docs(update): RTL types 4-5 docs for PR26220

docs: auto-sync metadata [skip ci]
Co-Authored-By: PX4 BuildBot <bot@px4.io>
2026-06-12 12:20:05 +08:00 · 2026-03-18 10:15:12 +11:00 · 2026-03-17 21:12:26 +00:00 · 2026-03-17 12:56:18 -08:00 · 2026-03-17 12:44:20 -08:00 · 2026-03-17 12:43:27 -08:00
201 changed files with 3031 additions and 4383 deletions
@@ -141,8 +141,6 @@ Checks:          '*,
                  -cppcoreguidelines-avoid-goto,
                  -hicpp-avoid-goto,
                  -bugprone-branch-clone,
-                  -bugprone-unhandled-self-assignment,
-                  -cert-oop54-cpp,
                  -performance-enum-size,
                  -readability-avoid-nested-conditional-operator,
                  -cppcoreguidelines-prefer-member-initializer,
@@ -150,7 +148,6 @@ Checks:          '*,
                  -readability-convert-member-functions-to-static,
                  -readability-make-member-function-const,
                  -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-macro-parentheses,
                  -bugprone-multi-level-implicit-pointer-conversion,
                  -bugprone-signed-char-misuse,
                  -cppcoreguidelines-avoid-non-const-global-variables,
@@ -130,8 +130,8 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,scope=${{ matrix.arch }}
+          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
@@ -0,0 +1,27 @@
+cff-version: 1.2.0
+title: "PX4 Autopilot"
+message: "If you use PX4 in your research, please cite it using this metadata."
+type: software
+authors:
+  - family-names: Meier
+    given-names: Lorenz
+  - name: "The PX4 Contributors"
+repository-code: "https://github.com/PX4/PX4-Autopilot"
+url: "https://px4.io"
+abstract: >-
+  PX4 is an open-source autopilot stack for drones and
+  unmanned vehicles. It supports multirotors, fixed-wing,
+  VTOL, rovers, and many more platforms. PX4 runs on both
+  RTOS and POSIX-compatible operating systems.
+keywords:
+  - autopilot
+  - drone
+  - uav
+  - flight-controller
+  - robotics
+  - ros2
+license: BSD-3-Clause
+identifiers:
+  - type: doi
+    value: "10.5281/zenodo.595432"
+    description: "Zenodo concept DOI (resolves to latest version)"
@@ -16,7 +16,13 @@ git checkout -b mydescriptivebranchname

 ## Edit and build the code

-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
+
+### Coding standards
+
+All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
+
+Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).

 ## Commit message convention

@@ -141,6 +147,20 @@ git push --force-with-lease

 ## Test your changes

+PX4 is safety-critical software. All contributions must include adequate testing where practical:
+
+- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
+- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
+- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
+
+### Types of tests
+
+| Test type | When to use | How to run |
+|-----------|-------------|------------|
+| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
+| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
+| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
+
 Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.

 ## Push your changes
@@ -10,6 +10,7 @@

 <p align="center">
  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
+  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
@@ -44,8 +44,6 @@ param set-default FW_T_SINK_MIN 3

 param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
@@ -104,4 +104,3 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0
@@ -26,7 +26,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

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

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

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

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

 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
@@ -119,10 +119,11 @@ else
 	param set SYS_AUTOCONFIG 1
 fi

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

@@ -191,8 +191,8 @@ else
 	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -2,24 +2,40 @@

 ## Supported Versions

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

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

 ## Reporting a Vulnerability

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

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

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

-At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.
+At the bottom of the form, click **Submit report**.
+
+## Response Process
+
+1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
+2. **Triage**: We will assess severity and impact and communicate next steps.
+3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
+
+If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
+
+## Secure Development Practices
+
+The PX4 development team applies the following practices to reduce security risk:
+
+- **Code review**: All changes require peer review before merging.
+- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
+- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
+- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
+- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.
@@ -6,32 +6,42 @@ cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
-  mkdir artifacts/$build_dir
+  mkdir -p artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe
-  cp $build_dir_path/airframes.xml artifacts/$build_dir/
+  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
+  airframes_src=""
+  if [ -f "$build_dir_path/airframes.xml" ]; then
+    airframes_src="$build_dir_path/airframes.xml"
+  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
+    airframes_src="$build_dir_path/docs/airframes.xml"
+  fi
+  if [ -n "$airframes_src" ]; then
+    cp "$airframes_src" "artifacts/$build_dir/"
+  fi
  # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/
-  cp $build_dir_path/parameters.json artifacts/$build_dir/
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
  # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
+  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
  # Events
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # ROS 2 msgs
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # Module Docs
+  mkdir -p artifacts/$build_dir/events/
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
  ls -la artifacts/$build_dir
  echo "----------"
 done

 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata
-  mkdir artifacts/_general/
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # general metadata (used by Flight Review and other downstream consumers)
+  mkdir -p artifacts/_general/
  # Airframe
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
+    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
+    exit 1
+  fi
  # Parameters
  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -40,9 +50,11 @@ if [ -d artifacts/px4_sitl_default ]; then
  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
  # Events
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # ROS 2 msgs
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # Module Docs
+  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
+    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
+    exit 1
+  fi
  ls -la artifacts/_general/
 fi
@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

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

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

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

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

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

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -273,7 +273,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

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

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -455,7 +455,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 	SPI6_RESET(true);

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

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

 	SPI6_RESET(false);
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -69,7 +69,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -262,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

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

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -453,7 +453,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

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

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

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

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -271,7 +271,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -297,7 +297,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -463,7 +463,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_SYNC,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

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

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

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

 	/* Need hrt running before using the ADC */
@@ -49,7 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -65,7 +65,6 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
-adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"
@@ -143,7 +143,7 @@ if [ "$GPS" != "NONE" ]; then
    if [ "$PLATFORM" == "M0197" ]; then
 	gps start -d /dev/ttyHS7
    else
-	qshell gps start
+	qshell gps start -d 6
    fi
 fi

@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
+*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
+*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -233,7 +233,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -258,7 +258,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -409,7 +409,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PH11,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

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

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

 }
@@ -217,7 +217,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -96,7 +96,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -185,7 +185,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))

 /* Tone alarm output */

@@ -268,7 +268,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -290,7 +290,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -454,7 +454,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

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

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

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

 	/* Need hrt running before using the ADC */
@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -97,7 +97,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -120,7 +120,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -143,7 +143,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -166,7 +166,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -190,7 +190,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -205,7 +205,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
+*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -161,7 +161,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)

@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)

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

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -123,7 +123,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -210,7 +210,7 @@
 #define GPIO_VDD_3V5_LTE_nOC            /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)


 /* Spare GPIO */
@@ -227,7 +227,7 @@
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_3V5_LTE_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_3V5_LTE_nEN, on_true)
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, on_true)
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))

 /* Tone alarm output */

@@ -342,7 +342,7 @@
 		GPIO_VDD_3V5_LTE_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,	  \
+		GPIO_VDD_3V3_SENSORS_EN,	  \
 		GPIO_PH11,                        \
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \
@@ -109,7 +109,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V5_LTE_EN(false);
 	VDD_5V_HIPOWER_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);

 	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);

 }

@@ -211,7 +211,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);

 	/* Need hrt running before using the ADC */

@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -276,7 +276,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -420,7 +420,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_ETH_POWER_EN,                \
@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -267,7 +267,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

