matrix.config }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
-          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
-          make ${{ matrix.config }} nuttx_context
-
-          echo "Check that the config option is set"
-          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -0,0 +1,155 @@
+name: PR Comment Poster
+
+# Generic PR comment poster. Any analysis workflow (clang-tidy, flash_analysis,
+# fuzz coverage, SITL perf, etc.) can produce a `pr-comment` artifact and this
+# workflow will post or update a sticky PR comment with its contents. Designed
+# so that analysis jobs running on untrusted fork PRs can still get their
+# results posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and `body.md`,
+#      and both are treated as opaque data (JSON parsed by the poster script
+#      and markdown posted verbatim via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use. Validation
+#      happens inside Tools/ci/pr-comment-poster.py which is checked out from
+#      the base branch, not from the artifact.
+#
+#   3. The comment body is passed to the GitHub API as a JSON field, never
+#      interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-comment` artifact.
+#      That is intended.
+#
+#   5. The artifact-name filter (`pr-comment`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-comment` is trusted to have written the
+#      manifest and body itself, NOT copied fork-controlled content into
+#      them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND uses
+#      sparse-checkout to materialize ONLY Tools/ci/pr-comment-poster.py and
+#      its stdlib-only helper module Tools/ci/_github_helpers.py. The rest of
+#      the repo never touches the workspace. This is safe: the only files the
+#      job executes are base-repo Python scripts that were reviewed through
+#      normal code review, never anything from the PR.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-comment` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number": 12345,                                      // required, int > 0
+#       "marker": "<!-- pr-comment-poster:flash-analysis -->",   // required, printable ASCII
+#       "mode": "upsert"                                         // optional, default "upsert"
+#     }
+#
+#   body.md: the markdown content of the comment. Posted verbatim.
+#
+# The `marker` string is used to find an existing comment to update. It MUST
+# be unique per producer (e.g. include the producer name). If no existing
+# comment contains the marker, a new one is created. If the marker is found
+# in an existing comment, that comment is edited in place.
+#
+# Producers MUST write `pr_number` from their own workflow context
+# (`github.event.pull_request.number`) and MUST NOT read it from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-comment` artifact. When a new producer
+    # is wired up, add its workflow name here. Runs of workflows not in this
+    # list will never trigger the poster. Every run of a listed workflow will
+    # trigger the poster, which will no-op if no `pr-comment` artifact exists.
+    workflows:
+      - "FLASH usage analysis"
+      - "Docs - Orchestrator"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Comment
+    runs-on: ubuntu-latest
+    # Only run for pull_request producer runs. Push-to-main and other
+    # non-PR triggers would have no comment to post, and silently no-oping
+    # inside the script made it look like the poster was broken. Gating at
+    # the job level surfaces those as a clean "Skipped" in the UI instead.
+    if: >-
+      github.event.workflow_run.conclusion != 'cancelled'
+      && github.event.workflow_run.event == 'pull_request'
+    steps:
+      # Checkout runs first so the poster script is available AND so that
+      # actions/checkout@v6's default clean step does not delete the artifact
+      # zip that the next step writes into the workspace. Sparse-checkout
+      # restricts the materialized tree to just the poster script.
+      - name: Checkout poster script only
+        uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-comment-poster.py
+            Tools/ci/_github_helpers.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-comment artifact
+        id: download
+        uses: actions/github-script@v9
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-comment');
+            if (!match) {
+              core.info('No pr-comment artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-comment.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-comment
+          unzip -q pr-comment.zip -d pr-comment
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-comment-poster.py validate pr-comment
+
+      - name: Upsert sticky comment
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-comment-poster.py post pr-comment
@@ -0,0 +1,179 @@
+name: PR Review Poster
+
+# Generic PR review-comment poster. Sibling of "PR Comment Poster": that
+# workflow posts sticky issue-style comments, this one posts line-anchored
+# review comments on the "Files changed" tab. Any analysis workflow that
+# wants to flag specific lines can produce a `pr-review` artifact and this
+# workflow will dismiss any stale matching review and post a fresh one.
+# Designed so analysis jobs running on untrusted fork PRs can still get
+# their inline annotations posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and
+#      `comments.json`, and both are treated as opaque data (JSON parsed by
+#      the poster script and the comment fields posted via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use.
+#      `commit_sha` is validated to be 40 lowercase hex characters.
+#      `event` is validated against an allowlist of `COMMENT` only.
+#      `APPROVE` and `REQUEST_CHANGES` are intentionally forbidden:
+#      bots should not approve PRs, and REQUEST_CHANGES reviews cannot
+#      be dismissed by the GITHUB_TOKEN under branch protection rules.
+#      Validation happens inside
+#      Tools/ci/pr-review-poster.py which is checked out from the base
+#      branch, not from the artifact.
+#
+#   3. Comment bodies and the optional summary are passed to the GitHub API
+#      as JSON fields, never interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-review`
+#      artifact. That is intended.
+#
+#   5. The artifact-name filter (`pr-review`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-review` is trusted to have written the
+#      manifest and comments itself, NOT copied fork-controlled content
+#      into them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND
+#      uses sparse-checkout to materialize ONLY
+#      Tools/ci/pr-review-poster.py and its stdlib-only helper module
+#      Tools/ci/_github_helpers.py. The rest of the repo never touches the
+#      workspace. This is safe: the only files the job executes are
+#      base-repo Python scripts that were reviewed through normal code
+#      review, never anything from the PR.
+#
+#   7. Stale-review dismissal is restricted to reviews whose AUTHOR is
+#      `github-actions[bot]` AND whose body contains the producer's
+#      marker. A fork PR cannot impersonate the bot login, and cannot
+#      inject the marker into a human reviewer's body without API
+#      access. Both filters together prevent the poster from ever
+#      dismissing a human review.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-review` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number":  12345,                                      // required, int > 0
+#       "marker":     "<!-- pr-review-poster:clang-tidy -->",     // required, printable ASCII
+#       "event":      "COMMENT",                                   // required, "COMMENT" only
+#       "commit_sha": "0123456789abcdef0123456789abcdef01234567", // required, 40 hex chars
+#       "summary":    "Optional review summary text"              // optional
+#     }
+#
+#   comments.json: JSON array of line-anchored review comment objects:
+#     [
+#       {"path": "src/foo.cpp", "line": 42, "side": "RIGHT", "body": "..."},
+#       {"path": "src/bar.hpp", "start_line": 10, "line": 15,
+#        "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
+#     ]
+#
+# The `marker` string is used to find an existing matching review to
+# dismiss before posting a new one. It MUST be unique per producer (e.g.
+# include the producer name).
+#
+# Producers MUST write `pr_number` and `commit_sha` from their own
+# workflow context (`github.event.pull_request.number` and
+# `github.event.pull_request.head.sha`) and MUST NOT read either from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-review` artifact. When a new
+    # producer is wired up, add its workflow name here. Runs of workflows
+    # not in this list will never trigger the poster. Every run of a
+    # listed workflow will trigger the poster, which will no-op if no
+    # `pr-review` artifact exists.
+    workflows:
+      - "Static Analysis"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Review
+    runs-on: ubuntu-latest
+    # Only run for pull_request producer runs. Push-to-main and other
+    # non-PR triggers have no review to post, so gating at the job level
+    # surfaces those as a clean "Skipped" in the UI instead of a
+    # silent no-op buried inside the script.
+    if: >-
+      github.event.workflow_run.conclusion != 'cancelled'
+      && github.event.workflow_run.event == 'pull_request'
+    steps:
+      # Checkout runs first so the poster scripts are available AND so
+      # that actions/checkout@v6's default clean step does not delete the
+      # artifact zip that the next step writes into the workspace.
+      # Sparse-checkout restricts the materialized tree to just the
+      # poster script and its stdlib helper module.
+      - name: Checkout poster script only
+        uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-review-poster.py
+            Tools/ci/_github_helpers.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-review artifact
+        id: download
+        uses: actions/github-script@v9
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-review');
+            if (!match) {
+              core.info('No pr-review artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-review.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-review
+          unzip -q pr-review.zip -d pr-review
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-review-poster.py validate pr-review
+
+      - name: Post PR review
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-review-poster.py post pr-review
@@ -14,20 +14,23 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-24.04
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
    steps:
-    - uses: actions/checkout@v4
+    - uses: runs-on/action@v2
+    - uses: actions/checkout@v6
      with:
-        fetch-depth: 0
+        fetch-depth: 1

-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Setup Python
+      uses: actions/setup-python@v6
+      with:
+        python-version: "3.10"

    - name: Install tools
-      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+      run: pip install mypy types-requests flake8

    - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+      run: mypy --strict test/mavsdk_tests/*.py

    - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
+      run: flake8 test/mavsdk_tests/*.py
@@ -23,16 +23,18 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: px4io/px4-dev-ros2-galactic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    env:
+      PX4_SBOM_DISABLE: 1
    steps:
-    - uses: actions/checkout@v4
+    - uses: runs-on/action@v2
+    - uses: actions/checkout@v6
      with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
+        fetch-depth: 1
+    - name: Configure Git Safe Directory
      run: git config --system --add safe.directory '*'

    - name: Update ROS Keys
@@ -45,30 +47,21 @@ jobs:
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+        cache-key-prefix: ccache-ros-integration
+        max-size: 400M

-    - name: Get and build micro-xrce-dds-agent
+    - name: Cache - Restore Micro-XRCE-DDS Agent
+      id: cache-xrce-agent
+      uses: actions/cache@v5
+      with:
+        path: /opt/Micro-XRCE-DDS-Agent
+        key: xrce-agent-v2.2.1-fastdds-2.8.2-galactic-2021-09-08
+
+    - name: Build - Micro-XRCE-DDS Agent (v2.2.1)
+      if: steps.cache-xrce-agent.outputs.cache-hit != 'true'
      run: |
        cd /opt
        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
@@ -79,17 +72,27 @@ jobs:
        cd build
        cmake ..
        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s

-    - name: Get and build the ros2 interface library
+    - name: Cache - Restore PX4 ROS 2 Interface Library Workspace
+      id: cache-px4-ros2-ws
+      uses: actions/cache@v5
+      with:
+        path: /opt/px4_ws
+        # Bump 'v1' when the cached workspace layout changes in a way
+        # that is not captured by the message/service hash below.
+        key: px4-ros2-ws-v1-galactic-2021-09-08-${{ hashFiles('msg/*.msg', 'msg/versioned/*.msg', 'srv/*.srv') }}
+
+    - name: Build - PX4 ROS 2 Interface Library
+      if: steps.cache-px4-ros2-ws.outputs.cache-hit != 'true'
      shell: bash
      run: |
        PX4_DIR="$(pwd)"
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
+        # On a PR, target the branch we're merging into (main or release/X.Y).
+        # On a direct push, fall back to the branch we're running on.
+        BRANCH="${GITHUB_BASE_REF:-$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: $BRANCH"
@@ -106,19 +109,8 @@ jobs:
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
        rm -rf src/translation_node src/px4_msgs_old
        colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      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
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
+    - uses: ./.github/actions/build-gazebo-sitl

    - name: Core dump settings
      run: |
@@ -130,12 +122,17 @@ jobs:
      run: |
        . /opt/px4_ws/install/setup.bash
        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --upload --force-color
+        test/ros_test_runner.py --verbose --model iris --force-color
      timeout-minutes: 45

+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
    - name: Upload failed logs
      if: failure()
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
      with:
        name: failed-logs.zip
        path: |
@@ -10,6 +10,9 @@ on:
      - '**'
    paths-ignore:
      - 'docs/**'
+permissions:
+  contents: read
+
 defaults:
  run:
    shell: bash
@@ -20,8 +23,8 @@ concurrency:

 jobs:
  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    name: Build and test [${{ matrix.config.ros_version }}]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    strategy:
      fail-fast: false
      matrix:
@@ -29,33 +32,43 @@ jobs:
          - {ros_version: "humble", ubuntu: "jammy"}
          - {ros_version: "jazzy", ubuntu: "noble"}
    container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+      image: ros:${{ matrix.config.ros_version }}-ros-base-${{ matrix.config.ubuntu }}
    steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
-
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
+      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ros-translation-${{ matrix.config.ros_version }}
+          max-size: 150M
+          base-dir: /ros_ws
+          install-ccache: 'true'
+
      - name: Check .msg file versioning
        if: github.event_name == 'pull_request'
        run: |
          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}

-      - name: Build and test
+      - name: Build - Translation Node
        run: |
          ros_ws=/ros_ws
          mkdir -p $ros_ws/src
          ./Tools/copy_to_ros_ws.sh $ros_ws
          cd $ros_ws
          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_COMPILER_LAUNCHER=ccache --symlink-install --event-handlers=console_cohesion+
+
+      - name: Test - Translation Node Unit Tests
+        run: |
+          source /ros_ws/install/setup.sh
+          /ros_ws/build/translation_node/translation_node_unit_tests
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -30,7 +30,7 @@ jobs:
    runs-on: ubuntu-24.04

    steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
        with:
          fetch-depth: 1
          submodules: false
@@ -20,7 +20,7 @@ jobs:
    runs-on: ubuntu-24.04

    steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
        with:
          ref: ${{ inputs.branch || github.ref }}
          fetch-depth: 1
@@ -39,10 +39,10 @@ jobs:
      - name: Check for issues
        id: check
        run: |
-          if grep -q "NOASSERTION" /tmp/sbom-verify.txt; then
+          if grep -q "<-- UNRESOLVED" /tmp/sbom-verify.txt; then
            echo "has_issues=true" >> "$GITHUB_OUTPUT"
-            # Extract NOASSERTION lines
-            grep "NOASSERTION" /tmp/sbom-verify.txt | grep -v "skipped" > /tmp/sbom-issues.txt || true
+            # Extract only genuinely unresolved license lines
+            grep "<-- UNRESOLVED" /tmp/sbom-verify.txt > /tmp/sbom-issues.txt || true
            # Extract copyleft lines
            sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
          else
@@ -51,7 +51,7 @@ jobs:

      - name: Create issue if problems found
        if: steps.check.outputs.has_issues == 'true'
-        uses: actions/github-script@v7
+        uses: actions/github-script@v9
        with:
          script: |
            const fs = require('fs');
@@ -24,7 +24,7 @@ concurrency:
 jobs:
  build:
    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -37,53 +37,25 @@ jobs:
          # transitions). Re-enable once the test infrastructure is stabilized.
          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+    env:
+      PX4_CMAKE_BUILD_TYPE: ${{ matrix.config.build_type }}
+      PX4_SBOM_DISABLE: 1

    steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
        with:
-          fetch-depth: 0
-
-      - name: Git Ownership Workaround
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - name: Cache Key Config
-        uses: actions/cache@v4
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          cache-key-prefix: ccache-sitl-gazebo-classic
+          max-size: 350M

-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - 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]
-        run: ccache -s
-
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
-
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
+      - uses: ./.github/actions/build-gazebo-sitl

      - name: Download MAVSDK
        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
@@ -96,19 +68,19 @@ jobs:
          PX4_HOME_LAT: ${{matrix.config.latitude}}
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        run: |
            export
            ulimit -a

      - name: Build PX4 / MAVSDK tests
        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
          DONT_RUN: 1
        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests

-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

      - name: Core Dump Settings
        run: |
@@ -120,13 +92,12 @@ jobs:
          PX4_HOME_LAT: ${{matrix.config.latitude}}
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
        timeout-minutes: 45

      - name: Upload failed logs
        if: failure()
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
        with:
          name: failed-${{matrix.config.model}}-logs.zip
          path: |
@@ -140,7 +111,7 @@ jobs:

      - name: Upload PX4 coredump
        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
        with:
          name: coredump
          path: px4.core
@@ -157,7 +128,7 @@ jobs:

      - name: Upload Coverage Information to Codecov
        if: contains(matrix.config.build_type, 'Coverage')
-        uses: codecov/codecov-action@v4
+        uses: codecov/codecov-action@v6
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          flags: mavsdk
@@ -2,6 +2,7 @@ name: 'Handle stale issues and PRs'
 on:
  schedule:
    - cron: '30 1 * * *'
+  workflow_dispatch:

 jobs:
  stale:
@@ -9,7 +10,7 @@ jobs:
    steps:
      - uses: actions/stale@v10
        with:
-          operations-per-run: 250
+          operations-per-run: 1500
          days-before-stale: 90
          days-before-close: 30
          stale-issue-label: 'stale'
@@ -20,7 +20,7 @@ jobs:
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    steps:
      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6

      - name: Setup git credentials
        run: |
@@ -22,7 +22,7 @@ jobs:
      TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
    steps:
      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
        with:
          fetch-depth: 0
          fetch-tags: true
@@ -115,3 +115,6 @@ _emscripten_sdk/

 # virtual Python environment
 .venv
+
+# Claude Code local settings
+.claude/settings.local.json
@@ -229,6 +229,28 @@ endif()
 #
 project(px4 CXX C ASM)

+# Silence Apple ranlib "has no symbols" warnings. Several PX4 sources are
+# wrapped in #if defined(CONFIG_*) guards (e.g. platforms/common/i2c.cpp,
+# spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and some
+# libraries carry a dummy.cpp placeholder, all of which legitimately produce
+# empty object files on POSIX/SITL. GNU ranlib ignores this; Apple's warns.
+#
+# The warning is actually emitted by `ar qc` (which implicitly builds a symbol
+# table), not by the standalone ranlib call. So we use `ar qcS` to skip the
+# implicit symbol table, then let CMAKE_*_ARCHIVE_FINISH run ranlib with the
+# -no_warning_for_no_symbols flag to add it quietly.
+if(APPLE)
+	set(CMAKE_C_ARCHIVE_CREATE    "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_APPEND    "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_FINISH    "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_CXX_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_ASM_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -2,45 +2,82 @@

 ## Our Pledge

-In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
+We as members, contributors, and leaders pledge to make participation in our community a harassment-free experience for everyone, regardless of age, body size, visible or invisible disability, ethnicity, sex characteristics, gender identity and expression, level of experience, education, socio-economic status, nationality, personal appearance, race, caste, color, religion, or sexual identity and orientation.
+
+We pledge to act and interact in ways that contribute to an open, welcoming, diverse, inclusive, and healthy community.