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

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

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

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

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

 	/* Need hrt running before using the ADC */
@@ -2,7 +2,7 @@
 #
 # Stack: PX4 Pro
 # Vehicle: Amovlab F410
-# Version: 1.15.4 
+# Version: 1.15.4
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -301,7 +301,6 @@
 1	1	COM_FLTMODE5	-1	6
 1	1	COM_FLTMODE6	8	6
 1	1	COM_FLTT_LOW_ACT	3	6
-1	1	COM_FLT_PROFILE	0	6
 1	1	COM_FLT_TIME_MAX	-1	6
 1	1	COM_FORCE_SAFETY	0	6
 1	1	COM_HLDL_LOSS_T	120	6
@@ -309,10 +308,8 @@
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
-1	1	COM_KILL_DISARM	5.000000000000000000	9
 1	1	COM_LKDOWN_TKO	3.000000000000000000	9
 1	1	COM_LOW_BAT_ACT	0	6
-1	1	COM_MOT_TEST_EN	1	6
 1	1	COM_OBC_LOSS_T	5.000000000000000000	9
 1	1	COM_OBL_RC_ACT	0	6
 1	1	COM_OBS_AVOID	0	6
@@ -479,11 +476,6 @@
 1	1	EKF2_WIND_NSD	0.050000000745058060	9
 1	1	EV_TSK_RC_LOSS	0	6
 1	1	EV_TSK_STAT_DIS	0	6
-1	1	FD_ACT_EN	1	6
-1	1	FD_ACT_MOT_C2T	2.000000000000000000	9
-1	1	FD_ACT_MOT_THR	0.200000002980232239	9
-1	1	FD_ACT_MOT_TOUT	100	6
-1	1	FD_ESCS_EN	1	6
 1	1	FD_EXT_ATS_EN	0	6
 1	1	FD_EXT_ATS_TRIG	1900	6
 1	1	FD_FAIL_P	60	6
@@ -759,6 +759,7 @@
      - [Receiving Messages](mavlink/receiving_messages.md)
      - [Custom MAVLink Messages](mavlink/custom_messages.md)
      - [Message Signing](mavlink/message_signing.md)
+      - [Security Hardening](mavlink/security_hardening.md)
      - [Protocols/Microservices](mavlink/protocols.md)
        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
@@ -5499,7 +5499,7 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 128      | 128      |           | 128     |      |
+| &nbsp; | 127      | 127      |           | 127     |      |

 ### RBCLW_DIS2 (`INT32`) {#RBCLW_DIS2}

@@ -5513,7 +5513,7 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 128      | 128      |           | 128     |      |
+| &nbsp; | 127      | 127      |           | 127     |      |

 ### RBCLW_FAIL1 (`INT32`) {#RBCLW_FAIL1}

@@ -5701,7 +5701,7 @@ Maxmimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 128      | 256      |           | 256     |      |
+| &nbsp; | 127      | 254      |           | 254     |      |

 ### RBCLW_MAX2 (`INT32`) {#RBCLW_MAX2}

@@ -5713,7 +5713,7 @@ Maxmimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 128      | 256      |           | 256     |      |
+| &nbsp; | 127      | 254      |           | 254     |      |

 ### RBCLW_MIN1 (`INT32`) {#RBCLW_MIN1}

@@ -5725,7 +5725,7 @@ Minimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 1        | 128      |           | 1       |      |
+| &nbsp; | 0        | 127      |           | 0       |      |

 ### RBCLW_MIN2 (`INT32`) {#RBCLW_MIN2}

@@ -5737,7 +5737,7 @@ Minimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 1        | 128      |           | 1       |      |
+| &nbsp; | 0        | 127      |           | 0       |      |

 ### RBCLW_REV (`INT32`) {#RBCLW_REV}

@@ -18620,25 +18620,6 @@ the estimated time it takes to reach the RTL destination.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          | 1         | 0       |      |

-### COM_FLT_PROFILE (`INT32`) {#COM_FLT_PROFILE}
-
-User Flight Profile.
-
-Describes the intended use of the vehicle.
-Can be used by ground control software or log post processing.
-This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).
-
-**Values:**
-
- `0`: Default
- `100`: Pro User
- `200`: Flight Tester
- `300`: Developer
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0       |      |
-
 ### COM_FLT_TIME_MAX (`INT32`) {#COM_FLT_TIME_MAX}

 Maximum allowed flight time.
@@ -18732,16 +18713,6 @@ See also FD_IMB_PROP_THR to set the failure threshold.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          | 1         | 0       |      |

-### COM_KILL_DISARM (`FLOAT`) {#COM_KILL_DISARM}
-
-Timeout value for disarming when kill switch is engaged.
-
-Use RC_MAP_KILL_SW to map a kill switch.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.0      | 30.0     | 0.1       | 5.0     | s    |
-
 ### COM_LKDOWN_TKO (`FLOAT`) {#COM_LKDOWN_TKO}

 Timeout for detecting a failure after takeoff.
@@ -18878,17 +18849,6 @@ By default disabled for safety reasons
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 | &nbsp; |          |          |           | Disabled (0) |      |

-### COM_MOT_TEST_EN (`INT32`) {#COM_MOT_TEST_EN}
-
-Enable Actuator Testing.
-
-If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that
-allows spinning the motors and moving the servos for testing purposes.
-
-| Reboot | minValue | maxValue | increment | default     | unit |
-| ------ | -------- | -------- | --------- | ----------- | ---- |
-| &nbsp; |          |          |           | Enabled (1) |      |
-
 ### COM_OBC_LOSS_T (`FLOAT`) {#COM_OBC_LOSS_T}

 Time-out to wait when onboard computer connection is lost before warning about loss connection.
@@ -19134,7 +19094,7 @@ Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
 Stick override threshold.

 If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
-the autopilot the pilot takes over control.
+the pilot takes over control.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -20502,7 +20462,8 @@ Measurement noise for magnetic heading fusion.

 Determines the reference source of height data used by the EKF.

-When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level. If GPS is set as reference but altitude fusion is disabled in EKF2_GPS_CTRL, the GPS altitude is still used to initiaize the bias of the other height sensors.
+When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
+If GPS is set as reference and EKF2_GPS_CTRL is not 0, the GPS altitude is still used to initiaize the bias of the other height sensors, regardless of the altitude fusion bit in EKF2_GPS_CTRL.

 **Values:**

@@ -22729,82 +22690,6 @@ Yaw rate proportional gain.

 ## Failure Detector

-### FD_ACT_EN (`INT32`) {#FD_ACT_EN}
-
-Enable Actuator Failure check.
-
-If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle
-level is being consumed.
-Otherwise this indicates an motor failure.
-
-| Reboot  | minValue | maxValue | increment | default      | unit |
-| ------- | -------- | -------- | --------- | ------------ | ---- |
-| &check; |          |          |           | Disabled (0) |      |
-
-### FD_ACT_HIGH_OFF (`FLOAT`) {#FD_ACT_HIGH_OFF}
-
-Overcurrent motor failure limit offset.
-
-threshold = FD_ACT_MOT_C2T \* thrust + FD_ACT_HIGH_OFF
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 30       | 1         | 10.     | A    |
-
-### FD_ACT_LOW_OFF (`FLOAT`) {#FD_ACT_LOW_OFF}
-
-Undercurrent motor failure limit offset.
-
-threshold = FD_ACT_MOT_C2T \* thrust - FD_ACT_LOW_OFF
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 30       | 1         | 10.     | A    |
-
-### FD_ACT_MOT_C2T (`FLOAT`) {#FD_ACT_MOT_C2T}
-
-Motor Failure Current/Throttle Scale.
-
-Determines the slope between expected steady state current and linearized, normalized thrust command.
-E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
-FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.0      | 50.0     | 1         | 35.     | A/%  |
-
-### FD_ACT_MOT_THR (`FLOAT`) {#FD_ACT_MOT_THR}
-
-Motor Failure Thrust Threshold.
-
-Failure detection per motor only triggers above this thrust value.
-Set to 1 to disable the detection.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.0      | 1.0      | 0.01      | 0.2     | norm |
-
-### FD_ACT_MOT_TOUT (`INT32`) {#FD_ACT_MOT_TOUT}
-
-Motor Failure Hysteresis Time.
-
-Motor failure only triggers after current thresholds are exceeded for this time.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 10       | 10000    | 100       | 1000    | ms   |
-
-### FD_ESCS_EN (`INT32`) {#FD_ESCS_EN}
-
-Enable checks on ESCs that report their arming state.
-
-If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state.
-Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.
-
-| Reboot | minValue | maxValue | increment | default     | unit |
-| ------ | -------- | -------- | --------- | ----------- | ---- |
-| &nbsp; |          |          |           | Enabled (1) |      |
-
 ### FD_EXT_ATS_EN (`INT32`) {#FD_EXT_ATS_EN}

 Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS).
@@ -28378,6 +28263,63 @@ needs to be changed to match a custom setting
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 0       |      |