 ## Our Standards

-Examples of behavior that contributes to creating a positive environment include:
+Examples of behavior that contributes to a positive environment for our community include:

-* Using welcoming and inclusive language
-* Being respectful of differing viewpoints and experiences
-* Gracefully accepting constructive criticism
-* Focusing on what is best for the community
-* Showing empathy towards other community members
+* Demonstrating empathy and kindness toward other people
+* Being respectful of differing opinions, viewpoints, and experiences
+* Giving and gracefully accepting constructive feedback
+* Accepting responsibility and apologizing to those affected by our mistakes, and learning from the experience
+* Focusing on what is best not just for us as individuals, but for the overall community

-Examples of unacceptable behavior by participants include:
+Examples of unacceptable behavior include:

-* The use of sexualized language or imagery and unwelcome sexual attention or advances
-* Trolling, insulting/derogatory comments, and personal or political attacks
+* The use of sexualized language or imagery, and sexual attention or advances of any kind
+* Trolling, insulting or derogatory comments, and personal or political attacks
 * Public or private harassment
-* Publishing others' private information, such as a physical or electronic address, without explicit permission
+* Publishing others' private information, such as a physical or email address, without their explicit permission
 * Other conduct which could reasonably be considered inappropriate in a professional setting

-## Our Responsibilities
+## Enforcement Responsibilities

-Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
+Community leaders are responsible for clarifying and enforcing our standards of acceptable behavior and will take appropriate and fair corrective action in response to any behavior that they deem inappropriate, threatening, offensive, or harmful.

-Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
+Community leaders have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, and will communicate reasons for moderation decisions when appropriate.

 ## Scope

-This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
+This Code of Conduct applies within all community spaces, and also applies when an individual is officially representing the community in public spaces. Examples of representing our community include using an official e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event.

 ## Enforcement

-Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at coc@dronecode.org. All complaints will be reviewed and investigated promptly and fairly.

-Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
+All community leaders are obligated to respect the privacy and security of the reporter of any incident.
+
+## Enforcement Guidelines
+
+Community leaders will follow these Community Impact Guidelines in determining the consequences for any action they deem in violation of this Code of Conduct:
+
+### 1. Correction
+
+**Community Impact**: Use of inappropriate language or other behavior deemed unprofessional or unwelcome in the community.
+
+**Consequence**: A private, written warning from community leaders, providing clarity around the nature of the violation and an explanation of why the behavior was inappropriate. A public apology may be requested.
+
+### 2. Warning
+
+**Community Impact**: A violation through a single incident or series of actions.
+
+**Consequence**: A warning with consequences for continued behavior. No interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, for a specified period of time. This includes avoiding interactions in community spaces as well as external channels like social media. Violating these terms may lead to a temporary or permanent ban.
+
+### 3. Temporary Ban
+
+**Community Impact**: A serious violation of community standards, including sustained inappropriate behavior.
+
+**Consequence**: A temporary ban from any sort of interaction or public communication with the community for a specified period of time. No public or private interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, is allowed during this period. Violating these terms may lead to a permanent ban.
+
+### 4. Permanent Ban
+
+**Community Impact**: Demonstrating a pattern of violation of community standards, including sustained inappropriate behavior, harassment of an individual, or aggression toward or disparagement of classes of individuals.
+
+**Consequence**: A permanent ban from any sort of public interaction within the community.

 ## Attribution

-This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 2.1, available at [https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].

-[homepage]: http://contributor-covenant.org
-[version]: http://contributor-covenant.org/version/1/4/
+Community Impact Guidelines were inspired by [Mozilla's code of conduct enforcement ladder][Mozilla CoC].
+
+For answers to common questions about this code of conduct, see the FAQ at [https://www.contributor-covenant.org/faq][FAQ]. Translations are available at [https://www.contributor-covenant.org/translations][translations].
+
+[homepage]: https://www.contributor-covenant.org
+[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
+[Mozilla CoC]: https://github.com/mozilla/diversity
+[FAQ]: https://www.contributor-covenant.org/faq
+[translations]: https://www.contributor-covenant.org/translations
@@ -220,6 +220,10 @@ menu "examples"
 source "src/examples/Kconfig"
 endmenu

+menu "templates"
+source "src/templates/Kconfig"
+endmenu
+
 menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
 source "platforms/Kconfig"
@@ -1,9 +1,11 @@
 Maintainers
 ===========

-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
+PX4 is maintained by a group of contributors trusted to steward the project. All maintainers listed below are members of the @PX4/dev-team, have write access, and participate in maintainer decisions. We recognize two types: **Code Owners**, responsible for specific components, and **Reviewers**, who help across the project without a fixed component.

-**Active Maintainers**
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers) to learn about the role of the maintainers and the process to become one.
+
+**Code Owners**

 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
@@ -23,6 +25,15 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


+**Reviewers**
+
+Reviewers help maintain PX4 across the project without ownership of a specific component.
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Onur Ozkan | [@onur-ozkan](https://github.com/onur-ozkan) | onur_ozkan0126 | <onur@orkavian.com>
+
+
 **Documentation Maintainers**

 | Name | GitHub | Chat | email
@@ -494,7 +494,7 @@ python_coverage:

 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
+.PHONY: scan-build px4_sitl_default-clang px4_sitl_default-clang-test clang-ci clang-tidy clang-tidy-fix
 .PHONY: cppcheck shellcheck_all validate_module_configs

 scan-build:
@@ -512,6 +512,26 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang

+# Clang SITL configure with BUILD_TESTING=ON so test files land in
+# compile_commands.json with resolved gtest/fuzztest includes. Used by CI
+# to produce a compilation database for diff-based clang-tidy that can
+# lint test files. Configure only: we don't build the test binaries here,
+# just generate the database.
+px4_sitl_default-clang-test:
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang-test
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang-test && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -DCMAKE_TESTING=ON
+
+# CI-oriented target that prepares both clang build directories used by
+# the Static Analysis workflow:
+#   - px4_sitl_default-clang:       full build, BUILD_TESTING=OFF.
+#       Used by `make clang-tidy` (push-to-main) and run-clang-tidy-pr.py.
+#   - px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON.
+#       Used by clang-tidy-diff-18.py so test files are in the
+#       compilation database with resolved gtest/fuzztest includes.
+# Running one target ensures both dirs exist before any clang-tidy
+# variant runs, and keeps the workflow free of raw cmake invocations.
+clang-ci: px4_sitl_default-clang px4_sitl_default-clang-test
+
 # Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
 # - All submodules (external code we consume, not edit)
 # - Test code (allowed looser style)
@@ -9,11 +9,16 @@
 </p>

 <p align="center">
-  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
-  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
+  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Release"></a>
  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
-  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
-  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
+  <a href="https://discord.gg/dronecode"><img src="https://img.shields.io/discord/1022170275984457759?label=discord&logo=discord&logoColor=white&color=5865F2" alt="Discord"></a>
+</p>
+
+<p align="center">
+  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
+  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/health-score?project=px4" alt="LFX Health Score"></a>
+  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/contributors?project=px4" alt="LFX Contributors"></a>
+  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/active-contributors?project=px4" alt="LFX Active Contributors"></a>
 </p>

 ---
@@ -65,7 +70,17 @@ PX4 is an open-source autopilot stack for drones and unmanned vehicles. It suppo

 <sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>

-## Quick Start
+## Try PX4
+
+Run PX4 in simulation with a single command. No build tools, no dependencies beyond Docker:
+
+```bash
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest
+```
+
+Open [QGroundControl](https://qgroundcontrol.com) and fly. See [PX4 Simulation Quickstart](../dev_setup/px4_simulation_quickstart.md) for more options.
+
+## Build from Source

 ```bash
 git clone https://github.com/PX4/PX4-Autopilot.git --recursive
@@ -99,6 +114,22 @@ make px4_sitl

 We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.

+## Citation
+
+If you use PX4 in academic work, please cite it. BibTeX:
+
+```bibtex
+@software{px4_autopilot,
+  author    = {Meier, Lorenz and {The PX4 Contributors}},
+  title     = {{PX4 Autopilot}},
+  publisher = {Zenodo},
+  doi       = {10.5281/zenodo.595432},
+  url       = {https://px4.io}
+}
+```
+
+The DOI above is a Zenodo concept DOI that always resolves to the latest release. For a version-pinned citation, see the [Zenodo record](https://doi.org/10.5281/zenodo.595432) or our [`CITATION.cff`](CITATION.cff).
+
 ## Governance

 The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
@@ -193,6 +193,7 @@ endif()
 # board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
+	rc.board_early
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
@@ -14,6 +14,7 @@

 param set UAVCAN_ENABLE 0

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -38,7 +39,6 @@ param set-default SYS_HITL 2
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281

-param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144
@@ -48,3 +48,21 @@ param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+
+# pusher propeller model with advance ratio, model from UIUC APC 8x6"
+param set SIH_F_T_MAX 6
+param set SIH_F_Q_MAX 0.03
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.131
+param set SIH_F_CT1 0.004
+param set SIH_F_CT2 -0.146
+param set SIH_F_CP0 0.0777
+param set SIH_F_CP1 0.0498
+param set SIH_F_CP2 -0.11
+param set SIH_F_DIA_INCH 8
+param set SIH_F_RPM_MAX 9000
+
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_PSP_OFF 0.5
@@ -28,6 +28,7 @@ param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
+param set-default FW_PSP_OFF 5

 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
@@ -56,7 +57,6 @@ param set-default HIL_ACT_REV 32
 param set-default MAV_TYPE 19


-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -66,8 +66,9 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default SENS_DPRES_OFF 0.001

-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
+# tailsitter is equipped with two forward propellers
+param set SIH_F_T_MAX 2
+param set SIH_F_Q_MAX 0.0165
 param set SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set SIH_IXX 0.00354
@@ -77,6 +78,19 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145

+# propeller diameter, rpm, and coeffs coming from the thesis
+# Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
+# Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.1342
+param set SIH_F_CT1 -0.1196
+param set SIH_F_CT2 -0.1281
+param set SIH_F_CP0 0.0522
+param set SIH_F_CP1 -0.0146
+param set SIH_F_CP2 -0.0602
+param set SIH_F_DIA_INCH 5
+param set SIH_F_RPM_MAX 14000
+
 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2

@@ -56,6 +56,7 @@ param set-default CA_SV_CS2_TYPE 4  # rudder
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 10
 param set-default FW_AIRSPD_MAX 12
+param set-default VT_FWD_THRUST_EN 1

 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
@@ -77,6 +78,7 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default SENS_DPRES_OFF 0.001

+# quadrotor propellers
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
@@ -88,5 +90,18 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.2

+# pusher propeller model with advance ratio, model from UIUC APC 8x6"
+param set SIH_F_T_MAX 6
+param set SIH_F_Q_MAX 0.03
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.131
+param set SIH_F_CT1 0.004
+param set SIH_F_CT2 -0.146
+param set SIH_F_CP0 0.0777
+param set SIH_F_CP1 0.0498
+param set SIH_F_CP2 -0.11
+param set SIH_F_DIA_INCH 8
+param set SIH_F_RPM_MAX 9000
+
 # sih as standard vtol
 param set SIH_VEHICLE_TYPE 3
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name SIH Hexacopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set UAVCAN_ENABLE 0
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set SIH_VEHICLE_TYPE 4
+
+# Symmetric hexacopter X clockwise motor numbering
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.866
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.866
+param set-default CA_ROTOR2_PY 0.5
+param set-default CA_ROTOR3_PX -0.866
+param set-default CA_ROTOR3_PY -0.5
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0
+param set-default CA_ROTOR4_PY -1
+param set-default CA_ROTOR5_PX 0.866
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_FUNC6 106
@@ -49,6 +49,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
 		1103_standard_vtol_sih.hil
+		1105_rc_hexa_x_sih.hil
 	)
 	if(CONFIG_MODULES_ROVER_ACKERMANN)
 		px4_add_romfs_files(
@@ -31,11 +31,20 @@ set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
+set STORAGE_CHECK yes
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

+# Fine-grained feature gates.
+set USE_HARDFAULT_LOG no
+set USE_EXTERNAL_AIRFRAMES no
+set USE_PARAM_BACKUPS no
+set USE_PARAM_IMPORT_DEBUG no
+set USE_TASK_WATCHDOG no
+set USE_ALT_UPDATE_DIRS no
+
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
@@ -48,53 +57,81 @@ set PARAM_DEFAULTS_VER 1
 ver all

 #
-# Try to mount the microSD card.
+# Optional early board init: rc.board_early
+# Can be used for setting env vars for rcS.
 #
-if [ -b "/dev/mmcsd0" ]
+set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
+if [ -f $BOARD_RC_EARLY ]
 then
-	if mount -t vfat /dev/mmcsd0 /fs/microsd
-	then
-		if [ -f "/fs/microsd/.format" ]
-		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-			set SDCARD_FORMAT yes
-			rm /fs/microsd/.format
-			umount /fs/microsd
+	. $BOARD_RC_EARLY
+fi
+unset BOARD_RC_EARLY

-		else
+#
+# Try to mount/check storage (rc.board_early can disable this).
+#
+if [ $STORAGE_CHECK = yes ]
+then
+	#
+	# Try to mount the microSD card.
+	#
+	if [ -b "/dev/mmcsd0" ]
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			if [ -f "/fs/microsd/.format" ]
+			then
+				echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+				set SDCARD_FORMAT yes
+				rm /fs/microsd/.format
+				umount /fs/microsd
+
+			else
+				set STORAGE_AVAILABLE yes
+			fi
+		fi
+
+		if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+		then
+			echo "INFO [init] formatting /dev/mmcsd0"
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+			if mkfatfs -F 32 /dev/mmcsd0
+			then
+				echo "INFO [init] card formatted"
+
+				if mount -t vfat /dev/mmcsd0 /fs/microsd
+				then
+					set STORAGE_AVAILABLE yes
+					set STARTUP_TUNE 14 # tune 14 = SD_INIT
+				else
+					echo "ERROR [init] card mount failed"
+				fi
+			else
+				echo "ERROR [init] format failed"
+			fi
+		fi
+	else
+		# Is there a device mounted for storage
+		if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+		then
 			set STORAGE_AVAILABLE yes
 		fi
 	fi
-
-	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
-	then
-		echo "INFO [init] formatting /dev/mmcsd0"
-		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
-
-		if mkfatfs -F 32 /dev/mmcsd0
-		then
-			echo "INFO [init] card formatted"
-
-			if mount -t vfat /dev/mmcsd0 /fs/microsd
-			then
-				set STORAGE_AVAILABLE yes
-				set STARTUP_TUNE 14 # tune 14 = SD_INIT
-			else
-				echo "ERROR [init] card mount failed"
-			fi
-		else
-			echo "ERROR [init] format failed"
-		fi
-	fi
-else
-	# Is there a device mounted for storage
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-	then
-		set STORAGE_AVAILABLE yes
-	fi
 fi

 if [ $STORAGE_AVAILABLE = yes ]
+then
+	set USE_HARDFAULT_LOG yes
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_PARAM_BACKUPS yes
+	set USE_PARAM_IMPORT_DEBUG yes
+	set USE_ALT_UPDATE_DIRS yes
+	set PARAM_FILE /fs/microsd/params
+	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
+fi
+
+if [ $USE_HARDFAULT_LOG = yes ]
 then
 	if hardfault_log check
 	then
@@ -104,7 +141,15 @@ then
 			hardfault_log reset
 		fi
 	fi
+fi

+if [ $USE_TASK_WATCHDOG = yes ]
+then
+	task_watchdog start
+fi
+
+if [ $USE_ALT_UPDATE_DIRS = yes ]
+then
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -112,9 +157,6 @@ then
 		rm -r $SDCARD_EXT_PATH
 		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
 	fi
-
-	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -155,8 +197,11 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				# save copy of the failed param file for debugging
+				cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			fi

 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
@@ -174,11 +219,14 @@ else

 			param status

-			dmesg >> /fs/microsd/param_import_fail.txt &
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				dmesg >> /fs/microsd/param_import_fail.txt &
+			fi
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = yes ]
+	if [ $USE_PARAM_BACKUPS = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -234,12 +282,12 @@ else

 	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# Run external airframe script on SD card or EEPROM-backed storage
+		if [ $USE_EXTERNAL_AIRFRAMES = yes ]
 		then
 			. ${R}etc/init.d/rc.autostart_ext
 		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			echo "ERROR [init] no external airframe storage, skipping"
 		fi
 	fi

@@ -679,9 +727,16 @@ unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
+unset STORAGE_CHECK
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
+unset USE_HARDFAULT_LOG
+unset USE_EXTERNAL_AIRFRAMES
+unset USE_PARAM_BACKUPS
+unset USE_PARAM_IMPORT_DEBUG
+unset USE_TASK_WATCHDOG
+unset USE_ALT_UPDATE_DIRS
 unset VEHICLE_TYPE

 #
@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+"""
+Shared GitHub REST helpers for PX4 CI scripts.
+
+This module is imported by the PR poster scripts under Tools/ci/. It is
+NOT an executable entry point; do not run it directly.
+
+Provides:
+  - fail(msg)              terminates the caller with a clear error
+  - GitHubClient(token)    thin stdlib-only GitHub REST client with
+                           single-request and paginated helpers
+
+Python stdlib only. No third-party dependencies.
+
+History: extracted from Tools/ci/pr-comment-poster.py so that
+pr-comment-poster.py and pr-review-poster.py share the same HTTP plumbing
+without duplicating ~100 lines of request/pagination/error-handling code.
+"""
+
+import json
+import sys
+import typing
+import urllib.error
+import urllib.request
+
+
+GITHUB_API = 'https://api.github.com'
+DEFAULT_USER_AGENT = 'px4-ci'
+API_VERSION = '2022-11-28'
+
+
+def fail(msg: str) -> typing.NoReturn:
+    """Print an error to stderr and exit with status 1.
+
+    Annotated NoReturn so static checkers understand control does not
+    continue past a fail() call.
+    """
+    print('error: {}'.format(msg), file=sys.stderr)
+    sys.exit(1)
+
+
+def _parse_next_link(link_header):
+    """Return the URL for rel="next" from an RFC 5988 Link header, or None.
+
+    The Link header is comma-separated entries of the form:
+      <https://...?page=2>; rel="next", <https://...?page=5>; rel="last"
+    We walk each entry and return the URL of the one whose rel attribute is
+    "next". Accept single-quoted rel values for robustness even though
+    GitHub always emits double quotes.
+    """
+    if not link_header:
+        return None
+    for part in link_header.split(','):
+        segs = part.strip().split(';')
+        if len(segs) < 2:
+            continue
+        url_seg = segs[0].strip()
+        if not (url_seg.startswith('<') and url_seg.endswith('>')):
+            continue
+        url = url_seg[1:-1]
+        for attr in segs[1:]:
+            attr = attr.strip()
+            if attr == 'rel="next"' or attr == "rel='next'":
+                return url
+    return None
+
+
+class GitHubClient:
+    """Minimal GitHub REST client backed by the Python stdlib.
+
+    Each instance holds a token and a user-agent so callers do not have to
+    thread them through every call. Methods return parsed JSON (or None for
+    empty responses) and raise RuntimeError with the server response body on
+    HTTP errors, so CI logs show what the API actually objected to.
+
+    Usage:
+        client = GitHubClient(token, user_agent='px4-pr-comment-poster')
+        body, headers = client.request('GET', 'repos/{o}/{r}/pulls/123')
+        for item in client.paginated('repos/{o}/{r}/pulls/123/reviews'):
+            ...
+    """
+
+    def __init__(self, token, user_agent=DEFAULT_USER_AGENT):
+        if not token:
+            raise ValueError('GitHub token is required')
+        self._token = token
+        self._user_agent = user_agent
+
+    def request(self, method, path_or_url, json_body=None):
+        """GET/POST/PATCH/PUT/DELETE a single API path or absolute URL.
+
+        `path_or_url` may be either a relative API path (e.g.
+        "repos/PX4/PX4-Autopilot/pulls/123") or an absolute URL such as the
+        next-page URL returned from paginated results. Relative paths are
+        prefixed with the GitHub API base.
+
+        Returns (parsed_json_or_none, headers_dict). Raises RuntimeError
+        on HTTP or transport errors.
+        """
+        url = self._resolve(path_or_url)
+        return self._do_request(method, url, json_body)
+
+    def paginated(self, path, per_page=100):
+        """GET a path and follow rel="next" Link headers.
+
+        Yields items from each page's JSON array. Bumps per_page to 100
+        (GitHub's max) so large result sets take fewer round-trips.
+        Raises RuntimeError if any page response is not a JSON array.
+        """
+        url = self._resolve(path)
+        sep = '&' if '?' in url else '?'
+        url = '{}{}per_page={}'.format(url, sep, per_page)
+        while url is not None:
+            body, headers = self._do_request('GET', url, None)
+            if body is None:
+                return
+            if not isinstance(body, list):
+                raise RuntimeError(
+                    'expected JSON array from {}, got {}'.format(
+                        url, type(body).__name__))
+            for item in body:
+                yield item
+            url = _parse_next_link(headers.get('Link'))
+
+    def _resolve(self, path_or_url):
+        if path_or_url.startswith('http://') or path_or_url.startswith('https://'):
+            return path_or_url
+        return '{}/{}'.format(GITHUB_API.rstrip('/'), path_or_url.lstrip('/'))
+
+    def _do_request(self, method, url, json_body):
+        data = None
+        headers = {
+            'Authorization': 'Bearer {}'.format(self._token),
+            'Accept': 'application/vnd.github+json',
+            # Pin the API version so GitHub deprecations don't silently
+            # change the response shape under us.
+            'X-GitHub-Api-Version': API_VERSION,
+            'User-Agent': self._user_agent,
+        }
+        if json_body is not None:
+            data = json.dumps(json_body).encode('utf-8')
+            headers['Content-Type'] = 'application/json; charset=utf-8'
+
+        req = urllib.request.Request(
+            url, data=data, method=method, headers=headers)
+        try:
+            with urllib.request.urlopen(req) as resp:
+                raw = resp.read()
+                # HTTPMessage is case-insensitive on lookup but its items()
+                # preserves the original case. GitHub sends "Link" with a
+                # capital L, which is what _parse_next_link expects.
+                resp_headers = dict(resp.headers.items())
+                if not raw:
+                    return None, resp_headers
+                return json.loads(raw.decode('utf-8')), resp_headers
+        except urllib.error.HTTPError as e:
+            # GitHub error bodies are JSON with a "message" field and often
+            # a "documentation_url". Dump the raw body into the exception so
+            # the CI log shows exactly what the API objected to. A bare
+            # "HTTP 422" tells us nothing useful.
+            try:
+                err_body = e.read().decode('utf-8', errors='replace')
+            except Exception:
+                err_body = '(no body)'
+            raise RuntimeError(
+                'GitHub API {} {} failed: HTTP {} {}\n{}'.format(
+                    method, url, e.code, e.reason, err_body))
+        except urllib.error.URLError as e:
+            # Network layer failure (DNS, TLS, connection reset). No HTTP
+            # response to parse; just surface the transport reason.
+            raise RuntimeError(
+                'GitHub API {} {} failed: {}'.format(method, url, e.reason))
@@ -0,0 +1,71 @@
+# Build All Targets CI Configuration
+#
+# Controls board grouping, cache sizes, runner specs, and seeder targets
+# for the build_all_targets workflow. Forks can customize this file to
+# adjust for their infrastructure (e.g., lower cache sizes for GitHub's
+# 10GB cache limit, fewer CPU cores for smaller runners).
+
+# Container images
+containers:
+  default: "ghcr.io/px4/px4-dev:v1.17.0-rc2"
+  voxl2: "ghcr.io/px4/px4-dev-voxl2:v1.7"
+
+# Runner specs
+runners:
+  seeder_cpu: 8
+  matrix_cpu: 4
+
+# Default ccache max-size for build groups
+cache:
+  default_size: "400M"
+  # Per-chip overrides for groups with many diverse boards
+  chip_sizes:
+    stm32h7: "800M"
+    stm32f4: "800M"
+    stm32f7: "800M"
+    imxrt: "800M"
+
+# Board grouping limits
+grouping:
+  # Max targets per group, tuned for ~10 min wall-clock with warm cache
+  chip_split_limits:
+    stm32h7: 10
+    stm32f7: 12
+    stm32f4: 20
+    stm32f1: 39
+    imxrt: 12
+    kinetis: 14
+    s32k: 17
+    rp2040: 10
+    special: 10
+    native: 17
+  default_split_limit: 12
+  # Minimum targets for a manufacturer to get a named group
+  lower_limit: 3
+  # If last chunk has fewer targets than this, merge into previous chunk
+  merge_back_threshold: 5
+
+# Labels that isolate builds into the "special" group
+special_labels:
+  - lto
+  - protected
+
+# NXP chip families are pooled under "nxp-{chip}" regardless of board directory
+nxp_chip_families:
+  - imxrt
+  - kinetis
+  - s32k
+
+# Seeder targets: one representative build per chip family
+seeders:
+  stm32h7: "px4_fmu-v6x_default"
+  stm32f7: "px4_fmu-v5_default"
+  stm32f4: "px4_fmu-v4_default"
+  stm32f1: "px4_io-v2_default"
+  imxrt: "nxp_mr-tropic_default"
+  kinetis: "nxp_fmuk66-v3_default"
+  s32k: "nxp_mr-canhubk3_default"
+  rp2040: "raspberrypi_pico_default"
+  special: "px4_fmu-v6x_default"
+  native: "px4_sitl_default"
+  voxl2: "modalai_voxl2_default"
@@ -3,7 +3,6 @@
 # Please only modify if you know what you are doing
 set -e

-echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY
 targets=$1
 for target in ${targets//,/ }
 do
@@ -14,6 +13,5 @@ do
    diff=$(($stop-$start))
    build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed"
    echo -e "\033[0;32mBuild Time: [$build_time]"
-    echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY
    echo "::endgroup::"
 done
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+"""
+Filter a git diff for consumption by clang-tidy-diff.
+
+Produces a unified diff containing only files that clang-tidy can
+actually analyze against the current compilation database:
+
+  - C/C++ source files (.c, .cpp, .cc, .cxx, .m, .mm) must be present
+    in compile_commands.json. Files absent from the database are test
+    files, excluded code, or platform-specific sources that were not