+## Motor Failure
+
+### FD_ACT_EN (`INT32`) {#FD_ACT_EN}
+
+Enable Actuator Failure check.
+
+If enabled, the HealthAndArmingChecks will verify that for motors, a minimum amount of ESC current per throttle
+level is being consumed.
+Otherwise this indicates an motor failure.
+This check only works for ESCs that report current consumption.
+
+| Reboot | minValue | maxValue | increment | default      | unit |
+| ------ | -------- | -------- | --------- | ------------ | ---- |
+| &nbsp; |          |          |           | Disabled (0) |      |
+
+### MOTFAIL_C2T (`FLOAT`) {#MOTFAIL_C2T}
+
+Motor Failure Current/Throttle Scale.
+
+Determines the slope between expected steady state current and linearized, normalized thrust command.
+E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
+FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      | 50.0     | 1         | 35.     | A/%  |
+
+### MOTFAIL_HIGH_OFF (`FLOAT`) {#MOTFAIL_HIGH_OFF}
+
+Overcurrent motor failure limit offset.
+
+threshold = FD_ACT_MOT_C2T \* thrust + FD_ACT_HIGH_OFF
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 30       | 1         | 10.     | A    |
+
+### MOTFAIL_LOW_OFF (`FLOAT`) {#MOTFAIL_LOW_OFF}
+
+Undercurrent motor failure limit offset.
+
+threshold = FD_ACT_MOT_C2T \* thrust - FD_ACT_LOW_OFF
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 30       | 1         | 10.     | A    |
+
+### MOTFAIL_TIME (`FLOAT`) {#MOTFAIL_TIME}
+
+Motor Failure Hysteresis Time.
+
+Motor failure only triggers after current thresholds are exceeded for this time.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.01     | 10       | 1         | 1.      | s    |
+
 ## Mount

 ### MNT_DO_STAB (`INT32`) {#MNT_DO_STAB}
@@ -32001,7 +31943,7 @@ Emergency Kill switch channel.

 This channel immediately sets all outputs to their disarmed values, parachutes are NOT deployed.
 Unlike termination this can be undone. Quickly flipping the switch back restores control.
-System auto-disarms after COM_KILL_DISARM seconds, preflight checks and re-arming are then required.
+System auto-disarms after 5 seconds, preflight checks and re-arming are then required.

 **Values:**

@@ -660,7 +660,6 @@ For each of the tilt servos:
 - If a safety button is used, it must be pressed before actuator testing is allowed.
 - The kill-switch can still be used to stop motors immediately.
 - Servos do not actually move until the corresponding slider is changed.
- The parameter [COM_MOT_TEST_EN](../advanced_config/parameter_reference.md#COM_MOT_TEST_EN) can be used to completely disable actuator testing.
 - On the shell, [actuator_test](../modules/modules_command.md#actuator-test) can be used as well for actuator testing.
 - VTOLs will automatically turn off motors pointing upwards during **fixed-wing flight**:
  - Standard VTOL : Motors defined as multicopter motors will be turned off
@@ -364,11 +364,7 @@ This section lists the available emergency switches.

 A kill switch immediately stops all motor outputs — if flying, the vehicle will start to fall!

-[By default](#COM_KILL_DISARM) the motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.
-
-| Parameter                                                                                                | Description                                                                     |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
-| <a id="COM_KILL_DISARM"></a>[COM_KILL_DISARM](../advanced_config/parameter_reference.md#COM_KILL_DISARM) | Timeout value for disarming after kill switch is engaged. Default: `5` seconds. |
+The motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.

 ::: info
 There is also a [Kill Gesture](#kill-gesture), which cannot be reverted.
@@ -410,7 +406,7 @@ A return switch can be used to immediately engage [Return mode](../flight_modes/

 A kill gesture immediately stops all motor outputs — if flying, the vehicle will start to fall!

-The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within the time period defined by [COM_KILL_DISARM](#COM_KILL_DISARM)).
+The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds).

 | Parameter                                                                                                | Description                                                                                          |
 | -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------- |
@@ -84,6 +84,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if

 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.

@@ -136,6 +137,7 @@ Setup via CAN:
 - On the _Moving Base_, set the following:
  - [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `4`.
  - [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) to `1`.
+- On the _Flight Controller_, set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ (see [PX4 Configuration](#px4-configuration)).

 Setup via UART:

@@ -154,6 +156,7 @@ Setup via UART:
  - [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to `0` if your _Rover_ is in front of your _Moving Base_, `90` if _Rover_ is right of _Moving Base_, `180` if _Rover_ is behind _Moving Base_, or `270` if _Rover_ is left of _Moving Base_.
 - On the _Moving Base_, set the following:
  - [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `2`.
+- On the _Flight Controller_, set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ (see [PX4 Configuration](#px4-configuration)).

 For more information see [Rover and Moving Base](../dronecan/index.md#rover-and-moving-base) in the DroneCAN guide.

@@ -4,11 +4,11 @@

 The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it should land.

-The following topics should be read first if you're using these vehicle types:
+Each vehicle has a **default** return mode behavior which is described in the linked topics (read those first if you plan on using the defaults):

- [Multicopter](../flight_modes_mc/return.md)
- [Fixed-wing (Plane)](../flight_modes_fw/return.md)
- [VTOL](../flight_modes_vtol/return.md)
+- [Multicopter](../flight_modes_mc/return.md) — Home/rally point return
+- [Fixed-wing (Plane)](../flight_modes_fw/return.md) — Mission landing/Rally point return
+- [VTOL](../flight_modes_vtol/return.md) — Mission landing/Rally point return

 ::: info

@@ -40,11 +40,9 @@ This topic covers all the possible return types that any vehicle _might_ be conf

 The following sections explain how to configure the [return type](#return_types), [minimum return altitude](#minimum-return-altitude) and [landing/arrival behaviour](#loiter-landing-at-destination).

-<a id="return_types"></a>
+## Return Types (RTL_TYPE) {#return_types}

-## Return Types (RTL_TYPE)
-
-PX4 provides four alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter.
+PX4 provides a number of alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter.

 At high level these are:

@@ -56,12 +54,16 @@ At high level these are:
  If no _mission_ defined, return direct to home (rally points are ignored).
 - [Closest safe destination return](#closest-safe-destination-return-type-rtl-type-3) (`RTL_TYPE=3`): Ascend to a safe altitude and return via direct path to closest destination: home, start of mission landing pattern, or rally point.
  If the destination is a mission landing pattern, follow the pattern to land.
+- [Reverse mission return or mission landing](#mission-landing-or-reverse-mission-return-type-rtl-type-4) (`RTL_TYPE=4`): Return to the planned mission landing, or to home via the reverse mission path, whichever is closer (counted by waypoints).
+  Do not consider rally points.
+  If no mission is defined, return direct to home.
+- [Safe point return](#safe-point-return-type-rtl-type-5) (`RTL_TYPE=5`): Return directly to the closest rally (safe) point.
+  Do not consider the home position or mission landing.
+  If no rally point is defined, descend and loiter at the current position.

 More detailed explanations for each of the types are provided in the following sections.

-<a id="home_return"></a>
-
-### Home/Rally Point Return Type (RTL_TYPE=0)
+### Home/Rally Point Return Type (RTL_TYPE=0) {#home_return}

 This is the default return type for a [multicopter](../flight_modes_mc/return.md) (see topic for more information).

@@ -147,6 +149,34 @@ In this return type the vehicle:
  By default an MC or VTOL in MC mode will land, and a fixed-wing vehicle circles at the descent altitude.
  A VTOL in FW mode aligns its heading to the destination point, transitions to MC mode, and then lands.