+    compiled. Feeding them to clang-tidy-diff produces spurious
+    "header not found" errors (gtest/gtest.h in particular).
+
+  - Header files (.h, .hpp, .hxx) always pass through. clang-tidy
+    analyzes header changes via the TUs that include them; there is
+    no separate TU for a header to match against the database.
+
+  - All other files (CMakeLists.txt, .yml, .md, etc.) are dropped.
+
+Output is a unified diff suitable for piping into clang-tidy-diff.py.
+If nothing remains, the output file is empty.
+
+Used by .github/workflows/clang-tidy.yml as a pre-filter for the
+`pr-review` artifact producer. Python stdlib only.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+
+SOURCE_EXTS = {'.c', '.cpp', '.cc', '.cxx', '.m', '.mm'}
+HEADER_EXTS = {'.h', '.hpp', '.hxx'}
+
+
+def load_db_files(build_dir):
+    """Return the set of source paths (repo-relative) in compile_commands.json."""
+    path = os.path.join(build_dir, 'compile_commands.json')
+    with open(path) as f:
+        db = json.load(f)
+    root = os.path.abspath('.')
+    prefix = root + os.sep
+    paths = set()
+    for entry in db:
+        p = entry.get('file', '')
+        if p.startswith(prefix):
+            paths.add(p[len(prefix):])
+        else:
+            # Relative or external path; record as-is
+            paths.add(p)
+    return paths
+
+
+def changed_files(base_ref):
+    out = subprocess.check_output(
+        ['git', 'diff', '--name-only', '{}...HEAD'.format(base_ref)],
+        text=True,
+    )
+    return [line.strip() for line in out.splitlines() if line.strip()]
+
+
+def keep_file(path, db_files):
+    """Decide whether to keep this path in the filtered diff."""
+    ext = os.path.splitext(path)[1].lower()
+    if ext in HEADER_EXTS:
+        return True
+    if ext in SOURCE_EXTS:
+        return path in db_files
+    return False
+
+
+def filtered_diff(base_ref, keep_paths):
+    if not keep_paths:
+        return ''
+    cmd = ['git', 'diff', '-U0', '{}...HEAD'.format(base_ref), '--'] + sorted(keep_paths)
+    return subprocess.check_output(cmd, text=True)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--build-dir', required=True,
+                        help='CMake build dir containing compile_commands.json')
+    parser.add_argument('--base-ref', required=True,
+                        help='Git ref to diff against (e.g. origin/main)')
+    parser.add_argument('--out', required=True,
+                        help='Output path for the filtered unified diff')
+    args = parser.parse_args()
+
+    db_files = load_db_files(args.build_dir)
+    changed = changed_files(args.base_ref)
+
+    keep = [p for p in changed if keep_file(p, db_files)]
+    dropped = [p for p in changed if p not in keep]
+
+    print('clang-tidy-diff-filter: kept {} of {} changed files'.format(
+        len(keep), len(changed)))
+    if dropped:
+        print('  dropped (not in compile_commands.json or not source/header):')
+        for p in dropped:
+            print('    {}'.format(p))
+
+    diff = filtered_diff(args.base_ref, keep)
+    with open(args.out, 'w') as f:
+        f.write(diff)
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,539 @@
+#!/usr/bin/env python3
+#
+# clang-tidy-fixes-to-review.py
+#
+# Producer-side helper that converts a clang-tidy fixes.yml file into a
+# pr-review artifact (manifest.json + comments.json) suitable for
+# Tools/ci/pr-review-poster.py.
+#
+# This script runs inside the clang-tidy job's px4-dev container so it can
+# read the source tree directly and look up byte offsets in the original
+# files. The output it writes is a fully-baked array of review comments;
+# the poster never reads source files or fixes.yml.
+#
+# ----------------------------------------------------------------------------
+# ATTRIBUTION
+# ----------------------------------------------------------------------------
+# This script reuses the diagnostic-to-review-comment translation logic
+# from platisd/clang-tidy-pr-comments. The original work is:
+#
+#   MIT License
+#
+#   Copyright (c) 2021 Dimitris Platis
+#
+#   Permission is hereby granted, free of charge, to any person obtaining a
+#   copy of this software and associated documentation files (the
+#   "Software"), to deal in the Software without restriction, including
+#   without limitation the rights to use, copy, modify, merge, publish,
+#   distribute, sublicense, and/or sell copies of the Software, and to
+#   permit persons to whom the Software is furnished to do so, subject to
+#   the following conditions:
+#
+#   The above copyright notice and this permission notice shall be included
+#   in all copies or substantial portions of the Software.
+#
+#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+#   OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+#   MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+#   IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+#   CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+#   TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+#   SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# Adapted parts:
+#   - get_diff_line_ranges_per_file() and its inner change_to_line_range()
+#   - generate_review_comments() and its nested helpers
+#       (get_line_by_offset, validate_warning_applicability,
+#        calculate_replacements_diff, markdown, markdown_url,
+#        diagnostic_name_visual, generate_single_comment)
+#   - reorder_diagnostics()
+#
+# Removed parts (handled by Tools/ci/pr-review-poster.py instead):
+#   - post_review_comments / dismiss_change_requests / resolve_conversations
+#   - the original argparse main and the requests-based HTTP layer
+#
+# Adaptation notes:
+#   - The HTTP layer is rewritten on top of Tools/ci/_github_helpers.py so
+#     this script does not depend on the third-party `requests` package.
+#   - Conversation resolution (the GraphQL path) is intentionally dropped
+#     for v1; revisit if it turns out to be missed.
+#   - Clang-Tidy 8 upconvert is preserved verbatim.
+#
+# ----------------------------------------------------------------------------
+# Bounded assumptions (documented for future maintainers):
+#   - Source files are UTF-8 (we read them as latin_1, matching clang-tidy's
+#     own byte-offset model, and the offsets we surface are line counts)
+#   - Source files use LF line endings
+#   - Malformed entries in fixes.yml are skipped with a warning rather than
+#     crashing the job
+#
+# Dependencies: pyyaml + Tools/ci/_github_helpers.py.
+# pyyaml is preinstalled in the px4-dev container; this script is intended
+# to run there, not on bare ubuntu-latest.
+"""Convert a clang-tidy fixes.yml into a pr-review artifact."""
+
+import argparse
+import difflib
+import json
+import os
+import posixpath
+import re
+import sys
+import urllib.parse
+
+import yaml
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+# Markers used inside the per-comment body to call out severity. Plain
+# strings rather than emojis to keep the file emoji-free per project
+# preferences; the rendered Markdown is unaffected.
+SINGLE_COMMENT_MARKERS = {
+    'Error': '**[error]**',
+    'Warning': '**[warning]**',
+    'Remark': '**[remark]**',
+    'fallback': '**[note]**',
+}
+
+
+# ---------------------------------------------------------------------------
+# Diff-range parsing (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def get_diff_line_ranges_per_file(pr_files):
+    """Return a dict mapping each PR file path to a list of line ranges
+    (the +new-side hunks) parsed from its patch."""
+
+    def change_to_line_range(change):
+        split_change = change.split(',')
+        start = int(split_change[0])
+        size = int(split_change[1]) if len(split_change) > 1 else 1
+        return range(start, start + size)
+
+    result = {}
+    for pr_file in pr_files:
+        # Removed binary files etc. have no patch section.
+        if 'patch' not in pr_file:
+            continue
+        file_name = pr_file['filename']
+        # Match lines like '@@ -101,8 +102,11 @@'
+        git_line_tags = re.findall(
+            r'^@@ -.*? +.*? @@', pr_file['patch'], re.MULTILINE)
+        changes = [
+            tag.replace('@@', '').strip().split()[1].replace('+', '')
+            for tag in git_line_tags
+        ]
+        result[file_name] = [
+            change_to_line_range(change) for change in changes
+        ]
+    return result
+
+
+def fetch_pull_request_files(client, repo, pr_number):
+    """Yield file metadata objects for each file modified by the PR."""
+    path = 'repos/{}/pulls/{}/files'.format(repo, pr_number)
+    for entry in client.paginated(path):
+        yield entry
+
+
+# ---------------------------------------------------------------------------
+# Diagnostic ordering (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def reorder_diagnostics(diags):
+    """Return diagnostics ordered Error -> Warning -> Remark -> other."""
+    errors = [d for d in diags if d.get('Level') == 'Error']
+    warnings = [d for d in diags if d.get('Level') == 'Warning']
+    remarks = [d for d in diags if d.get('Level') == 'Remark']
+    others = [
+        d for d in diags
+        if d.get('Level') not in {'Error', 'Warning', 'Remark'}
+    ]
+    if others:
+        print(
+            'warning: some fixes have an unexpected Level (not Error, '
+            'Warning, or Remark)', file=sys.stderr)
+    return errors + warnings + remarks + others
+
+
+# ---------------------------------------------------------------------------
+# Comment generation (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def generate_review_comments(clang_tidy_fixes, repository_root,
+                              diff_line_ranges_per_file,
+                              single_comment_markers):
+    """Yield review comment dicts for each clang-tidy diagnostic that
+    intersects the PR diff."""
+
+    def get_line_by_offset(file_path, offset):
+        # Clang-Tidy doesn't support multibyte encodings and measures
+        # offsets in bytes; latin_1 makes byte offsets and string offsets
+        # equivalent.
+        with open(repository_root + file_path, encoding='latin_1') as fh:
+            source = fh.read()
+        return source[:offset].count('\n') + 1
+
+    def validate_warning_applicability(file_path, start_line_num, end_line_num):
+        assert end_line_num >= start_line_num
+        for line_range in diff_line_ranges_per_file[file_path]:
+            assert line_range.step == 1
+            if (line_range.start <= start_line_num
+                    and end_line_num < line_range.stop):
+                return True
+        return False
+
+    def calculate_replacements_diff(file_path, replacements):
+        # Apply replacements in reverse order so subsequent offsets do not
+        # shift.
+        replacements.sort(key=lambda item: (-item['Offset']))
+        with open(repository_root + file_path, encoding='latin_1') as fh:
+            source = fh.read()
+        changed = source
+        for replacement in replacements:
+            changed = (
+                changed[:replacement['Offset']]
+                + replacement['ReplacementText']
+                + changed[replacement['Offset'] + replacement['Length']:]
+            )
+        return difflib.Differ().compare(
+            source.splitlines(keepends=True),
+            changed.splitlines(keepends=True),
+        )
+
+    def markdown(s):
+        md_chars = '\\`*_{}[]<>()#+-.!|'
+
+        def escape_chars(s):
+            for ch in md_chars:
+                s = s.replace(ch, '\\' + ch)
+            return s
+
+        def unescape_chars(s):
+            for ch in md_chars:
+                s = s.replace('\\' + ch, ch)
+            return s
+
+        s = escape_chars(s)
+        s = re.sub(
+            "'([^']*)'",
+            lambda m: '`` ' + unescape_chars(m.group(1)) + ' ``',
+            s,
+        )
+        return s
+
+    def markdown_url(label, url):
+        return '[{}]({})'.format(label, url)
+
+    def diagnostic_name_visual(diagnostic_name):
+        visual = '**{}**'.format(markdown(diagnostic_name))
+        try:
+            first_dash_idx = diagnostic_name.index('-')
+        except ValueError:
+            return visual
+        namespace = urllib.parse.quote_plus(diagnostic_name[:first_dash_idx])
+        check_name = urllib.parse.quote_plus(
+            diagnostic_name[first_dash_idx + 1:])
+        return markdown_url(
+            visual,
+            'https://clang.llvm.org/extra/clang-tidy/checks/{}/{}.html'.format(
+                namespace, check_name),
+        )
+
+    def generate_single_comment(file_path, start_line_num, end_line_num,
+                                 name, message, single_comment_marker,
+                                 replacement_text=None):
+        result = {
+            'path': file_path,
+            'line': end_line_num,
+            'side': 'RIGHT',
+            'body': '{} {} {}\n{}'.format(
+                single_comment_marker,
+                diagnostic_name_visual(name),
+                single_comment_marker,
+                markdown(message),
+            ),
+        }
+        if start_line_num != end_line_num:
+            result['start_line'] = start_line_num
+            result['start_side'] = 'RIGHT'
+        if replacement_text is not None:
+            if not replacement_text or replacement_text[-1] != '\n':
+                replacement_text += '\n'
+            result['body'] += '\n```suggestion\n{}```'.format(replacement_text)
+        return result
+
+    for diag in clang_tidy_fixes['Diagnostics']:
+        # Upconvert clang-tidy 8 format to 9+
+        if 'DiagnosticMessage' not in diag:
+            diag['DiagnosticMessage'] = {
+                'FileOffset': diag.get('FileOffset'),
+                'FilePath': diag.get('FilePath'),
+                'Message': diag.get('Message'),
+                'Replacements': diag.get('Replacements', []),
+            }
+
+        diag_message = diag['DiagnosticMessage']
+        diag_message['FilePath'] = posixpath.normpath(
+            (diag_message.get('FilePath') or '').replace(repository_root, ''))
+        for replacement in diag_message.get('Replacements') or []:
+            replacement['FilePath'] = posixpath.normpath(
+                replacement['FilePath'].replace(repository_root, ''))
+
+        diag_name = diag.get('DiagnosticName', '<unknown>')
+        diag_message_msg = diag_message.get('Message', '')
+        level = diag.get('Level', 'Warning')
+        single_comment_marker = single_comment_markers.get(
+            level, single_comment_markers['fallback'])
+
+        replacements = diag_message.get('Replacements') or []
+        if not replacements:
+            file_path = diag_message['FilePath']
+            offset = diag_message.get('FileOffset')
+            if offset is None:
+                print('warning: skipping {!r}: missing FileOffset'.format(
+                    diag_name), file=sys.stderr)
+                continue
+            if file_path not in diff_line_ranges_per_file:
+                print(
+                    "'{}' for {} does not apply to the files changed in "
+                    'this PR'.format(diag_name, file_path))
+                continue
+            try:
+                line_num = get_line_by_offset(file_path, offset)
+            except (OSError, ValueError) as e:
+                print('warning: skipping {!r} on {}: {}'.format(
+                    diag_name, file_path, e), file=sys.stderr)
+                continue
+
+            print("Processing '{}' at line {} of {}...".format(
+                diag_name, line_num, file_path))
+            if validate_warning_applicability(file_path, line_num, line_num):
+                yield generate_single_comment(
+                    file_path,
+                    line_num,
+                    line_num,
+                    diag_name,
+                    diag_message_msg,
+                    single_comment_marker=single_comment_marker,
+                )
+            else:
+                print('This warning does not apply to the lines changed '
+                      'in this PR')
+        else:
+            for file_path in {item['FilePath'] for item in replacements}:
+                if file_path not in diff_line_ranges_per_file:
+                    print(
+                        "'{}' for {} does not apply to the files changed "
+                        'in this PR'.format(diag_name, file_path))
+                    continue
+
+                line_num = 1
+                start_line_num = None
+                end_line_num = None
+                replacement_text = None
+
+                try:
+                    diff_iter = calculate_replacements_diff(
+                        file_path,
+                        [r for r in replacements if r['FilePath'] == file_path],
+                    )
+                except (OSError, ValueError) as e:
+                    print('warning: skipping {!r} on {}: {}'.format(
+                        diag_name, file_path, e), file=sys.stderr)
+                    continue
+
+                for line in diff_iter:
+                    # Comment line, ignore.
+                    if line.startswith('? '):
+                        continue
+                    # A '-' line is the start or continuation of a region
+                    # to replace.
+                    if line.startswith('- '):
+                        if start_line_num is None:
+                            start_line_num = line_num
+                            end_line_num = line_num
+                        else:
+                            end_line_num = line_num
+                        if replacement_text is None:
+                            replacement_text = ''
+                        line_num += 1
+                    # A '+' line is part of the replacement text.
+                    elif line.startswith('+ '):
+                        if replacement_text is None:
+                            replacement_text = line[2:]
+                        else:
+                            replacement_text += line[2:]
+                    # A context line marks the end of a replacement region.
+                    elif line.startswith('  '):
+                        if replacement_text is not None:
+                            if start_line_num is None:
+                                # Pure addition: synthesize a one-line
+                                # range and append the context line to
+                                # the replacement.
+                                start_line_num = line_num
+                                end_line_num = line_num
+                                replacement_text += line[2:]
+
+                            print("Processing '{}' at lines {}-{} of {}...".format(
+                                diag_name, start_line_num, end_line_num, file_path))
+
+                            if validate_warning_applicability(
+                                    file_path, start_line_num, end_line_num):
+                                yield generate_single_comment(
+                                    file_path,
+                                    start_line_num,
+                                    end_line_num,
+                                    diag_name,
+                                    diag_message_msg,
+                                    single_comment_marker=single_comment_marker,
+                                    replacement_text=replacement_text,
+                                )
+                            else:
+                                print(
+                                    'This warning does not apply to the '
+                                    'lines changed in this PR')
+
+                            start_line_num = None
+                            end_line_num = None
+                            replacement_text = None
+
+                        line_num += 1
+                    else:
+                        # Unknown difflib prefix; skip rather than abort.
+                        print('warning: unexpected diff prefix {!r}; '
+                              'skipping diagnostic'.format(line[:2]),
+                              file=sys.stderr)
+                        break
+
+                # End of file with a pending replacement region.
+                if replacement_text is not None and start_line_num is not None:
+                    print("Processing '{}' at lines {}-{} of {}...".format(
+                        diag_name, start_line_num, end_line_num, file_path))
+                    if validate_warning_applicability(
+                            file_path, start_line_num, end_line_num):
+                        yield generate_single_comment(
+                            file_path,
+                            start_line_num,
+                            end_line_num,
+                            diag_name,
+                            diag_message_msg,
+                            single_comment_marker=single_comment_marker,
+                            replacement_text=replacement_text,
+                        )
+                    else:
+                        print('This warning does not apply to the lines '
+                              'changed in this PR')
+
+
+# ---------------------------------------------------------------------------
+# Entry point
+# ---------------------------------------------------------------------------
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Convert a clang-tidy fixes.yml into a pr-review '
+                    'artifact (manifest.json + comments.json).',
+    )
+    parser.add_argument('--fixes', required=True,
+                        help='Path to fixes.yml from clang-tidy')
+    parser.add_argument('--repo-root', required=True,
+                        help='Path to the repository root containing the '
+                             'source files referenced by fixes.yml')
+    parser.add_argument('--repo', required=True,
+                        help='owner/name of the repository')
+    parser.add_argument('--pr-number', required=True, type=int,
+                        help='Pull request number')
+    parser.add_argument('--commit-sha', required=True,
+                        help='40-char hex commit SHA the review will pin to')
+    parser.add_argument('--out-dir', required=True,
+                        help='Directory to write manifest.json and '
+                             'comments.json')
+    parser.add_argument(
+        '--marker',
+        default='<!-- pr-review-poster:clang-tidy -->',
+        help='Marker string embedded in the review body so the poster '
+             'can find and dismiss stale runs')
+    parser.add_argument(
+        '--event',
+        default='REQUEST_CHANGES',
+        choices=('COMMENT', 'REQUEST_CHANGES'),
+        help='GitHub review event type')
+    parser.add_argument(
+        '--summary', default='',
+        help='Optional review summary text appended to the review body')
+    args = parser.parse_args(argv)
+
+    if args.pr_number <= 0:
+        _fail('--pr-number must be > 0')
+    if not re.match(r'^[0-9a-f]{40}$', args.commit_sha):
+        _fail('--commit-sha must be a 40-char lowercase hex string')
+
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+
+    # Normalize the repo root with a trailing slash so the platisd-style
+    # str.replace() trick still strips it cleanly.
+    repo_root = args.repo_root
+    if not repo_root.endswith(os.sep):
+        repo_root = repo_root + os.sep
+
+    os.makedirs(args.out_dir, exist_ok=True)
+
+    client = _github_helpers.GitHubClient(token, user_agent='px4-clang-tidy-fixes-to-review')
+
+    print('Fetching PR file list from GitHub...')
+    pr_files = list(fetch_pull_request_files(client, args.repo, args.pr_number))
+    diff_line_ranges_per_file = get_diff_line_ranges_per_file(pr_files)
+
+    print('Loading clang-tidy fixes from {}...'.format(args.fixes))
+    if not os.path.isfile(args.fixes):
+        # No fixes file means clang-tidy ran cleanly. Emit an empty
+        # comments.json so the poster can short-circuit.
+        comments = []
+    else:
+        with open(args.fixes, encoding='utf-8') as fh:
+            clang_tidy_fixes = yaml.safe_load(fh)
+        if (not clang_tidy_fixes
+                or 'Diagnostics' not in clang_tidy_fixes
+                or not clang_tidy_fixes['Diagnostics']):
+            comments = []
+        else:
+            clang_tidy_fixes['Diagnostics'] = reorder_diagnostics(
+                clang_tidy_fixes['Diagnostics'])
+            comments = list(generate_review_comments(
+                clang_tidy_fixes,
+                repo_root,
+                diff_line_ranges_per_file,
+                single_comment_markers=SINGLE_COMMENT_MARKERS,
+            ))
+
+    print('Generated {} review comment(s)'.format(len(comments)))
+
+    manifest = {
+        'pr_number': args.pr_number,
+        'marker': args.marker,
+        'event': args.event,
+        'commit_sha': args.commit_sha,
+    }
+    if args.summary:
+        manifest['summary'] = args.summary
+
+    manifest_path = os.path.join(args.out_dir, 'manifest.json')
+    comments_path = os.path.join(args.out_dir, 'comments.json')
+    with open(manifest_path, 'w', encoding='utf-8') as fh:
+        json.dump(manifest, fh, indent=2)
+        fh.write('\n')
+    with open(comments_path, 'w', encoding='utf-8') as fh:
+        json.dump(comments, fh, indent=2)
+        fh.write('\n')
+
+    print('Wrote {} and {}'.format(manifest_path, comments_path))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -16,6 +16,7 @@ kconf.warn_assign_override = False
 kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+boards_dir = os.path.join(source_dir, '..', 'boards')

 parser = argparse.ArgumentParser(description='Generate build targets')

@@ -26,6 +27,8 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                    help='Groups targets')
 parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-s', '--seeders', dest='seeders', action='store_true',
+                    help='Output seeder matrix JSON (one entry per chip family)')

 args = parser.parse_args()
 verbose = args.verbose
@@ -35,8 +38,14 @@ if args.filter:
    for target in args.filter.split(','):
        target_filter.append(target)

-default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
-voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
+# Load CI configuration from YAML
+import yaml
+ci_config_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'build_all_config.yml')
+with open(ci_config_path) as f:
+    ci_config = yaml.safe_load(f)
+
+default_container = ci_config['containers']['default']
+voxl2_container = ci_config['containers']['voxl2']
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
@@ -56,6 +65,71 @@ excluded_labels = [
    'uavcanv1', # TODO: fix and enable
    ]

+# Labels that mark isolated/special builds (poor cache reuse with normal builds)
+special_labels = ci_config.get('special_labels', ['lto', 'protected'])
+
+def detect_chip_family(manufacturer_name, board_name, label):
+    """Detect the chip family for a board by reading its NuttX defconfig.
+
+    Returns a chip family string used for cache grouping:
+      stm32h7, stm32f7, stm32f4, stm32f1, imxrt, kinetis, s32k, rp2040, native, special
+    """
+    # Special labels get their own group regardless of chip
+    if label in special_labels:
+        return 'special'
+
+    board_path = os.path.join(boards_dir, manufacturer_name, board_name)
+    nsh_defconfig = os.path.join(board_path, 'nuttx-config', 'nsh', 'defconfig')
+
+    if not os.path.exists(nsh_defconfig):
+        # Try bootloader defconfig as fallback
+        bl_defconfig = os.path.join(board_path, 'nuttx-config', 'bootloader', 'defconfig')
+        if os.path.exists(bl_defconfig):
+            nsh_defconfig = bl_defconfig
+        else:
+            return 'native'
+
+    arch_chip = None
+    specific_chip = None
+
+    with open(nsh_defconfig) as f:
+        for line in f:
+            line = line.strip()
+            if line.startswith('CONFIG_ARCH_CHIP='):
+                arch_chip = line.split('=')[1].strip('"')
+            elif line.startswith('CONFIG_ARCH_CHIP_STM32F') and line.endswith('=y'):
+                specific_chip = line.split('=')[0].replace('CONFIG_ARCH_CHIP_', '')
+
+    if arch_chip is None:
+        return 'native'
+
+    # Direct matches for chips that have unique CONFIG_ARCH_CHIP values
+    if arch_chip == 'stm32h7':
+        return 'stm32h7'
+    elif arch_chip == 'stm32f7':
+        return 'stm32f7'
+    elif arch_chip == 'imxrt':
+        return 'imxrt'
+    elif arch_chip == 'kinetis':
+        return 'kinetis'
+    elif arch_chip.startswith('s32k'):
+        return 's32k'
+    elif arch_chip == 'rp2040':
+        return 'rp2040'
+    elif arch_chip == 'stm32':
+        # Disambiguate STM32 sub-families using specific chip define
+        if specific_chip:
+            if specific_chip.startswith('STM32F1'):
+                return 'stm32f1'
+            elif specific_chip.startswith('STM32F4'):
+                return 'stm32f4'
+            else:
+                return 'stm32f4'  # Default STM32 to F4
+        return 'stm32f4'
+    else:
+        return 'native'
+
+target_chip_families = {}  # target_name -> chip_family mapping
 github_action_config = { 'include': build_configs }
 extra_args = {}
 if args.pretty:
@@ -66,11 +140,21 @@ def chunks(arr, size):
    for i in range(0, len(arr), size):
        yield arr[i:i + size]

+MERGE_BACK_THRESHOLD = 5
+
+def chunks_merged(arr, size):
+    """Split array into chunks, merging the last chunk back if it's too small."""
+    result = list(chunks(arr, size))
+    if len(result) > 1 and len(result[-1]) < MERGE_BACK_THRESHOLD:
+        result[-2] = result[-2] + result[-1]
+        result.pop()
+    return result
+
 def comma_targets(targets):
    # turns array of targets into a comma split string
    return ",".join(targets)

-def process_target(px4board_file, target_name):
+def process_target(px4board_file, target_name, manufacturer_name=None, board_dir_name=None, label=None):
    # reads through the board file and grabs
    # useful information for building
    ret = None
@@ -107,6 +191,16 @@ def process_target(px4board_file, target_name):
        if board_name in board_container_overrides:
            container = board_container_overrides[board_name]

+        # Detect chip family for cache grouping
+        chip_family = 'native'
+        if manufacturer_name and board_dir_name:
+            if platform == 'nuttx':
+                chip_family = detect_chip_family(manufacturer_name, board_dir_name, label or '')
+            elif board_name in board_container_overrides or platform in platform_container_overrides:
+                chip_family = 'native'  # voxl2/qurt targets
+            else:
+                chip_family = 'native'
+
        # Boards with container overrides get their own group
        if board_name in board_container_overrides or platform in platform_container_overrides:
            group = 'voxl2'
@@ -124,7 +218,7 @@ def process_target(px4board_file, target_name):
        else:
            if verbose: print(f'unmatched platform: {platform}')

-        ret = {'target': target_name, 'container': container}
+        ret = {'target': target_name, 'container': container, 'chip_family': chip_family}
        if(args.group):
            ret['arch'] = group

@@ -147,6 +241,8 @@ grouped_targets['base']['container'] = default_container
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
+for mt in metadata_targets:
+    target_chip_families[mt] = 'native'

 for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
    if not manufacturer.is_dir():
@@ -177,7 +273,10 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                if label in excluded_labels:
                    if verbose: print(f'excluding label {label} ({target_name})')
                    continue
-                target = process_target(files.path, target_name)
+                target = process_target(files.path, target_name,
+                                       manufacturer_name=manufacturer.name,
+                                       board_dir_name=board.name,
+                                       label=label)
                if (args.group and target is not None):
                    if (target['arch'] not in grouped_targets):
                        grouped_targets[target['arch']] = {}
@@ -186,6 +285,7 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                    if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
                    grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
+                    target_chip_families[target_name] = target['chip_family']
                if target is not None:
                    build_configs.append(target)

@@ -246,6 +346,9 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                if manufacturer.name not in grouped_targets[group]['manufacturers']:
                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+                # Inherit chip_family from the default target
+                default_chip = target_chip_families.get(default_target, 'native')
+                target_chip_families[deb_target] = default_chip
            build_configs.append(target_entry)

 if(verbose):
@@ -261,109 +364,227 @@ if(verbose):
    print("===================")

 if (args.group):
-    # if we are using this script for grouping builds
-    # we loop trough the manufacturers list and split their targets
-    # if a manufacturer has more than a LIMIT of boards then we split that
-    # into sub groups such as "arch-manufacturer name-index"
-    # example:
-    #   nuttx-px4-0
-    #   nuttx-px4-1
-    #   nuttx-px4-2
-    #   nuttx-ark-0
-    #   nuttx-ark-1
-    # if the manufacturer doesn't have more targets than LIMIT then we add
-    # them to a generic group with the following structure "arch-index"
-    # example:
-    #   nuttx-0
-    #   nuttx-1
+    # Group targets by chip family for better ccache reuse.
+    # Targets sharing the same MCU family (e.g. stm32h7) benefit from
+    # a shared ccache seed since they compile the same NuttX kernel and HAL.
+    #
+    # Grouping strategy:
+    #   1. Collect all targets per (arch, chip_family, manufacturer)
+    #   2. Within each chip_family, large manufacturers get their own groups
+    #      named "{manufacturer}-{chip_family}[-N]"
+    #   3. Small manufacturers are merged into "misc-{chip_family}[-N]"
+    #   4. Special groups: "special" (lto/protected/allyes), "io" (stm32f1),
+    #      "voxl2-0" (unchanged)
+    #   5. Non-NuttX groups: "base-N", "aarch64-N", "armhf-N" (unchanged)
    final_groups = []
-    last_man = ''
-    last_arch = ''
-    SPLIT_LIMIT = 10
-    LOWER_LIMIT = 5
+    # Load grouping and cache config
+    grouping_config = ci_config.get('grouping', {})
+    CHIP_SPLIT_LIMITS = grouping_config.get('chip_split_limits', {})
+    DEFAULT_SPLIT_LIMIT = grouping_config.get('default_split_limit', 12)
+    LOWER_LIMIT = grouping_config.get('lower_limit', 3)
+
+    cache_config = ci_config.get('cache', {})
+    DEFAULT_CACHE_SIZE = cache_config.get('default_size', '400M')
+    CHIP_CACHE_SIZES = cache_config.get('chip_sizes', {})
+
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
+
    for arch in grouped_targets:
-        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
+        runner = 'x64'
+        # armhf and aarch64 Linux boards need the arm64 container image
+        # which ships the arm-linux-gnueabihf and aarch64-linux-gnu cross compilers
+        # (the x64 container image does not include them)
+        if arch in ('armhf', 'aarch64'):
+            runner = 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
-        temp_group = []
-        for man in grouped_targets[arch]['manufacturers']:
-            if(verbose):
-                print(f'=:Processing: [{arch}][{man}]')
-            man_len = len(grouped_targets[arch]['manufacturers'][man])
-            if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
-                # Manufacturers can have their own group
+
+        if arch == 'nuttx':
+            # Re-bucket NuttX targets by chip_family then manufacturer
+            chip_man_buckets = {}  # (chip_family, manufacturer) -> [target_names]
+            for man in grouped_targets[arch]['manufacturers']:
+                for target in grouped_targets[arch]['manufacturers'][man]:
+                    chip = target_chip_families.get(target, 'native')
+                    key = (chip, man)
+                    if key not in chip_man_buckets:
+                        chip_man_buckets[key] = []
+                    chip_man_buckets[key].append(target)
+
+            # Collect all chip families present
+            chip_families_seen = sorted(set(k[0] for k in chip_man_buckets.keys()))
+
+            for chip in chip_families_seen:
+                SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get(chip, DEFAULT_SPLIT_LIMIT)
+                # Special naming for certain chip families
+                if chip == 'special':
+                    chip_label = 'special'
+                elif chip == 'stm32f1':
+                    chip_label = 'io'
+                elif chip == 'rp2040':
+                    chip_label = 'special'  # rp2040 goes into special group
+                else:
+                    chip_label = chip
+
+                # Gather all (manufacturer -> targets) for this chip family
+                # NXP chip families (imxrt, kinetis, s32k) pool all manufacturers
+                # under "nxp" since all boards use NXP silicon regardless of
+                # which directory they live in (e.g., px4/fmu-v6xrt is imxrt).
+                nxp_chips = tuple(ci_config.get('nxp_chip_families', ['imxrt', 'kinetis', 's32k']))
+                man_targets = {}
+                for (c, m), targets in chip_man_buckets.items():
+                    if c == chip:
+                        man_key = 'nxp' if chip in nxp_chips else m
+                        if man_key not in man_targets:
+                            man_targets[man_key] = []
+                        man_targets[man_key].extend(targets)
+
+                # Merge rp2040 targets into a flat list for the special group
+                if chip in ('special', 'rp2040'):
+                    all_targets = []
+                    for m in sorted(man_targets.keys()):
+                        all_targets.extend(man_targets[m])
+                    # These get added to the special bucket below
+                    # We'll handle after the chip loop
+                    continue
+
                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers can have their own group')
-                group_name = arch + "-" + man
-                targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
-                final_groups.append({
-                    "container": grouped_targets[arch]['container'],
-                    "targets": targets,
-                    "arch": arch,
-                    "runner": runner,
-                    "group": group_name,
-                    "len": len(grouped_targets[arch]['manufacturers'][man])
-                })