+### Mission Landing or Reverse Mission Return Type (RTL_TYPE=4)
+
+This return type uses the mission (if defined) to provide a safe return path (either forward or in reverse), and the [mission landing pattern](#mission-landing-pattern) (if defined) to provide landing behaviour:
+
+- If a mission landing pattern exists and it is closer (by waypoint count) than home via the reverse mission, the vehicle flies forward to the mission landing.
+- Otherwise it flies the mission in reverse to return home.
+- If no valid mission is defined, the vehicle returns directly to home.
+- Rally points are ignored.
+
+Note that this is similar to [RTL_TYPE=2](#mission-path-return-type-rtl-type-2), but the choice between fast-forward and fast-reverse is based on which destination is _closer by waypoint count_ rather than which flight mode is active when return mode is activated.
+
+### Safe Point Return Type (RTL_TYPE=5)
+
+In this return type the vehicle returns directly to the closest rally point (only).
+Home position and mission landings are not considered.
+
+The vehicle:
+
+- Ascends to a safe [minimum return altitude](#minimum-return-altitude) (above any expected obstacles).
+- Flies via a direct path to the closest rally point.
+- On [arrival](#loiter-landing-at-destination) descends to the descent altitude and [lands or waits](#loiter-landing-at-destination) (depending on landing parameters).
+
+If no rally point is defined, the vehicle will descend and loiter at its current position (it will not return to home).
+
+::: info
+This type is useful when the home position is not a safe return point.
+:::
+
 ## Minimum Return Altitude

 For most [return types](#return_types) a vehicle will ascend to a _minimum safe altitude_ before returning (unless already above that altitude), in order to avoid any obstacles between it and the destination.
@@ -205,15 +235,15 @@ For this reason fixed-wing vehicles are configured to use [Mission landing/reall

 The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode) (and summarised below).

-| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="RTL_TYPE"></a>[RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE)                         | Return mechanism (path and destination).<br>`0`: Return to a rally point or home (whichever is closest) via direct path.<br>`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. If neither mission landing or rally points are defined return home via a direct path. If the destination is a mission landing pattern, follow the pattern to land.<br>`2`: Use mission path fast-forward to landing if a landing pattern is defined, otherwise fast-reverse to home. Ignore rally points. Fly direct to home if no mission plan is defined.<br>`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land. |
-| <a id="RTL_RETURN_ALT"></a>[RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT)       | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. If already above this value the vehicle will return at its current altitude.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
-| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT)    | Minimum return altitude and altitude at which the vehicle will slow or stop its initial descent from a higher return altitude (default: 30m)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
-| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY)       | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically).                                                                                                                                                                                                                                                                                                                                                                                                                                    |
-| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST)             | Minimum horizontal distance from home position to trigger ascent to the return altitude specified by the "cone". If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
-| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG)             | Half-angle of the cone that defines the vehicle RTL return altitude. Values (in degrees): 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
-| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE)    | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default.                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
-| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV)    | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |
-| <a id="RTL_LOITER_RAD"></a>[RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD)       | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |
-| <a id="MIS_TKO_LAND_REQ"></a>[MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a id="RTL_TYPE"></a>[RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE)                         | Return mechanism (path and destination).<br>`0`: Return to a rally point or home (whichever is closest) via direct path.<br>`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. If neither mission landing or rally points are defined return home via a direct path. If the destination is a mission landing pattern, follow the pattern to land.<br>`2`: Use mission path fast-forward to landing if a landing pattern is defined, otherwise fast-reverse to home. Ignore rally points. Fly direct to home if no mission plan is defined.<br>`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.<br>`4`: Return home via the reverse mission path or to the planned mission landing, whichever is closer by waypoint count. Ignore rally points. Fly direct to home if no mission is defined.<br>`5`: Return directly to the closest rally point (safe point). Ignore home and mission landing. If no rally point is defined, descend at current position. |
+| <a id="RTL_RETURN_ALT"></a>[RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT)       | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. If already above this value the vehicle will return at its current altitude.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |
+| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT)    | Minimum return altitude and altitude at which the vehicle will slow or stop its initial descent from a higher return altitude (default: 30m)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY)       | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
+| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST)             | Minimum horizontal distance from home position to trigger ascent to the return altitude specified by the "cone". If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG)             | Half-angle of the cone that defines the vehicle RTL return altitude. Values (in degrees): 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE)    | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV)    | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
+| <a id="RTL_LOITER_RAD"></a>[RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD)       | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
+| <a id="MIS_TKO_LAND_REQ"></a>[MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
@@ -4,6 +4,11 @@

 The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it can land.

+This topic describes the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type that FW vehicles use by default.
+See the [Return Mode (Generic Vehicle)](../flight_modes/return.md#return-types-rtl-type) for an overview of the other supported types.
+
+## Overview
+
 Fixed-wing vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default, and are expected to always have a mission with a landing pattern.
 With this configuration, return mode causes the vehicle to ascend to a minimum safe altitude above obstructions (if needed), fly to the start of the landing pattern defined in the mission plan, and then follow it to land.

@@ -4,6 +4,11 @@

 The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it can land.

+This topic describes the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) return type that MC vehicles use by default.
+See the [Return Mode (Generic Vehicle)](../flight_modes/return.md#return-types-rtl-type) for an overview of the other supported types.
+
+## Overview
+
 Multicopters use a [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default.
 In this return type vehicles ascend to a safe altitude above obstructions if needed, fly directly to the closest safe landing point (a rally point or the home position), descend to the "descent altitude", wait briefly, and then land.
 The return altitude, descent altitude, and landing delay are normally set to conservative "safe" values, but can be changed if needed.
@@ -4,6 +4,11 @@

 The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it may either wait (hover or circle) or land.

+This topic describes the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type that VTOL vehicles use by default.
+See the [Return Mode (Generic Vehicle)](../flight_modes/return.md#return-types-rtl-type) for an overview of the other supported types.
+
+## Overview
+
 VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default.
 In this return type a vehicle ascends to a minimum safe altitude above obstructions (if needed), and then flies directly to a rally point or the start of a mission landing point (whichever is nearest), or the home position if neither rally points or mission landing pattern is defined.
 If the destination is a mission landing pattern, the vehicle will then follow the pattern to land.
@@ -163,6 +163,42 @@ $$\dot{B} = \gamma - \frac{\dot{V_T}}{g}$$

 ## Fixed-Wing Attitude Controller

+### Setpoint modificaiton
+
+Most fixed-wing aircraft cannot generate a sustained yaw rate using the rudder alone. As a result, the yaw component of the quaternion attitude error should be removed before computing the control action.
+
+This is achieved by premultiplying the setpoint quaternion with a rotation about the global down axis. The additional rotation cancels the yaw component of the attitude error while preserving the roll and pitch components.
+
+The yaw offset is
+
+$$
+\psi =-2\frac{\hat{q}_0 q_3 - \hat{q}_1 q_2 + \hat{q}_2 q_1 -\hat{q}_3 q_0}
+{\hat{q}_0 q_0 - \hat{q}_1 q_1 - \hat{q}_2 q_2 + \hat{q}_3 q_3}
+$$
+
+The quaternion representing the yaw offset is
+
+$$
+ℚ_{\text{yaw}} =
+\operatorname{normalize}
+\left(
+\begin{bmatrix}
+1 \
+0 \
+0 \
+\frac{\psi}{2}
+\end{bmatrix}
+\right)
+$$
+
+The corrected setpoint quaternion is then obtained by applying the rotation
+
+$$
+ℚ_{\text{sp, corrected}} = ℚ_{\text{yaw}} \otimes ℚ_{sp}
+$$
+
+### Quaternion based attitude controller
+
 ![FW Attitude Controller Diagram](../../assets/diagrams/px4_fw_attitude_controller_diagram.png)

 <!-- The drawing is on draw.io: https://drive.google.com/file/d/1ibxekmtc6Ljq60DvNMplgnnU-JOvKYLQ/view?usp=sharing
@@ -185,12 +221,16 @@ In order to keep a constant rate, this damping can be compensated using feedforw

 ### Turn coordination

-The roll and pitch controllers have the same structure and the longitudinal and lateral dynamics are assumed to be uncoupled enough to work independently.
-The yaw controller, however, generates its yaw rate setpoint using the turn coordination constraint in order to minimize lateral acceleration, generated when the aircraft is slipping. The turn coordination algorithm is based solely on coordinated turn geometry calculation.
+The yaw rate setpoint is generated using the turn coordination constraint in order to minimize lateral acceleration, generated when the aircraft is slipping.