-            elif(man_len >= (SPLIT_LIMIT + 1)):
-                # Split big man groups into subgroups
-                # example: Pixhawk
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers has multiple own groups')
-                chunk_limit = SPLIT_LIMIT
+                    print(f'=:Processing chip_family: [{chip}] ({chip_label})')
+
+                # Split into large-manufacturer groups and misc groups
+                # For NXP-exclusive chip families, always use the nxp name
+                # regardless of target count (there's no other manufacturer to pool with)
+                force_named = chip in nxp_chips
+                temp_group = []  # small manufacturers pooled here
+                for man in sorted(man_targets.keys()):
+                    man_len = len(man_targets[man])
+                    if (force_named or man_len > LOWER_LIMIT) and man_len <= SPLIT_LIMIT:
+                        group_name = f"{man}-{chip_label}"
+                        if(verbose):
+                            print(f'=:  [{man}][{man_len}] -> {group_name}')
+                        final_groups.append({
+                            "container": grouped_targets[arch]['container'],
+                            "targets": comma_targets(man_targets[man]),
+                            "arch": arch,
+                            "chip_family": chip,
+                            "runner": runner,
+                            "group": group_name,
+                            "len": man_len,
+                        })
+                    elif man_len > SPLIT_LIMIT:
+                        chunk_counter = 0
+                        for chunk in chunks_merged(man_targets[man], SPLIT_LIMIT):
+                            group_name = f"{man}-{chip_label}-{chunk_counter}"
+                            if(verbose):
+                                print(f'=:  [{man}][{man_len}] -> {group_name} ({len(chunk)})')
+                            final_groups.append({
+                                "container": grouped_targets[arch]['container'],
+                                "targets": comma_targets(chunk),
+                                "arch": arch,
+                                "chip_family": chip,
+                                "runner": runner,
+                                "group": group_name,
+                                "len": len(chunk),
+                            })
+                            chunk_counter += 1
+                    else:
+                        if(verbose):
+                            print(f'=:  [{man}][{man_len}] -> misc pool')
+                        temp_group.extend(man_targets[man])
+
+                # Emit misc groups for small manufacturers
+                if temp_group:
+                    misc_chunks = chunks_merged(temp_group, SPLIT_LIMIT)
+                    num_misc_chunks = len(misc_chunks)
+                    chunk_counter = 0
+                    for chunk in misc_chunks:
+                        if num_misc_chunks == 1:
+                            group_name = f"misc-{chip_label}"
+                        else:
+                            group_name = f"misc-{chip_label}-{chunk_counter}"
+                        if(verbose):
+                            print(f'=:  [misc][{len(chunk)}] -> {group_name}')
+                        final_groups.append({
+                            "container": grouped_targets[arch]['container'],
+                            "targets": comma_targets(chunk),
+                            "arch": arch,
+                            "chip_family": chip,
+                            "runner": runner,
+                            "group": group_name,
+                            "len": len(chunk),
+                        })
+                        chunk_counter += 1
+
+            # Now handle special + rp2040 targets
+            SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('special', DEFAULT_SPLIT_LIMIT)
+            special_targets = []
+            for (c, m), targets in chip_man_buckets.items():
+                if c in ('special', 'rp2040'):
+                    special_targets.extend(targets)
+            if special_targets:
                chunk_counter = 0
-                for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
-                    group_name = arch + "-" + man + "-" + str(chunk_counter)
-                    targets = comma_targets(chunk)
+                for chunk in chunks_merged(special_targets, SPLIT_LIMIT):
+                    if len(special_targets) <= SPLIT_LIMIT:
+                        group_name = 'special'
+                    else:
+                        group_name = f'special-{chunk_counter}'
+                    if(verbose):
+                        print(f'=:  [special][{len(chunk)}] -> {group_name}')
                    final_groups.append({
                        "container": grouped_targets[arch]['container'],
-                        "targets": targets,
+                        "targets": comma_targets(chunk),
                        "arch": arch,
+                        "chip_family": "special",
                        "runner": runner,
                        "group": group_name,
                        "len": len(chunk),
                    })
                    chunk_counter += 1
-            else:
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers too small group with others')
-                temp_group.extend(grouped_targets[arch]['manufacturers'][man])

-        temp_len = len(temp_group)
-        chunk_counter = 0
-        if(temp_len > 0 and temp_len < (SPLIT_LIMIT + 1)):
-            if(verbose):
-                print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can have their own group')
-            group_name = arch + "-" + str(chunk_counter)
-            targets = comma_targets(temp_group)
-            final_groups.append({
-                "container": grouped_targets[arch]['container'],
-                "targets": targets,
-                "arch": arch,
-                "runner": runner,
-                "group": group_name,
-                "len": temp_len
-            })
-        elif(temp_len >= (SPLIT_LIMIT + 1)):
-            # Split big man groups into subgroups
-            # example: Pixhawk
-            if(verbose):
-                print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can has multpile group')
-            chunk_limit = SPLIT_LIMIT
-            chunk_counter = 0
-            for chunk in chunks(temp_group, chunk_limit):
-                group_name = arch + "-" + str(chunk_counter)
-                targets = comma_targets(chunk)
+        elif arch == 'voxl2':
+            # VOXL2 stays as its own group
+            all_targets = []
+            for man in grouped_targets[arch]['manufacturers']:
+                all_targets.extend(grouped_targets[arch]['manufacturers'][man])
+            if all_targets:
                final_groups.append({
                    "container": grouped_targets[arch]['container'],
-                    "targets": targets,
+                    "targets": comma_targets(all_targets),
                    "arch": arch,
+                    "chip_family": "native",
                    "runner": runner,
-                    "group": group_name,
-                    "len": len(chunk),
+                    "group": "voxl2-0",
+                    "len": len(all_targets),
                })
-                chunk_counter += 1
+
+        else:
+            # Non-NuttX groups (base, aarch64, armhf) - keep simple grouping
+            SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('native', DEFAULT_SPLIT_LIMIT)
+            all_targets = []
+            for man in grouped_targets[arch]['manufacturers']:
+                all_targets.extend(grouped_targets[arch]['manufacturers'][man])
+            if all_targets:
+                chunk_counter = 0
+                for chunk in chunks_merged(all_targets, SPLIT_LIMIT):
+                    if len(all_targets) <= SPLIT_LIMIT:
+                        group_name = f"{arch}-0"
+                    else:
+                        group_name = f"{arch}-{chunk_counter}"
+                    final_groups.append({
+                        "container": grouped_targets[arch]['container'],
+                        "targets": comma_targets(chunk),
+                        "arch": arch,
+                        "chip_family": "native",
+                        "runner": runner,
+                        "group": group_name,
+                        "len": len(chunk),
+                    })
+                    chunk_counter += 1
+
+    # Add cache_size to each group based on chip family
+    for g in final_groups:
+        g['cache_size'] = CHIP_CACHE_SIZES.get(g['chip_family'], DEFAULT_CACHE_SIZE)
+
    if(verbose):
        import pprint
        print("================")
@@ -375,6 +596,58 @@ if (args.group):
        print("= JSON output =")
        print("===============")

-    print(json.dumps({ "include": final_groups }, **extra_args))
+    if args.seeders:
+        # Generate one seeder entry per chip family present in the groups.
+        # Each seeder builds a representative target to warm the ccache for
+        # all groups sharing that chip family.
+        seeder_targets = ci_config.get('seeders', {})
+        seeder_containers = {
+            'native': default_container,
+        }
+        # Determine which chip families actually have groups
+        active_families = set()
+        for g in final_groups:
+            cf = g['chip_family']
+            active_families.add(cf)
+            # voxl2 gets its own seeder with a different container
+            if g['group'].startswith('voxl2'):
+                active_families.add('voxl2')
+
+        seeders = []
+        for cf in sorted(active_families):
+            if cf == 'special':
+                continue  # special group seeds from stm32h7
+            if cf == 'voxl2':
+                seeders.append({
+                    'chip_family': 'voxl2',
+                    'target': 'modalai_voxl2_default',
+                    'container': voxl2_container,
+                    'runner': 'x64',
+                })
+            elif cf == 'native':
+                # One seeder per runner arch that has native groups (exclude voxl2
+                # which has its own seeder with a different container)
+                native_runners = set()
+                for g in final_groups:
+                    if g['chip_family'] == 'native' and not g['group'].startswith('voxl2'):
+                        native_runners.add(g['runner'])
+                for r in sorted(native_runners):
+                    seeders.append({
+                        'chip_family': 'native',
+                        'target': seeder_targets['native'],
+                        'container': default_container,
+                        'runner': r,
+                    })
+            else:
+                seeders.append({
+                    'chip_family': cf,
+                    'target': seeder_targets.get(cf, seeder_targets['stm32h7']),
+                    'container': seeder_containers.get(cf, default_container),
+                    'runner': 'x64',
+                })
+
+        print(json.dumps({ "include": seeders }, **extra_args))
+    else:
+        print(json.dumps({ "include": final_groups }, **extra_args))
 else:
    print(json.dumps(github_action_config, **extra_args))
@@ -478,6 +478,7 @@ def verify_licenses(source_dir):
        sub_dir = source_dir / sub_path

        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
+        has_explicit_override = sub_path in license_overrides
        if not checked_out:
            detected = "(not checked out)"
            override = license_overrides.get(sub_path, "")
@@ -487,9 +488,12 @@ def verify_licenses(source_dir):
            override = license_overrides.get(sub_path, "")
            final = override if override else detected

-        if final == "NOASSERTION" and checked_out:
+        if final == "NOASSERTION" and has_explicit_override:
+            # Explicitly acknowledged in overrides file — not a failure
+            marker = " (acknowledged)"
+        elif final == "NOASSERTION" and checked_out:
            has_noassertion = True
-            marker = " <-- NOASSERTION"
+            marker = " <-- UNRESOLVED"
        elif final == "NOASSERTION" and not checked_out:
            marker = " (skipped)"
        else:
@@ -521,7 +525,7 @@ def verify_licenses(source_dir):
        print()

    if has_noassertion:
-        print("FAIL: Some submodules resolved to NOASSERTION. "
+        print("FAIL: Some submodules have unresolved licenses. "
              "Add an entry to Tools/ci/license-overrides.yaml or check the LICENSE file.")
        return 1

@@ -9,6 +9,12 @@ overrides:
    license: "LGPL-3.0-only AND MIT"
    comment: "Generator is LGPL-3.0; PX4 ships only MIT-licensed generated headers."

+  Tools/simulation/gazebo-classic/sitl_gazebo-classic:
+    license: "BSD-3-Clause"
+    comment: >-
+      PX4 org project. No LICENSE file in repo; source files carry
+      BSD-3-Clause headers consistent with the PX4 project license.
+
  src/lib/cdrstream/cyclonedds:
    license: "EPL-2.0 OR BSD-3-Clause"
    comment: >-
@@ -29,6 +29,9 @@ 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
+  # Also copy to top level: firmware advertises the metadata URI without the events/ subdirectory
+  # (see src/lib/component_information/CMakeLists.txt comp_metadata_events_uri_board)
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/ 2>/dev/null || true
  # SBOM
  cp $build_dir_path/*.sbom.spdx.json artifacts/$build_dir/ 2>/dev/null || true
  ls -la artifacts/$build_dir
@@ -0,0 +1,288 @@
+#!/usr/bin/env python3
+"""
+PR comment poster for analysis workflows.
+
+This script is invoked from the `PR Comment Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-comment`
+artifact produced by an upstream analysis job (clang-tidy, flash_analysis,
+etc.) and posts or updates a sticky PR comment via the GitHub REST API.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number": 12345,                                     (required, int > 0)
+      "marker":    "<!-- pr-comment-poster:flash-analysis -->", (required, printable ASCII)
+      "mode":      "upsert"                                    (optional, default "upsert")
+    }
+
+  body.md
+    Markdown comment body, posted verbatim. Must be non-empty and
+    <= 60000 bytes (GitHub's hard limit is 65535, we cap under).
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and body.md are treated as
+opaque data. The marker is validated to printable ASCII only before use.
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest + body.
+  post <dir>       Validate, then upsert a sticky comment on the target PR.
+                   Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import sys
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+# GitHub hard limit is 65535 bytes. Cap well under to leave headroom for
+# the appended marker line and any future wrapping.
+MAX_BODY_BYTES = 60000
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-comment-poster:flash-analysis -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+ACCEPTED_MODES = ('upsert',)
+
+USER_AGENT = 'px4-pr-comment-poster'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _is_printable_ascii(s):
+    # Space (0x20) through tilde (0x7E) inclusive.
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string.
+
+    The marker is printable ASCII only and bounded in length. The original
+    shell implementation also rejected quotes, backticks, and backslashes
+    because the value flowed through jq and shell contexts. Now that Python
+    owns the handling (the value is only ever used as a substring match in
+    comment bodies and as a literal string in JSON request payloads that
+    urllib serialises for us) those characters are safe. We keep the
+    printable-ASCII and length rules as a belt-and-braces sanity check.
+    """
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/body.md.
+
+    Returns a dict with keys: pr_number (int), marker (str), mode (str),
+    body (str, verbatim contents of body.md).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    body_path = os.path.join(directory, 'body.md')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(body_path):
+        _fail('body.md missing at {}'.format(body_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    # bool is a subclass of int in Python, so isinstance(True, int) is True.
+    # Reject bools explicitly so "true"/"false" in the manifest doesn't silently
+    # validate as 1/0 and then either fail upstream or poke the wrong PR.
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    mode = manifest.get('mode', 'upsert')
+    if mode not in ACCEPTED_MODES:
+        _fail('unsupported mode {!r} (accepted: {})'.format(
+            mode, ', '.join(ACCEPTED_MODES)))
+
+    # Read as bytes first so the size check is an honest byte count (matching
+    # GitHub's own 65535-byte comment limit) before we pay the cost of decoding.
+    try:
+        with open(body_path, 'rb') as f:
+            body_bytes = f.read()
+    except OSError as e:
+        _fail('could not read body.md: {}'.format(e))
+
+    if len(body_bytes) == 0:
+        _fail('body.md is empty')
+    if len(body_bytes) > MAX_BODY_BYTES:
+        _fail('body.md too large: {} bytes (max {})'.format(
+            len(body_bytes), MAX_BODY_BYTES))
+
+    # Require UTF-8 up front so a producer that wrote a garbage encoding fails
+    # here rather than later inside json.dumps with a less obvious traceback.
+    try:
+        body = body_bytes.decode('utf-8')
+    except UnicodeDecodeError as e:
+        _fail('body.md is not valid UTF-8: {}'.format(e))
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'mode': mode,
+        'body': body,
+    }
+
+
+# ---------------------------------------------------------------------------
+# Comment upsert
+# ---------------------------------------------------------------------------
+
+def find_existing_comment_id(client, repo, pr_number, marker):
+    """Return the id of the first PR comment whose body contains marker, or None.
+
+    PR comments are issue comments in GitHub's data model, so we hit
+    /issues/{n}/comments rather than /pulls/{n}/comments (the latter only
+    returns review comments tied to specific code lines, which is not what
+    we want). The match is a plain substring check against the comment body;
+    the marker is expected to be an HTML comment that will not accidentally
+    appear in user-written prose.
+    """
+    path = 'repos/{}/issues/{}/comments'.format(repo, pr_number)
+    for comment in client.paginated(path):
+        body = comment.get('body') or ''
+        if marker in body:
+            return comment.get('id')
+    return None
+
+
+def build_final_body(body, marker):
+    """Append the marker to body if not already present.
+
+    If the caller already embedded the marker (e.g. inside a hidden HTML
+    comment anywhere in their body) we leave the body alone; otherwise we
+    rstrip trailing newlines and append the marker on its own line after a
+    blank-line separator. Trailing-newline stripping keeps the output from
+    accumulating extra blank lines every time an existing comment is
+    re-rendered and re-posted.
+    """
+    if marker in body:
+        return body
+    return '{}\n\n{}\n'.format(body.rstrip('\n'), marker)
+
+
+def upsert_comment(client, repo, pr_number, marker, body):
+    final_body = build_final_body(body, marker)
+    existing_id = find_existing_comment_id(client, repo, pr_number, marker)