-$$\dot{\Psi}_{sp} = \frac{g}{V_T} \tan{\phi_{sp}} \cos{\theta_{sp}}$$
+$$r_{sp} = \frac{2g}{V_T}\left(q_0 q_1 + q_2 q_3\right)$$

-The yaw rate controller also helps to counteract [adverse yaw effects](https://youtu.be/sNV_SDDxuWk) and to damp the [Dutch roll mode](https://en.wikipedia.org/wiki/Dutch_roll) by providing extra directional damping.
+This also helps to counteract [adverse yaw effects](https://youtu.be/sNV_SDDxuWk) and to damp the [Dutch roll mode](https://en.wikipedia.org/wiki/Dutch_roll) by providing extra directional damping.
+
+To compensate for the non-zero pitch rate that naturally occurs during coordinated turns, a geometry-based feedforward term is added to the pitch-rate command.
+This feedforward term accounts for the aircraft's current attitude and airspeed so that the controller does not need to generate this motion purely through feedback.
+
+$$q_{sp}^{ff} = \frac{4g(q_0 q_1 + q_2 q_3)^2}{V(1 - 2q_1^2 - 2q_2^2)}$$

 ## VTOL Flight Controller

@@ -14,6 +14,10 @@ It also links instructions for how you can add PX4 support for:
 - [Message Signing](../mavlink/message_signing.md)
 - [Protocols/Microservices](../mavlink/protocols.md)

+::: warning
+MAVLink messages are unauthenticated by default. Without [message signing](../mavlink/message_signing.md) enabled, any device that can send MAVLink messages to the vehicle can execute commands including shell access, file operations, and flight termination. Production deployments must enable signing and follow the [Security Hardening](../mavlink/security_hardening.md) guide.
+:::
+
 ::: info
 We do not yet cover _command_ handling and sending, or how to implement your own microservices.
 :::
@@ -0,0 +1,84 @@
+# MAVLink Security Hardening for Production Deployments
+
+<Badge type="tip" text="PX4 v1.17" />
+
+MAVLink is an open communication protocol designed for lightweight, low-latency communication between drones and ground stations.
+By default, all MAVLink messages are unauthenticated.
+This is intentional for development and testing, but **production deployments must enable [message signing](message_signing.md)** to prevent unauthorized access.
+
+::: warning
+Without message signing enabled, any device that can send MAVLink messages to the vehicle (via radio, network, or serial) can execute any command, including shell access, file operations, parameter changes, mission uploads, arming, and flight termination.
+:::
+
+## What Is at Risk
+
+When MAVLink signing is not enabled, an attacker within communication range can:
+
+| Capability                   | MAVLink mechanism                                |
+| ---------------------------- | ------------------------------------------------ |
+| Execute shell commands       | `SERIAL_CONTROL` with `SERIAL_CONTROL_DEV_SHELL` |
+| Read, write, or delete files | MAVLink FTP protocol                             |
+| Change any flight parameter  | `PARAM_SET` / `PARAM_EXT_SET`                    |
+| Upload or overwrite missions | Mission protocol                                 |
+| Arm or disarm motors         | `MAV_CMD_COMPONENT_ARM_DISARM`                   |
+| Terminate flight (crash)     | `MAV_CMD_DO_FLIGHTTERMINATION`                   |
+| Trigger emergency landing    | Spoofed `BATTERY_STATUS`                         |
+| Reboot the vehicle           | `MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN`              |
+
+All of these are standard MAVLink capabilities used by ground control stations.
+Without signing, there is no distinction between a legitimate GCS and an unauthorized sender.
+
+## Hardening Checklist
+
+### 1. Enable Message Signing
+
+Message signing provides cryptographic authentication for all MAVLink communication.
+See [Message Signing](message_signing.md) for full details.
+
+Steps:
+
+1. Connect the vehicle via **USB** (key provisioning only works over USB).
+2. Provision a 32-byte secret key using the [SETUP_SIGNING](https://mavlink.io/en/messages/common.html#SETUP_SIGNING) message.
+3. Set [MAV_SIGN_CFG](../advanced_config/parameter_reference.md#MAV_SIGN_CFG) to **1** (signing enabled on all links except USB) or **2** (signing on all links including USB).
+4. Provision the same key on all ground control stations and companion computers that need to communicate with the vehicle.
+5. Verify that unsigned messages from unknown sources are rejected.
+
+::: info
+`MAV_SIGN_CFG=1` is recommended for most deployments.
+This enforces signing on telemetry radios and network links while allowing unsigned access over USB for maintenance.
+USB connections require physical access to the vehicle, which provides equivalent security to physical key access.
+:::
+
+### 2. Secure Physical Access
+
+- Protect access to the SD card. The signing key is stored at `/mavlink/mavlink-signing-key.bin` and can be read or removed by anyone with physical access.
+- USB connections bypass signing when `MAV_SIGN_CFG=1`. Ensure USB ports are not exposed in deployed configurations.
+
+### 3. Secure Network Links
+
+- Do not expose MAVLink UDP/TCP ports to untrusted networks or the internet.
+- Place MAVLink communication links behind firewalls or VPNs.
+- Segment MAVLink networks from business or public networks.
+- When using companion computers, audit which network interfaces MAVLink is bound to.
+
+### 4. Understand the Limitations
+
+- **No encryption**: Message signing provides authentication and integrity, but messages are sent in plaintext. An eavesdropper can read telemetry and commands but cannot forge them.
+- **Allowlisted messages**: A small set of [safety-critical messages](message_signing.md#unsigned-message-allowlist) (RADIO_STATUS, ADSB_VEHICLE, COLLISION) are always accepted unsigned.
+- **Key management**: There is no automatic key rotation. Keys must be reprovisioned manually via USB if compromised.
+
+## Integrator Responsibility
+
+PX4 is open-source flight controller firmware used by manufacturers and system integrators to build commercial and custom drone platforms.
+
+Securing the communication links for a specific deployment is the responsibility of the system integrator.
+This includes:
+
+- Choosing appropriate radio hardware and link security
+- Enabling and managing MAVLink message signing
+- Restricting network access to MAVLink interfaces
+- Applying firmware updates that address security issues
+- Evaluating whether the default configuration meets the security requirements of the target application
+
+PX4 provides the tools for securing MAVLink communication.
+Integrators must enable and configure them for their deployment context.
@@ -95,202 +95,202 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [GpioRequest](../msg_docs/GpioRequest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [EventV0](../msg_docs/EventV0.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [Gripper](../msg_docs/Gripper.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [Rpm](../msg_docs/Rpm.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [EscReport](../msg_docs/EscReport.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
 - [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
 - [TuneControl](../msg_docs/TuneControl.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [Mission](../msg_docs/Mission.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
 - [ButtonEvent](../msg_docs/ButtonEvent.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [LedControl](../msg_docs/LedControl.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [Vtx](../msg_docs/Vtx.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [Ping](../msg_docs/Ping.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [Event](../msg_docs/Event.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
 - [GpsDump](../msg_docs/GpsDump.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
 - [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [Mission](../msg_docs/Mission.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [Event](../msg_docs/Event.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [Ping](../msg_docs/Ping.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
 - [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [SensorMag](../msg_docs/SensorMag.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
 - [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
  :::
@@ -1109,7 +1109,7 @@ px4io <command> [arguments...]

 ## rgbled

-Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
+Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)

 ### Usage {#rgbled_usage}

@@ -1124,9 +1124,7 @@ rgbled <command> [arguments...]
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
-                 default: 57
-     [-o <val>]  RGB PWM Assignment
-                 default: 123
+                 default: 85

   stop

@@ -22,11 +22,11 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e

 ## Constants

-| Name                                                            | Type     | Value | Description |
-| --------------------------------------------------------------- | -------- | ----- | ----------- |
+| Name                                                            | Type     | Value | Description                       |
+| --------------------------------------------------------------- | -------- | ----- | --------------------------------- |
 | <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION                   | `uint32` | 0     |
-| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8`  | 101   |
-| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS                         | `uint8`  | 12    |
+| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8`  | 101   | output_functions.yaml Motor.start |
+| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS                         | `uint8`  | 12    | output_functions.yaml Motor.count |

 ## Source Message

@@ -47,9 +47,9 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo

 uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible

-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # output_functions.yaml Motor.start

-uint8 NUM_CONTROLS = 12
+uint8 NUM_CONTROLS = 12 # output_functions.yaml Motor.count
 float32[12] control # [@range -1, 1] Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
 ```

@@ -29,17 +29,7 @@ pageClass: is-wide-page
 | Name                                                                        | Type    | Value | Description                                                                  |
 | --------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------- |
 | <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1             | `uint8` | 101   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR2"></a> ACTUATOR_FUNCTION_MOTOR2             | `uint8` | 102   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR3"></a> ACTUATOR_FUNCTION_MOTOR3             | `uint8` | 103   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR4"></a> ACTUATOR_FUNCTION_MOTOR4             | `uint8` | 104   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR5"></a> ACTUATOR_FUNCTION_MOTOR5             | `uint8` | 105   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR6"></a> ACTUATOR_FUNCTION_MOTOR6             | `uint8` | 106   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR7"></a> ACTUATOR_FUNCTION_MOTOR7             | `uint8` | 107   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR8"></a> ACTUATOR_FUNCTION_MOTOR8             | `uint8` | 108   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR9"></a> ACTUATOR_FUNCTION_MOTOR9             | `uint8` | 109   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR10"></a> ACTUATOR_FUNCTION_MOTOR10           | `uint8` | 110   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR11"></a> ACTUATOR_FUNCTION_MOTOR11           | `uint8` | 111   |
-| <a id="#ACTUATOR_FUNCTION_MOTOR12"></a> ACTUATOR_FUNCTION_MOTOR12           | `uint8` | 112   |
+| <a id="#ACTUATOR_FUNCTION_MOTOR_MAX"></a> ACTUATOR_FUNCTION_MOTOR_MAX       | `uint8` | 112   | output_functions.yaml Motor.start + Motor.count - 1                          |
 | <a id="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT                     | `uint8` | 0     | (1 << 0)                                                                     |
 | <a id="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE                     | `uint8` | 1     | (1 << 1)                                                                     |
 | <a id="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2     | (1 << 2)                                                                     |
@@ -72,19 +62,8 @@ uint8 esc_cmdcount					# Counter of number of commands
 uint8 esc_state					# State of ESC - depend on Vendor

 uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
-
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
-uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
-uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
-uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
-uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
-uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
-uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
-uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
-uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
-uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
-uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
-uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
+uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1

 uint16 failures					# Bitmask to indicate the internal ESC faults
 int8 esc_power					# Applied power 0-100 in % (negative values reserved)
@@ -61,6 +61,8 @@ pageClass: is-wide-page
 | cs_gnss_fault              | `bool`   |              |            | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty            |
 | cs_yaw_manual              | `bool`   |              |            | 46 - true if yaw has been set manually                                                           |
 | cs_gnss_hgt_fault          | `bool`   |              |            | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty                      |
+| cs_in_transition           | `bool`   |              |            | 48 - true if the vehicle is in vtol transition                                                   |
+| cs_heading_observable      | `bool`   |              |            | 49 - true when heading is observable                                                             |
 | fault_status_changes       | `uint32` |              |            | number of filter fault status (fs) changes                                                       |
 | fs_bad_mag_x               | `bool`   |              |            | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error              |
 | fs_bad_mag_y               | `bool`   |              |            | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error              |
@@ -135,6 +137,8 @@ bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion
 bool cs_gnss_fault              # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
 bool cs_yaw_manual              # 46 - true if yaw has been set manually
 bool cs_gnss_hgt_fault          # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
+bool cs_in_transition           # 48 - true if the vehicle is in vtol transition
+bool cs_heading_observable      # 49 - true when heading is observable

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -27,5 +27,9 @@
  },
  "devDependencies": {
    "prettier": "^3.2.0"
+  },
+  "resolutions": {
+    "markdown-it": "^14.1.1",
+    "esbuild": "^0.25.0"
  }
 }
@@ -11,19 +11,8 @@ uint8 esc_cmdcount					# Counter of number of commands
 uint8 esc_state					# State of ESC - depend on Vendor

 uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
-
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
-uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
-uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
-uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
-uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
-uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
-uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
-uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
-uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
-uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
-uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
-uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
+uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1

 uint16 failures					# Bitmask to indicate the internal ESC faults
 int8 esc_power					# Applied power 0-100 in % (negative values reserved)
@@ -52,6 +52,8 @@ bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion
 bool cs_gnss_fault              # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
 bool cs_yaw_manual              # 46 - true if yaw has been set manually
 bool cs_gnss_hgt_fault          # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
+bool cs_in_transition           # 48 - true if the vehicle is in vtol transition
+bool cs_heading_observable      # 49 - true when heading is observable

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -10,7 +10,7 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo

 uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible

-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # output_functions.yaml Motor.start

-uint8 NUM_CONTROLS = 12
+uint8 NUM_CONTROLS = 12 # output_functions.yaml Motor.count
 float32[12] control # [@range -1, 1] Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
@@ -92,6 +92,11 @@ public:
 	// copy assignment
 	Subscription &operator=(const Subscription &other)
 	{
+		// Check for self-assignment
+		if (this == &other) {
+			return *this;
+		}
+
 		unsubscribe();
 		_orb_id = other._orb_id;
 		_instance = other._instance;
@@ -645,7 +645,7 @@ int uORBTest::UnitTest::test_wrap_around()
 	}
 #define CHECK_COPY(i_got, i_correct) \
 	orb_copy(ORB_ID(orb_test_medium_wrap_around), sfd, &u); \
-	if (i_got != i_correct) { \
+	if ((i_got) != (i_correct)) { \
 		return test_fail("got wrong element from the queue (got %i, should be %i)", i_got, i_correct); \
 	}

@@ -875,7 +875,7 @@ int uORBTest::UnitTest::test_queue()
 	}
 #define CHECK_COPY(i_got, i_correct) \
 	orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u); \
-	if (i_got != i_correct) { \
+	if ((i_got) != (i_correct)) { \