+
+    if existing_id is not None:
+        print('Updating comment {} on PR #{}'.format(existing_id, pr_number))
+        client.request(
+            'PATCH',
+            'repos/{}/issues/comments/{}'.format(repo, existing_id),
+            json_body={'body': final_body},
+        )
+    else:
+        print('Creating new comment on PR #{}'.format(pr_number))
+        client.request(
+            'POST',
+            'repos/{}/issues/{}/comments'.format(repo, pr_number),
+            json_body={'body': final_body},
+        )
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print('ok: pr_number={} marker_len={} mode={} body_bytes={}'.format(
+        result['pr_number'],
+        len(result['marker']),
+        result['mode'],
+        len(result['body'].encode('utf-8')),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # GITHUB_TOKEN is provided by the workflow via env; GITHUB_REPOSITORY is
+    # auto-set on every Actions runner. Both are required here because a local
+    # developer running the script directly won't have either unless they
+    # export them, and we want a clear error in that case.
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    # Minimal shape check. If "owner/name" is malformed the subsequent API
+    # calls would 404 with an unhelpful URL. Fail fast here instead.
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
+        upsert_comment(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            body=result['body'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post sticky PR comments from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and body.md in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then upsert a sticky PR comment. Requires env '
+             'GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,481 @@
+#!/usr/bin/env python3
+"""
+PR review-comment poster for analysis workflows.
+
+Sibling of Tools/ci/pr-comment-poster.py. Where pr-comment-poster.py posts
+sticky issue-style PR comments, this script posts line-anchored review
+comments on the "Files changed" tab. Use it for tools like clang-tidy that
+want to flag specific lines instead of (or in addition to) a rollup
+comment.
+
+This script is invoked from the `PR Review Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-review`
+artifact produced by an upstream analysis job and posts a fresh PR review
+via the GitHub REST API, dismissing any stale review the same producer
+left on a previous run.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number":  12345,                                    (required, int > 0)
+      "marker":     "<!-- pr-review-poster:clang-tidy -->",   (required, printable ASCII)
+      "event":      "COMMENT",                                 (required, "COMMENT" only)
+      "commit_sha": "0123456789abcdef0123456789abcdef01234567",(required, 40 hex chars)
+      "summary":    "Optional review body text"                (optional)
+    }
+
+  comments.json
+    JSON array of line-anchored review comment objects:
+      [
+        {"path": "src/foo.cpp", "line": 42, "side": "RIGHT",
+         "body": "..."},
+        {"path": "src/bar.hpp", "start_line": 10, "line": 15,
+         "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
+      ]
+
+Note: `APPROVE` and `REQUEST_CHANGES` events are intentionally NOT
+supported. Bots should never approve a pull request, and REQUEST_CHANGES
+cannot be dismissed by the GITHUB_TOKEN when branch protection restricts
+review dismissals, leading to undismissable spam on every push.
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and comments.json are
+treated as opaque data. The marker is validated to printable ASCII only
+before use, and only reviews authored by github-actions[bot] whose body
+contains the marker can be dismissed (a fork cannot spoof either).
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest +
+                   comments file.
+  post <dir>       Validate, then dismiss any stale matching review and
+                   post a new review on the target PR. Requires env
+                   GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import re
+import sys
+import time
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+USER_AGENT = 'px4-pr-review-poster'
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-review-poster:clang-tidy -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+# Cap per-comment body size well under GitHub's hard limit so we leave
+# headroom for the wrapping JSON envelope. Empirically GitHub allows ~65535
+# bytes per review comment body; 60000 is a safe ceiling.
+MAX_COMMENT_BODY_BYTES = 60000
+
+# Cap on number of comments per single review POST. platisd uses 10. The
+# value matters because GitHub's review-creation endpoint has a payload
+# size limit and review comments occasionally trip an abuse-detection
+# threshold when posted in very large batches. Smaller chunks also let us
+# spread the work across multiple reviews so a single bad entry only
+# fails its own chunk.
+COMMENTS_PER_REVIEW = 10
+
+# Sleep between successive review POSTs to stay clear of GitHub's
+# secondary rate limits. platisd uses 10s; 5s is enough for our volume
+# and cuts user-visible latency.
+SLEEP_BETWEEN_CHUNKS_SECONDS = 5
+
+ACCEPTED_EVENTS = ('COMMENT',)
+ACCEPTED_SIDES = ('LEFT', 'RIGHT')
+COMMIT_SHA_RE = re.compile(r'^[0-9a-f]{40}$')
+
+# The login GitHub assigns to the built-in actions token. Used to filter
+# the list of existing reviews so we never touch a human reviewer's review.
+BOT_LOGIN = 'github-actions[bot]'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _is_printable_ascii(s):
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string. See pr-comment-poster.py for rationale."""
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def _validate_comment_entry(idx, entry):
+    """Validate a single review-comment entry. Raises via _fail on error."""
+    if not isinstance(entry, dict):
+        _fail('comments[{}]: must be an object'.format(idx))
+
+    path = entry.get('path')
+    if not isinstance(path, str) or not path:
+        _fail('comments[{}].path: required non-empty string'.format(idx))
+
+    line = entry.get('line')
+    if not isinstance(line, int) or isinstance(line, bool) or line <= 0:
+        _fail('comments[{}].line: required positive integer'.format(idx))
+
+    side = entry.get('side', 'RIGHT')
+    if side not in ACCEPTED_SIDES:
+        _fail('comments[{}].side: must be one of {} (got {!r})'.format(
+            idx, ', '.join(ACCEPTED_SIDES), side))
+
+    if 'start_line' in entry:
+        start_line = entry['start_line']
+        if (not isinstance(start_line, int)
+                or isinstance(start_line, bool)
+                or start_line <= 0):
+            _fail('comments[{}].start_line: must be positive integer'.format(idx))
+        if start_line >= line:
+            _fail('comments[{}].start_line ({}) must be < line ({})'.format(
+                idx, start_line, line))
+        start_side = entry.get('start_side', side)
+        if start_side not in ACCEPTED_SIDES:
+            _fail('comments[{}].start_side: must be one of {}'.format(
+                idx, ', '.join(ACCEPTED_SIDES)))
+
+    body = entry.get('body')
+    if not isinstance(body, str) or not body:
+        _fail('comments[{}].body: required non-empty string'.format(idx))
+    body_bytes = len(body.encode('utf-8'))
+    if body_bytes > MAX_COMMENT_BODY_BYTES:
+        _fail('comments[{}].body too large: {} bytes (max {})'.format(
+            idx, body_bytes, MAX_COMMENT_BODY_BYTES))
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/comments.json.
+
+    Returns a dict with keys: pr_number, marker, event, commit_sha,
+    summary, comments (list of validated comment dicts).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    comments_path = os.path.join(directory, 'comments.json')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(comments_path):
+        _fail('comments.json missing at {}'.format(comments_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    event = manifest.get('event')
+    if event not in ACCEPTED_EVENTS:
+        _fail('event must be one of {} (got {!r}). APPROVE and '
+              'REQUEST_CHANGES are intentionally forbidden.'.format(
+                  ', '.join(ACCEPTED_EVENTS), event))
+
+    commit_sha = manifest.get('commit_sha')
+    if not isinstance(commit_sha, str) or not COMMIT_SHA_RE.match(commit_sha):
+        _fail('commit_sha must be a 40-character lowercase hex string')
+
+    summary = manifest.get('summary', '')
+    if summary is None:
+        summary = ''
+    if not isinstance(summary, str):
+        _fail('summary must be a string if present')
+
+    try:
+        with open(comments_path, 'r', encoding='utf-8') as f:
+            comments = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('comments.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(comments, list):
+        _fail('comments.json must be a JSON array')
+
+    for idx, entry in enumerate(comments):
+        _validate_comment_entry(idx, entry)
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'event': event,
+        'commit_sha': commit_sha,
+        'summary': summary,
+        'comments': comments,
+    }
+
+
+# ---------------------------------------------------------------------------
+# Stale-review dismissal
+# ---------------------------------------------------------------------------
+
+def find_stale_reviews(client, repo, pr_number, marker):
+    """Yield (id, state) for each existing review owned by the bot AND
+    whose body contains the marker.
+
+    Filtering on BOTH author == github-actions[bot] AND marker-in-body is
+    the security invariant: a fork PR cannot impersonate the bot login,
+    and a fork PR also cannot inject the marker into a human reviewer's
+    body without API access.
+    """
+    path = 'repos/{}/pulls/{}/reviews'.format(repo, pr_number)
+    for review in client.paginated(path):
+        user = review.get('user') or {}
+        if user.get('login') != BOT_LOGIN:
+            continue
+        body = review.get('body') or ''
+        if marker not in body:
+            continue
+        yield review.get('id'), review.get('state')
+
+
+def dismiss_stale_reviews(client, repo, pr_number, marker):
+    """Dismiss (or, for PENDING reviews, delete) every stale matching review.
+
+    Returns the number of reviews that could NOT be dismissed (still active).
+    """
+    dismissal_message = 'Superseded by a newer run'
+    failed_dismissals = 0
+    for review_id, state in find_stale_reviews(client, repo, pr_number, marker):
+        if review_id is None:
+            continue
+        if state in ('DISMISSED', 'COMMENTED'):
+            # Already inert or non-blocking; nothing to do.
+            continue
+        if state == 'PENDING':
+            # PENDING reviews cannot be dismissed; they must be deleted.
+            print('Deleting pending stale review {}'.format(review_id))
+            try:
+                client.request(
+                    'DELETE',
+                    'repos/{}/pulls/{}/reviews/{}'.format(
+                        repo, pr_number, review_id))
+            except RuntimeError as e:
+                failed_dismissals += 1
+                print('warning: failed to delete pending review {}: {}'.format(
+                    review_id, e), file=sys.stderr)
+            continue
+        print('Dismissing stale review {} (state={})'.format(review_id, state))
+        try:
+            client.request(
+                'PUT',
+                'repos/{}/pulls/{}/reviews/{}/dismissals'.format(
+                    repo, pr_number, review_id),
+                json_body={
+                    'message': dismissal_message,
+                    'event': 'DISMISS',
+                },
+            )
+        except RuntimeError as e:
+            failed_dismissals += 1
+            print('warning: failed to dismiss review {}: {}'.format(
+                review_id, e), file=sys.stderr)
+    return failed_dismissals
+
+
+# ---------------------------------------------------------------------------
+# Review posting
+# ---------------------------------------------------------------------------
+
+def _chunk(lst, n):
+    """Yield successive n-sized slices of lst."""
+    for i in range(0, len(lst), n):
+        yield lst[i:i + n]
+
+
+def _build_review_body(marker, summary, chunk_index, chunk_total):
+    """Construct the review body text.
+
+    Always begins with the marker (so future runs can find and dismiss
+    this review). Appends a chunk index when the comment set is split
+    across multiple reviews, and the producer-supplied summary if any.
+    """
+    parts = [marker]
+    if chunk_total > 1:
+        parts.append('({}/{})'.format(chunk_index + 1, chunk_total))
+    if summary:
+        parts.append('')
+        parts.append(summary)
+    return '\n'.join(parts)
+
+
+def _comment_to_api(entry):
+    """Project a validated comment dict to the GitHub API shape."""
+    api = {
+        'path': entry['path'],
+        'line': entry['line'],
+        'side': entry.get('side', 'RIGHT'),
+        'body': entry['body'],
+    }
+    if 'start_line' in entry:
+        api['start_line'] = entry['start_line']
+        api['start_side'] = entry.get('start_side', api['side'])
+    return api
+
+
+def post_review(client, repo, pr_number, marker, event, commit_sha, summary,
+                comments):
+    """Post one or more reviews containing the validated comments.
+
+    Comments are split into COMMENTS_PER_REVIEW-sized chunks. Each chunk
+    becomes its own review POST. A failed chunk logs a warning and the
+    loop continues to the next chunk.
+    """
+    chunks = list(_chunk(comments, COMMENTS_PER_REVIEW))
+    total = len(chunks)
+    if total == 0:
+        print('No comments to post; skipping review creation.')
+        return
+
+    posted_any = False
+    for idx, chunk in enumerate(chunks):
+        if idx > 0:
+            time.sleep(SLEEP_BETWEEN_CHUNKS_SECONDS)
+        body = _build_review_body(marker, summary, idx, total)
+        payload = {
+            'commit_id': commit_sha,
+            'body': body,
+            'event': event,
+            'comments': [_comment_to_api(c) for c in chunk],
+        }
+        print('Posting review chunk {}/{} with {} comment(s)'.format(
+            idx + 1, total, len(chunk)))
+        try:
+            client.request(
+                'POST',
+                'repos/{}/pulls/{}/reviews'.format(repo, pr_number),
+                json_body=payload,
+            )
+            posted_any = True
+        except RuntimeError as e:
+            # Most common cause is HTTP 422: a comment refers to a line
+            # GitHub does not consider part of the diff. Skip the bad
+            # chunk and keep going so other findings still get posted.
+            print('warning: review chunk {}/{} failed: {}'.format(
+                idx + 1, total, e), file=sys.stderr)
+
+    if not posted_any:
+        # If every single chunk failed, surface that as a hard error so
+        # the workflow turns red and a human looks at it.
+        _fail('all review chunks failed to post; see warnings above')
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print(('ok: pr_number={} marker_len={} event={} commit_sha={} '
+           'comments={} summary_len={}').format(
+        result['pr_number'],
+        len(result['marker']),
+        result['event'],
+        result['commit_sha'],
+        len(result['comments']),
+        len(result['summary']),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # Empty comment lists short-circuit silently. A producer that ran but
+    # found nothing to flag should not generate noise on the PR.
+    if len(result['comments']) == 0:
+        print('No comments in artifact; nothing to post.')
+        return 0
+
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
+        undismissed = dismiss_stale_reviews(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+        )
+
+        if undismissed > 0:
+            print('{} prior review(s) could not be dismissed (likely '
+                  'branch protection).'.format(undismissed))
+
+        post_review(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            event=result['event'],
+            commit_sha=result['commit_sha'],
+            summary=result['summary'],
+            comments=result['comments'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post line-anchored PR review comments '
+                    'from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and comments.json in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then dismiss any stale review and post a new one. '
+             'Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+"""
+Run clang-tidy incrementally on files changed in a PR.
+
+Usage: run-clang-tidy-pr.py <base-ref>
+  base-ref: e.g. origin/main
+
+Computes the set of translation units (TUs) affected by the PR diff,
+then invokes Tools/run-clang-tidy.py on that subset only.
+Exits 0 silently when no C++ files were changed.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+EXTENSIONS_CPP = {'.cpp', '.c'}
+EXTENSIONS_HDR = {'.hpp', '.h'}
+# Manual exclusions from Makefile:508
+EXCLUDE_EXTRA = '|'.join([
+    'src/systemcmds/tests',
+    'src/examples',
+    'src/modules/gyro_fft/CMSIS_5',
+    'src/lib/drivers/smbus',
+    'src/drivers/gpio',
+    r'src/modules/commander/failsafe/emscripten',
+    r'failsafe_test\.dir',
+])
+
+
+def repo_root():
+    try:
+        return subprocess.check_output(
+            ['git', 'rev-parse', '--show-toplevel'], text=True).strip()
+    except subprocess.CalledProcessError:
+        print('error: not inside a git repository', file=sys.stderr)
+        sys.exit(1)
+
+
+def changed_files(base_ref, root):
+    try:
+        out = subprocess.check_output(
+            ['git', 'diff', '--name-only', f'{base_ref}...HEAD',
+             '--', '*.cpp', '*.hpp', '*.h', '*.c'],
+            text=True, cwd=root).strip()
+        return out.splitlines() if out else []
+    except subprocess.CalledProcessError:
+        print(f'error: could not diff against "{base_ref}" — '
+              'is the ref valid and fetched?', file=sys.stderr)
+        sys.exit(1)
+
+
+def submodule_paths(root):
+    # Returns [] if .gitmodules is absent or has no paths — both valid
+    try:
+        out = subprocess.check_output(
+            ['git', 'config', '--file', '.gitmodules',
+             '--get-regexp', 'path'],
+            text=True, cwd=root).strip()
+        return [line.split()[1] for line in out.splitlines()]
+    except subprocess.CalledProcessError:
+        return []
+
+
+def build_exclude(root):
+    submodules = '|'.join(submodule_paths(root))
+    return f'{submodules}|{EXCLUDE_EXTRA}' if submodules else EXCLUDE_EXTRA
+
+
+def load_db(build_dir):
+    db_path = os.path.join(build_dir, 'compile_commands.json')
+    if not os.path.isfile(db_path):
+        print(f'error: {db_path} not found', file=sys.stderr)
+        print('Run "make px4_sitl_default-clang" first to generate '
+              'the compilation database', file=sys.stderr)
+        sys.exit(1)
+    try:
+        with open(db_path) as f:
+            return json.load(f)
+    except json.JSONDecodeError as e:
+        print(f'error: compile_commands.json is malformed: {e}', file=sys.stderr)
+        sys.exit(1)
+
+
+def find_tus(changed, db, root):
+    db_files = {e['file'] for e in db}
+    result = set()
+    for f in changed:
+        abs_path = os.path.join(root, f)
+        ext = os.path.splitext(f)[1]
+        if ext in EXTENSIONS_CPP:
+            if abs_path in db_files:
+                result.add(abs_path)
+        elif ext in EXTENSIONS_HDR:
+            hdr = os.path.basename(f)
+            for e in db:
+                try:
+                    if hdr in open(e['file']).read():
+                        result.add(e['file'])
+                except OSError:
+                    pass  # file deleted in PR — skip
+    return sorted(result)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__,
+                                     formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument('base_ref',
+                        help='Git ref to diff against, e.g. origin/main')
+    args = parser.parse_args()
+
+    root = repo_root()
+    build_dir = os.path.join(root, 'build', 'px4_sitl_default-clang')
+
+    run_tidy = os.path.join(root, 'Tools', 'run-clang-tidy.py')
+    if not os.path.isfile(run_tidy):
+        print(f'error: {run_tidy} not found', file=sys.stderr)
+        sys.exit(1)
+
+    changed = changed_files(args.base_ref, root)
+    if not changed:
+        print('No C++ files changed — skipping clang-tidy')
+        sys.exit(0)
+
+    db = load_db(build_dir)
+    tus = find_tus(changed, db, root)
+
+    if not tus:
+        print('No matching TUs in compile_commands.json — skipping clang-tidy')
+        sys.exit(0)
+
+    print(f'Running clang-tidy on {len(tus)} translation unit(s)')
+
+    result = subprocess.run(
+        [sys.executable, run_tidy,
+         '-header-filter=.*\\.hpp',
+         '-j0',
+         f'-exclude={build_exclude(root)}',
+         '-p', build_dir] + tus
+    )
+    sys.exit(result.returncode)
+
+
+if __name__ == '__main__':
+    main()
@@ -0,0 +1,42 @@
+#!/bin/sh
+# Rewrite the container's apt sources to point at the AWS regional Ubuntu
+# mirror that is local to the runs-on instance.
+#
+# The default archive.ubuntu.com round-robin sometimes serves out-of-sync
+# index files mid-sync, breaking apt-get update with errors like:
+#   File has unexpected size (25378 != 25381). Mirror sync in progress?
+# The Canonical-operated EC2 mirrors are region-local and sync aggressively,
+# eliminating that failure mode.
+#
+# This script is a no-op outside runs-on, so it is safe to call from any CI
+# job (forks, self-hosted runners, local docker runs, etc.) without changing
+# behavior there.
+#
+# Usage (from a workflow step running inside the container):
+#   ./Tools/ci/use_aws_apt_mirror.sh
+
+set -e
+
+if [ -z "$RUNS_ON_AWS_REGION" ]; then
+    echo "use_aws_apt_mirror: not running on runs-on (RUNS_ON_AWS_REGION unset), skipping"
+    exit 0
+fi
+
+MIRROR="http://${RUNS_ON_AWS_REGION}.ec2.archive.ubuntu.com/ubuntu"
+echo "use_aws_apt_mirror: rewriting apt sources to ${MIRROR}"
+
+# Noble (24.04+) uses the deb822 format at /etc/apt/sources.list.d/ubuntu.sources
+if [ -f /etc/apt/sources.list.d/ubuntu.sources ]; then
+    sed -i \
+        -e "s|http://archive.ubuntu.com/ubuntu|${MIRROR}|g" \
+        -e "s|http://security.ubuntu.com/ubuntu|${MIRROR}|g" \
+        /etc/apt/sources.list.d/ubuntu.sources
+fi
+
+# Jammy (22.04) and earlier use the legacy /etc/apt/sources.list
+if [ -f /etc/apt/sources.list ]; then
+    sed -i \
+        -e "s|http://archive.ubuntu.com/ubuntu|${MIRROR}|g" \
+        -e "s|http://security.ubuntu.com/ubuntu|${MIRROR}|g" \
+        /etc/apt/sources.list
+fi
@@ -0,0 +1,84 @@
+# syntax=docker/dockerfile:1
+# PX4 SITL Gazebo Harmonic runtime image
+# Runs PX4 SITL with Gazebo Harmonic. Supports X11 forwarding for GUI.
+#
+# Build:
+#   make px4_sitl_default && cd build/px4_sitl_default && cpack -G DEB && cd ../..
+#   docker build -f Tools/packaging/Dockerfile.gazebo -t px4io/px4-sitl-gazebo:v1.17.0 build/px4_sitl_default/
+#
+# Run (headless):
+#   docker run --rm -it --network host px4io/px4-sitl-gazebo:v1.17.0
+#
+# Run (X11 GUI):
+#   xhost +local:docker
+#   docker run --rm -it --network host \
+#     -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
+#     --gpus all px4io/px4-sitl-gazebo:v1.17.0
+
+FROM ubuntu:24.04 AS extract
+COPY px4-gazebo_*.deb /tmp/
+RUN apt-get update && apt-get install -y --no-install-recommends binutils \
+    && dpkg -x /tmp/px4-gazebo_*.deb /staging \
+    && strip /staging/opt/px4-gazebo/bin/px4 \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM ubuntu:24.04
+LABEL maintainer="PX4 Development Team"
+LABEL description="PX4 SITL with Gazebo Harmonic simulation"
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV RUNS_IN_DOCKER=true
+
+# Install Gazebo Harmonic with buildkit cache mounts for apt
+# The --mount=type=cache persists /var/cache/apt and /var/lib/apt across builds
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update \
+    && apt-get install -y --no-install-recommends \
+        bc \
+        ca-certificates \
+        gnupg \
+        lsb-release \
+        wget \
+    && wget -q https://packages.osrfoundation.org/gazebo.gpg \
+        -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
+        > /etc/apt/sources.list.d/gazebo-stable.list \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends \
+        gz-harmonic
+
+# Install PX4 files from .deb
+COPY --from=extract /staging/opt/px4-gazebo /opt/px4-gazebo
+RUN ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo
+
+# Create the DART physics engine symlink (avoids needing the -dev package)
+RUN GZ_PHYSICS_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1) \
+    && if [ -n "$GZ_PHYSICS_DIR" ] && [ -d "$GZ_PHYSICS_DIR" ]; then \
+        VERSIONED=$(ls "$GZ_PHYSICS_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1) \
+        && [ -n "$VERSIONED" ] \
+        && ln -sf "$(basename "$VERSIONED")" "$GZ_PHYSICS_DIR/libgz-physics-dartsim-plugin.so"; \
+    fi
+
+# Gazebo resource paths
+ENV GZ_SIM_RESOURCE_PATH=/opt/px4-gazebo/share/gz/models:/opt/px4-gazebo/share/gz/worlds
+ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/px4-gazebo/lib/gz/plugins
+ENV GZ_SIM_SERVER_CONFIG_PATH=/opt/px4-gazebo/share/gz/server.config
+ENV PX4_GZ_MODELS=/opt/px4-gazebo/share/gz/models
+ENV PX4_GZ_WORLDS=/opt/px4-gazebo/share/gz/worlds
+
+ENV PX4_SIM_MODEL=gz_x500
+ENV HOME=/root
+
+# MAVLink, MAVSDK, DDS
+EXPOSE 14550/udp 14540/udp 8888/udp
+
+# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
+# host.docker.internal and configures MAVLink + DDS to target the host.
+COPY px4-entrypoint.sh /opt/px4-gazebo/bin/px4-entrypoint.sh
+RUN chmod +x /opt/px4-gazebo/bin/px4-entrypoint.sh
+
+WORKDIR /root
+
+ENTRYPOINT ["/opt/px4-gazebo/bin/px4-entrypoint.sh"]
+CMD []
@@ -0,0 +1,49 @@
+# syntax=docker/dockerfile:1
+# PX4 SITL SIH runtime image
+# Minimal container that runs PX4 with the SIH physics engine (no Gazebo).
+#
+# Build:
+#   make px4_sitl_sih && cd build/px4_sitl_sih && cpack -G DEB && cd ../..
+#   docker build -f Tools/packaging/Dockerfile.sih -t px4io/px4-sitl:v1.17.0 build/px4_sitl_sih/
+#
+# Run (Linux):
+#   docker run --rm -it --network host px4io/px4-sitl:v1.17.0
+#
+# Run (macOS / Windows):
+#   docker run --rm -it -p 14550:14550/udp -p 14540:14540/udp -p 19410:19410/udp -p 8888:8888/udp px4io/px4-sitl:v1.17.0
+
+FROM ubuntu:24.04 AS build
+COPY px4_*.deb /tmp/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update \
+    && apt-get install -y --no-install-recommends binutils \
+    && dpkg -x /tmp/px4_*.deb /staging \
+    && strip /staging/opt/px4/bin/px4
+
+FROM ubuntu:24.04
+LABEL maintainer="PX4 Development Team"
+LABEL description="PX4 SITL with SIH physics (no simulator dependencies)"
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install -y --no-install-recommends bc
+
+COPY --from=build /staging/opt/px4 /opt/px4
+RUN ln -sf /opt/px4/bin/px4 /usr/bin/px4
+
+# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
+# host.docker.internal and configures MAVLink + DDS to target the host.
+COPY px4-entrypoint.sh /opt/px4/bin/px4-entrypoint.sh
+RUN chmod +x /opt/px4/bin/px4-entrypoint.sh
+
+ENV PX4_SIM_MODEL=sihsim_quadx
+ENV HOME=/root
+
+# MAVLink (QGC, MAVSDK), DDS (ROS 2), jMAVSim/viewer display
+EXPOSE 14550/udp 14540/udp 19410/udp 8888/udp
+
+WORKDIR /root
+
+ENTRYPOINT ["/opt/px4/bin/px4-entrypoint.sh"]
+CMD []
@@ -0,0 +1,4 @@
+#!/bin/sh
+set -e
+ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo
+exit 0
@@ -0,0 +1,6 @@
+#!/bin/sh
+set -e
+if [ "$1" = "remove" ] || [ "$1" = "purge" ]; then
+    rm -f /usr/bin/px4-gazebo
+fi
+exit 0
@@ -0,0 +1,35 @@
+#!/bin/sh
+# Docker entrypoint for PX4 SITL containers.
+#
+# On Docker Desktop (macOS/Windows), host.docker.internal resolves to the
+# host machine. We detect this and configure MAVLink + DDS to send to the
+# host IP instead of localhost (which stays inside the container VM).
+#
+# On Linux with --network host, host.docker.internal does not resolve and
+# PX4 defaults work without modification.
+
+set -e
+
+# Detect install prefix (SIH uses /opt/px4, Gazebo uses /opt/px4-gazebo)
+if [ -d /opt/px4-gazebo ]; then
+    PX4_PREFIX=/opt/px4-gazebo
+else
+    PX4_PREFIX=/opt/px4
+fi
+
+# Resolve host.docker.internal to an IPv4 address. mavlink and uxrce_dds_client
+# only parse IPv4, and on Docker Desktop for Windows the default `getent hosts`
+# lookup can return an IPv6 ULA first, which both modules then reject.
+DOCKER_HOST_IP=$(getent ahostsv4 host.docker.internal 2>/dev/null | awk '/STREAM/ {print $1; exit}')
+
+if [ -n "$DOCKER_HOST_IP" ]; then
+    # MAVLink: replace default target (127.0.0.1) with the Docker host IP
+    sed -i "s/mavlink start -x -u/mavlink start -x -t $DOCKER_HOST_IP -u/g" \
+        "$PX4_PREFIX/etc/init.d-posix/px4-rc.mavlink"
+
+    # DDS: point uXRCE-DDS client at the host
+    sed -i "s|uxrce_dds_client start -t udp|uxrce_dds_client start -t udp -h $DOCKER_HOST_IP|" \
+        "$PX4_PREFIX/etc/init.d-posix/rcS"
+fi
+
+exec "$PX4_PREFIX/bin/px4" "$@"
@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+# px4-gazebo: Launch PX4 SITL with Gazebo from the installed .deb package
+set -e
+
+PX4_GAZEBO_DIR="$(cd "$(dirname "$(readlink -f "$0")")/.." && pwd)"
+PX4_BINARY="${PX4_GAZEBO_DIR}/bin/px4"
+
+# Set Gazebo resource paths so gz-sim finds PX4 models, worlds, and plugins.
+export PX4_GZ_MODELS="${PX4_GAZEBO_DIR}/share/gz/models"
+export PX4_GZ_WORLDS="${PX4_GAZEBO_DIR}/share/gz/worlds"
+export PX4_GZ_PLUGINS="${PX4_GAZEBO_DIR}/lib/gz/plugins"
+export PX4_GZ_SERVER_CONFIG="${PX4_GAZEBO_DIR}/share/gz/server.config"
+export GZ_SIM_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}:${PX4_GZ_MODELS}:${PX4_GZ_WORLDS}"
+export GZ_SIM_SYSTEM_PLUGIN_PATH="${GZ_SIM_SYSTEM_PLUGIN_PATH}:${PX4_GZ_PLUGINS}"
+export GZ_SIM_SERVER_CONFIG_PATH="${PX4_GZ_SERVER_CONFIG}"
+
+# Gazebo's Physics system searches for "gz-physics-dartsim-plugin" which maps
+# to the unversioned libgz-physics-dartsim-plugin.so. The runtime package only
+# ships versioned .so files; the unversioned symlink lives in the -dev package.
+# Create it if missing so Gazebo finds the DART engine without installing -dev.
+GZ_PHYSICS_ENGINE_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1)
+if [ -n "$GZ_PHYSICS_ENGINE_DIR" ] && [ -d "$GZ_PHYSICS_ENGINE_DIR" ]; then
+    UNVERSIONED="$GZ_PHYSICS_ENGINE_DIR/libgz-physics-dartsim-plugin.so"
+    if [ ! -e "$UNVERSIONED" ]; then
+        VERSIONED=$(ls "$GZ_PHYSICS_ENGINE_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1)
+        if [ -n "$VERSIONED" ]; then
+            ln -sf "$(basename "$VERSIONED")" "$UNVERSIONED" 2>/dev/null || true
+        fi
+    fi
+fi
+
+exec "${PX4_BINARY}" "$@"
@@ -0,0 +1,4 @@
+#!/bin/sh
+set -e
+ln -sf /opt/px4/bin/px4 /usr/bin/px4
+exit 0
@@ -0,0 +1,6 @@
+#!/bin/sh
+set -e
+if [ "$1" = "remove" ] || [ "$1" = "purge" ]; then
+    rm -f /usr/bin/px4
+fi
+exit 0
@@ -0,0 +1,144 @@
+#!/usr/bin/env python3
+"""
+MAVSDK mission test for PX4 SIH SITL in Docker.
+
+Takes off to 100m, flies a short 4-waypoint box mission, then lands.
+Validates that the SIH Docker container works end-to-end with MAVSDK.
+
+Prerequisites:
+  - Docker container running:
+      docker run --rm --network host px4io/px4-sitl:v1.17.0-alpha1
+  - pip install mavsdk
+  - mavsim-viewer running (optional):
+      /path/to/mavsim-viewer -n 1
+
+Usage:
+  python3 Tools/packaging/test_sih_mission.py
+  python3 Tools/packaging/test_sih_mission.py --speed 10   # faster-than-realtime
+"""
+
+import asyncio
+import argparse
+import sys
+import time
+
+from mavsdk import System
+from mavsdk.mission import MissionItem, MissionPlan
+
+
+async def run_mission(speed_factor: int = 1):
+    drone = System()
+    print(f"Connecting to drone on udp://:14540 ...")
+    await drone.connect(system_address="udp://:14540")
+
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"Connected (UUID: {state.uuid if hasattr(state, 'uuid') else 'N/A'})")
+            break
+
+    print("Waiting for global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("Global position OK")
+            break
+
+    # Get home position for reference
+    async for pos in drone.telemetry.position():
+        home_lat = pos.latitude_deg
+        home_lon = pos.longitude_deg
+        print(f"Home position: {home_lat:.6f}, {home_lon:.6f}")
+        break
+
+    # Build a small box mission at 100m AGL
+    # ~100m offset in each direction
+    offset = 0.001  # roughly 111m at equator
+    mission_items = [
+        MissionItem(
+            home_lat + offset, home_lon,
+            100, 10, True, float('nan'), float('nan'),
+            MissionItem.CameraAction.NONE,
+            float('nan'), float('nan'), float('nan'),
+            float('nan'), float('nan'),
+            MissionItem.VehicleAction.NONE,
+        ),
+        MissionItem(
+            home_lat + offset, home_lon + offset,
+            100, 10, True, float('nan'), float('nan'),
+            MissionItem.CameraAction.NONE,
+            float('nan'), float('nan'), float('nan'),
+            float('nan'), float('nan'),
+            MissionItem.VehicleAction.NONE,
+        ),
+        MissionItem(
+            home_lat, home_lon + offset,
+            100, 10, True, float('nan'), float('nan'),
+            MissionItem.CameraAction.NONE,
+            float('nan'), float('nan'), float('nan'),
+            float('nan'), float('nan'),
+            MissionItem.VehicleAction.NONE,
+        ),
+        MissionItem(
+            home_lat, home_lon,
+            100, 10, True, float('nan'), float('nan'),
+            MissionItem.CameraAction.NONE,
+            float('nan'), float('nan'), float('nan'),
+            float('nan'), float('nan'),
+            MissionItem.VehicleAction.NONE,
+        ),
+    ]
+
+    mission_plan = MissionPlan(mission_items)
+
+    print(f"Uploading mission ({len(mission_items)} waypoints, 100m AGL)...")
+    await drone.mission.upload_mission(mission_plan)
+    print("Mission uploaded")
+
+    print("Arming...")
+    await drone.action.arm()
+    print("Armed")
+
+    t0 = time.time()
+    print("Starting mission...")
+    await drone.mission.start_mission()
+
+    # Monitor mission progress
+    async for progress in drone.mission.mission_progress():
+        elapsed = time.time() - t0
+        print(f"  [{elapsed:6.1f}s] Waypoint {progress.current}/{progress.total}")
+        if progress.current == progress.total:
+            print(f"Mission complete in {elapsed:.1f}s (speed factor: {speed_factor}x)")
+            break
+
+    print("Returning to launch...")
+    await drone.action.return_to_launch()
+
+    # Wait for landing
+    async for in_air in drone.telemetry.in_air():
+        if not in_air:
+            print("Landed")
+            break
+
+    print("Disarming...")
+    await drone.action.disarm()
+    print("Test PASSED")
+
+
+def main():
+    parser = argparse.ArgumentParser(description="PX4 SIH Docker mission test")
+    parser.add_argument("--speed", type=int, default=1,
+                        help="PX4_SIM_SPEED_FACTOR (must match container)")
+    args = parser.parse_args()
+
+    try:
+        asyncio.run(run_mission(args.speed))
+    except KeyboardInterrupt:
+        print("\nInterrupted")
+        sys.exit(1)
+    except Exception as e:
+        print(f"Test FAILED: {e}")
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()
@@ -23,7 +23,7 @@ pyserial
 pyulog>=0.5.0
 pyyaml
 requests
-setuptools>=39.2.0
+setuptools>=39.2.0,<=81.0.0
 six>=1.12.0
 sympy>=1.10.1
 toml>=0.9
@@ -10,6 +10,7 @@ CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -47,6 +48,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -73,7 +75,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -101,3 +102,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -83,10 +83,12 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
+	dps310 -I start
 fi

 #external baro
 icp201xx -X start
+dps310 -X start

 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -34,8 +34,5 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start

-# Start the task_watchdog as we do not have the logger watchdog
-task_watchdog start
-
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Board early init.
+#
+# On FRAM boards STORAGE_AVAILABLE=yes will set the USE_* flags. Additional
+# enable required for task watchdog as this is not a generally used feature.
+# On EEPROM boards: Only airframes and params are needed.
+#
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+then
+	# Start the task_watchdog as we do not have the logger watchdog
+	set USE_TASK_WATCHDOG yes
+else
+	set PARAM_FILE /fs/microsd/params
+	set STORAGE_CHECK no
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_ALT_UPDATE_DIRS yes
+fi
@@ -30,6 +30,7 @@ CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_GNSS_YAW is not set
 # CONFIG_EKF2_MAGNETOMETER is not set
 # CONFIG_EKF2_RANGE_FINDER is not set
+# CONFIG_EKF2_OPTICAL_FLOW is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -72,7 +72,7 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1105
-#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SECTORS            (13)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
 #define APP_RESERVATION_SIZE           (2 * 128 * 1024)

@@ -13,6 +13,7 @@ CONFIG_MODULES_NAVIGATOR=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
 CONFIG_SYSTEMCMDS_BSONDUMP=n
+CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_PERF=n
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
 CONFIG_SYSTEMCMDS_VER=n
@@ -287,8 +287,8 @@

 /* AUX */

-#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_3 | LPUART_IOMUX) /* GPIO_B1_01 */
-#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_3 | LPUART_IOMUX) /* GPIO_B1_00 */
+#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_1 | LPUART_IOMUX) /* GPIO_B1_01 */
+#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_1 | LPUART_IOMUX) /* GPIO_B1_00 */

 /* GPS 1 */

@@ -1,32 +1,42 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_DRIVERS_DSHOT=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -38,8 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -60,11 +70,14 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -76,8 +89,10 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -87,3 +102,6 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_BOARD_VENDOR="saam"
+CONFIG_BOARD_MODEL="saampixv1_1"
+CONFIG_BOARD_NAME="SaamPixV1_1"
@@ -0,0 +1,13 @@
+{
+    "board_id": 1,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SaamPixV1_1 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "SaamPixV1_1",      
+    "version": "1.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_A_PER_V 17.0
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# SaamPixV1_1 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# external I2C compasses, if present
+hmc5883 -X start
+qmc5883l -X start
+
+# internal SPI sensors
+ms5611 -s start
+icm20602 -s start
+mpu9250 -s start
+lis3mdl -s start
--- a/Show More
+++ b/Show More