 		return test_fail("got wrong element from the queue (got %i, should be %i)", i_got, i_correct); \
 	}

@@ -72,20 +72,6 @@ endforeach()



-# Mavlink test requires mavlink running
-add_test(NAME sitl-mavlink
-	COMMAND $<TARGET_FILE:px4>
-		-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
-		-t ${PX4_SOURCE_DIR}/test_data
-		${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
-	WORKING_DIRECTORY ${SITL_WORKING_DIR}
-)
-
-set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
-set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED")
-sanitizer_fail_test_on_error(sitl-mavlink)
-
-
 # IMU filtering
 add_test(NAME sitl-imu_filtering
 	COMMAND $<TARGET_FILE:px4>
@@ -1,23 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-param load
-param set CBRK_SUPPLY_CHK 894281
-
-dataman start
-
-battery_simulator start
-simulator_mavlink start
-tone_alarm start
-pwm_out_sim start
-
-ver all
-
-mavlink start -x -u 14556 -r 2000000
-mavlink boot_complete
-
-mavlink_tests
-
-shutdown
@@ -183,11 +183,11 @@ void VertiqIo::parameters_update()
 	}
 }

-void VertiqIo::OutputControls(uint16_t outputs[MAX_ACTUATORS])
+void VertiqIo::OutputControls(float outputs[MAX_ACTUATORS])
 {
 	//Put the mixer outputs into the output message
 	for (uint8_t i = 0; i < _transmission_message.num_cvs; i++) {
-		_transmission_message.commands[i] = outputs[i];
+		_transmission_message.commands[i] = static_cast<uint16_t>(lroundf(outputs[i]));
 	}

 	_operational_ifci.PackageIfciCommandsForTransmission(&_transmission_message, _output_message, &_output_len);
@@ -195,8 +195,7 @@ void VertiqIo::OutputControls(uint16_t outputs[MAX_ACTUATORS])
 	_serial_interface.ProcessSerialTx();
 }

-bool VertiqIo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-			     unsigned num_control_groups_updated)
+bool VertiqIo::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 #ifdef CONFIG_USE_IFCI_CONFIGURATION

@@ -94,14 +94,13 @@ public:
 	void print_info();

 	/** @see OutputModuleInterface */
-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 	/**
 	* @brief Used to package and transmit controls via IQUART
 	* @param outputs The output throttles calculated by the mixer
 	*/
-	void OutputControls(uint16_t outputs[MAX_ACTUATORS]);
+	void OutputControls(float outputs[MAX_ACTUATORS]);

 private:

@@ -957,7 +957,7 @@ int VoxlEsc::update_params()
 	return ret;
 }

-void VoxlEsc::update_leds(vehicle_control_mode_s mode, led_control_s control)
+void VoxlEsc::update_leds(const vehicle_control_mode_s &mode, const led_control_s &control)
 {
 	int i = 0;
 	uint8_t led_mask = _led_rsc.led_mask;
@@ -1237,8 +1237,7 @@ void VoxlEsc::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS])
 }

 /* OutputModuleInterface */
-bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			    unsigned num_outputs, unsigned num_control_groups_updated)
+bool VoxlEsc::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	//in Run() we call _mixing_output.update(), which calls MixingOutput::limitAndUpdateOutputs which calls _interface.updateOutputs (this function)
 	//So, if Run() is blocked by a custom command, this function will not be called until Run is running again
@@ -1247,9 +1246,16 @@ bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 		return false;
 	}

+	// Convert float outputs to uint16_t hardware values
+	uint16_t hw_outputs[VOXL_ESC_OUTPUT_CHANNELS] {};
+
+	for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
+		hw_outputs[i] = static_cast<uint16_t>(lroundf(outputs[i]));
+	}
+
 	// don't use mixed values... recompute now.
 	if (_turtle_mode_en) {
-		mix_turtle_mode(outputs);
+		mix_turtle_mode(hw_outputs);
 	}

 	for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
@@ -1259,24 +1265,24 @@ bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 		} else {
 			if ((_turtle_mode_en) || (_parameters.cmd_type == VOXL_ESC_RPM_CMDS)) {
 				if (_extended_rpm) {
-					if (outputs[i] > VOXL_ESC_RPM_MAX_EXT) { outputs[i] = VOXL_ESC_RPM_MAX_EXT; }
+					if (hw_outputs[i] > VOXL_ESC_RPM_MAX_EXT) { hw_outputs[i] = VOXL_ESC_RPM_MAX_EXT; }

 				} else {
-					if (outputs[i] > VOXL_ESC_RPM_MAX) { outputs[i] = VOXL_ESC_RPM_MAX; }
+					if (hw_outputs[i] > VOXL_ESC_RPM_MAX) { hw_outputs[i] = VOXL_ESC_RPM_MAX; }
 				}

 			} else if (_parameters.cmd_type == VOXL_ESC_PWM_CMDS) {
-				if (outputs[i] > VOXL_ESC_PWM_MAX) { outputs[i] = VOXL_ESC_PWM_MAX; }
+				if (hw_outputs[i] > VOXL_ESC_PWM_MAX) { hw_outputs[i] = VOXL_ESC_PWM_MAX; }

-				else if (outputs[i] < _min_active_pwm) { outputs[i] = _min_active_pwm; }
+				else if (hw_outputs[i] < _min_active_pwm) { hw_outputs[i] = _min_active_pwm; }
 			}

 			if (!_turtle_mode_en) {
-				_esc_chans[i].rate_req = outputs[i] * _output_map[i].direction;
+				_esc_chans[i].rate_req = hw_outputs[i] * _output_map[i].direction;

 			} else {
 				// mapping updated in mixTurtleMode, no remap needed here, but reverse direction
-				_esc_chans[i].rate_req = outputs[i] * _output_map[i].direction * (-1);
+				_esc_chans[i].rate_req = hw_outputs[i] * _output_map[i].direction * (-1);
 			}
 		}
 	}
@@ -83,8 +83,7 @@ public:
 	void print_params();

 	/** @see OutputModuleInterface */
-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 	virtual int	init();
 	int device_init(); // function where uart port is opened and ESC queried
@@ -272,7 +271,7 @@ private:

 	bool			_device_initialized{false};

-	void			update_leds(vehicle_control_mode_s mode, led_control_s control);
+	void			update_leds(const vehicle_control_mode_s &mode, const led_control_s &control);

 	int				read_response(Command *out_cmd);
 	int				parse_response(uint8_t *buf, uint8_t len, bool print_feedback);
@@ -88,7 +88,7 @@ typedef enum : int32_t {
 	TRIGGER_MODE_DISTANCE_ON_CMD
 } trigger_mode_t;

-#define commandParamToInt(n) static_cast<int>(n >= 0 ? n + 0.5f : n - 0.5f)
+#define commandParamToInt(n) static_cast<int>((n) >= 0 ? (n) + 0.5f : (n) - 0.5f)

 class CameraTrigger final : public px4::ScheduledWorkItem
 {
@@ -169,7 +169,7 @@ public:
 	{
 	}

-	void update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
+	void update_outputs(float outputs[MAX_ACTUATORS], unsigned num_outputs)
 	{
 		if (_port_id == 0 || _port_id == CANARD_PORT_ID_UNSET) {
 			return;
@@ -178,7 +178,7 @@ public:
 		uint8_t max_num_outputs = MAX_ACTUATORS > num_outputs ? num_outputs : MAX_ACTUATORS;

 		for (int8_t i = max_num_outputs - 1; i >= _max_number_of_nonzero_outputs; i--) {
-			if (outputs[i] != 0) {
+			if (fabsf(outputs[i]) > FLT_EPSILON) {
 				_max_number_of_nonzero_outputs = i + 1;
 				break;
 			}
@@ -187,7 +187,7 @@ public:
 		uint16_t payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_value_ARRAY_CAPACITY_];

 		for (uint8_t i = 0; i < _max_number_of_nonzero_outputs; i++) {
-			payload_buffer[i] = nunavutFloat16Pack(outputs[i] / 8192.0);
+			payload_buffer[i] = nunavutFloat16Pack(outputs[i] / 8192.f); // Output is float16 so this would benefit rescaling to e.g. [-1,1]
 		}

 		const CanardTransferMetadata transfer_metadata = {
@@ -435,8 +435,7 @@ void CyphalNode::sendPortList()
 	_uavcan_node_port_List_last = now;
 }

-bool UavcanMixingInterface::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-		unsigned num_control_groups_updated)
+bool UavcanMixingInterface::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	// Note: This gets called from MixingOutput from within its update() function
 	// Hence, the mutex lock in UavcanMixingInterface::Run() is in effect
@@ -87,8 +87,7 @@ public:
 		  _node_mutex(node_mutex),
 		  _pub_manager(pub_manager) {}

-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 	void printInfo() { _mixing_output.printStatus(); }

@@ -374,8 +374,7 @@ void DShot::mixerChanged()
 	update_num_motors();
 }

-bool DShot::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			  unsigned num_outputs, unsigned num_control_groups_updated)
+bool DShot::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	if (!_outputs_on) {
 		return false;
@@ -391,7 +390,7 @@ bool DShot::updateOutputs(uint16_t outputs[MAX_ACTUATORS],

 	for (int i = 0; i < (int)num_outputs; i++) {

-		uint16_t output = outputs[i];
+		uint16_t output = static_cast<uint16_t>(lroundf(outputs[i]));

 		if (output == DSHOT_DISARM_VALUE) {

@@ -92,8 +92,7 @@ public:

 	bool telemetry_enabled() const { return _telemetry != nullptr; }

-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 private:

@@ -97,10 +97,15 @@ int LinuxPWMOut::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }

-bool LinuxPWMOut::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-				unsigned num_outputs, unsigned num_control_groups_updated)
+bool LinuxPWMOut::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	_pwm_out->send_output_pwm(outputs, num_outputs);
+	uint16_t hw_outputs[MAX_ACTUATORS] {};
+
+	for (unsigned i = 0; i < num_outputs; i++) {
+		hw_outputs[i] = static_cast<uint16_t>(lroundf(outputs[i]));
+	}
+
+	_pwm_out->send_output_pwm(hw_outputs, num_outputs);
 	return true;
 }

@@ -73,8 +73,7 @@ public:

 	int init();

-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 private:
 	static constexpr int MAX_ACTUATORS = 8;
@@ -73,8 +73,7 @@ public:
 	static int custom_command(int argc, char *argv[]);
 	static int print_usage(const char *reason = nullptr);

-	bool updateOutputs(uint16_t *outputs, unsigned num_outputs,
-			   unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 	int print_status() override;

@@ -155,8 +154,7 @@ int PCA9685Wrapper::init()
 	return PX4_OK;
 }

-bool PCA9685Wrapper::updateOutputs(uint16_t *outputs, unsigned num_outputs,
-				   unsigned num_control_groups_updated)
+bool PCA9685Wrapper::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	if (_state != STATE::RUNNING) { return false; }

@@ -164,11 +162,13 @@ bool PCA9685Wrapper::updateOutputs(uint16_t *outputs, unsigned num_outputs,
 	num_outputs = num_outputs > PCA9685_PWM_CHANNEL_COUNT ? PCA9685_PWM_CHANNEL_COUNT : num_outputs;

 	for (uint8_t i = 0; i < num_outputs; ++i) {
+		uint16_t output = static_cast<uint16_t>(lroundf(outputs[i]));
+
 		if (param_duty_mode & (1 << i)) {
-			low_level_outputs[i] = outputs[i];
+			low_level_outputs[i] = output;

 		} else {
-			low_level_outputs[i] = pca9685->calcRawFromPulse(outputs[i]);
+			low_level_outputs[i] = pca9685->calcRawFromPulse(output);
 		}
 	}

@@ -127,19 +127,18 @@ bool PWMOut::update_pwm_out_state(bool on)
 	return true;
 }

-bool PWMOut::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated)
+bool PWMOut::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	/* output to the servos */
 	if (_pwm_initialized) {
 		for (size_t i = 0; i < num_outputs; i++) {
 			if (!_mixing_output.isFunctionSet(i)) {
 				// do not run any signal on disabled channels
-				outputs[i] = 0;
+				outputs[i] = 0.f;
 			}

 			if (_pwm_mask & (1 << i)) {
-				up_pwm_servo_set(i, outputs[i]);
+				up_pwm_servo_set(i, static_cast<uint16_t>(lroundf(outputs[i])));
 			}
 		}
 	}
@@ -73,8 +73,7 @@ public:
 	/** @see ModuleBase::print_status() */
 	int print_status() override;

-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 private:
 	void Run() override;
@@ -155,8 +155,7 @@ public:

 	uint16_t		system_status() const { return _status; }

-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-			   unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 private:
 	void Run() override;
@@ -364,19 +363,22 @@ PX4IO::~PX4IO()
 	perf_free(_interface_write_perf);
 }

-bool PX4IO::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			  unsigned num_outputs, unsigned num_control_groups_updated)
+bool PX4IO::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
+	uint16_t hw_outputs[MAX_ACTUATORS] {};
+
 	for (size_t i = 0; i < num_outputs; i++) {
 		if (!_mixing_output.isFunctionSet(i)) {
 			// do not run any signal on disabled channels
 			outputs[i] = 0;
 		}
+
+		hw_outputs[i] = static_cast<uint16_t>(lroundf(outputs[i]));
 	}

 	if (!_test_fmu_fail) {
 		/* output to the servos */
-		io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);
+		io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, hw_outputs, num_outputs);
 	}

 	return true;
@@ -504,7 +506,7 @@ void PX4IO::updateFailsafe()
 	uint16_t values[PX4IO_MAX_ACTUATORS] {};

 	for (unsigned i = 0; i < _max_actuators; i++) {
-		values[i] = _mixing_output.actualFailsafeValue(i);
+		values[i] = static_cast<uint16_t>(lroundf(_mixing_output.actualFailsafeValue(i)));
 	}

 	io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, values, _max_actuators);
@@ -401,6 +401,15 @@ bool CrsfParser_TryParseCrsfPacket(CrsfPacket_t *const new_packet, CrsfParserSta
 				if (working_descriptor->packet_size == -1) {
 					working_segment_size = packet_size - PACKET_SIZE_TYPE_SIZE;

+					if (working_index + working_segment_size + CRC_SIZE > CRSF_MAX_PACKET_LEN) {
+						parser_statistics->invalid_known_packet_sizes++;
+						parser_state = PARSER_STATE_HEADER;
+						working_segment_size = HEADER_SIZE;
+						working_index = 0;
+						buffer_count = QueueBuffer_Count(&rx_queue);
+						continue;
+					}
+
 				} else {
 					if (packet_size != working_descriptor->packet_size + PACKET_SIZE_TYPE_SIZE) {
 						parser_statistics->invalid_known_packet_sizes++;
@@ -156,15 +156,10 @@ int Roboclaw::initializeUART()
 	}
 }

-bool Roboclaw::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			     unsigned num_outputs, unsigned num_control_groups_updated)
+bool Roboclaw::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	float right_motor_output = ((float)outputs[0] - 128.0f) / 127.f;
-	float left_motor_output = ((float)outputs[1] - 128.0f) / 127.f;
-
-	setMotorSpeed(Motor::Right, right_motor_output);
-	setMotorSpeed(Motor::Left, left_motor_output);
-
+	setMotorSpeed(Motor::Right, (outputs[0] - 127.0f) / 127.f);
+	setMotorSpeed(Motor::Left, (outputs[1] - 127.0f) / 127.f);
 	return true;
 }

@@ -246,7 +241,7 @@ void Roboclaw::setMotorSpeed(Motor motor, float value)

 	// send command
 	if (motor == Motor::Right) {
-		if (value > 0) {
+		if (value > 0.f) {
 			command = Command::DriveForwardMotor1;

 		} else {
@@ -254,7 +249,7 @@ void Roboclaw::setMotorSpeed(Motor motor, float value)
 		}

 	} else if (motor == Motor::Left) {
-		if (value > 0) {
+		if (value > 0.f) {
 			command = Command::DriveForwardMotor2;

 		} else {
@@ -291,15 +286,9 @@ void Roboclaw::resetEncoders()
 	sendTransaction(Command::ResetEncoders, nullptr, 0);
 }

-void Roboclaw::sendUnsigned7Bit(Command command, float data)
+void Roboclaw::sendUnsigned7Bit(Command command, const float data)
 {
-	data = fabs(data);
-
-	if (data >= 1.0f) {
-		data = 0.99f;
-	}
-
-	auto byte = (uint8_t)(data * INT8_MAX);
+	uint8_t byte = static_cast<uint8_t>(lroundf(fabs(data) * INT8_MAX));
 	sendTransaction(command, &byte, 1);
 }

@@ -79,8 +79,7 @@ public:
 	void Run() override;

 	/** @see OutputModuleInterface */
-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 	void setMotorSpeed(Motor motor, float value); ///< rev/sec
 	void setMotorDutyCycle(Motor motor, float value);
@@ -10,9 +10,9 @@ actuator_output:
    - param_prefix: RBCLW
      channel_label: 'Channel'
      standard_params:
-        disarmed: { min: 128, max: 128, default: 128 }
-        min: { min: 1, max: 128, default: 1 }
-        max: { min: 128, max: 256, default: 256 }
+        disarmed: { min: 127, max: 127, default: 127 }
+        min: { min: 0, max: 127, default: 0 }
+        max: { min: 127, max: 254, default: 254 }
        failsafe: { min: 0, max: 257 }
      num_channels: 2

@@ -243,7 +243,7 @@ void TAP_ESC::send_tune_packet(EscbusTunePacket &tune_packet)
 	tap_esc_common::send_packet(_uart_fd, buzzer_packet, -1);
 }

-bool TAP_ESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+bool TAP_ESC::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs,
 			    unsigned num_control_groups_updated)
 {
 	if (_initialized) {
@@ -252,26 +252,26 @@ bool TAP_ESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_output
 		// We need to remap from the system default to what PX4's normal scheme is
 		switch (num_outputs) {
 		case 4:
-			motor_out[0] = outputs[2];
-			motor_out[1] = outputs[1];
-			motor_out[2] = outputs[3];
-			motor_out[3] = outputs[0];
+			motor_out[0] = static_cast<uint16_t>(lroundf(outputs[2]));
+			motor_out[1] = static_cast<uint16_t>(lroundf(outputs[1]));
+			motor_out[2] = static_cast<uint16_t>(lroundf(outputs[3]));
+			motor_out[3] = static_cast<uint16_t>(lroundf(outputs[0]));
 			break;

 		case 6:
-			motor_out[0] = outputs[3];
-			motor_out[1] = outputs[0];
-			motor_out[2] = outputs[4];
-			motor_out[3] = outputs[2];
-			motor_out[4] = outputs[1];
-			motor_out[5] = outputs[5];
+			motor_out[0] = static_cast<uint16_t>(lroundf(outputs[3]));
+			motor_out[1] = static_cast<uint16_t>(lroundf(outputs[0]));
+			motor_out[2] = static_cast<uint16_t>(lroundf(outputs[4]));
+			motor_out[3] = static_cast<uint16_t>(lroundf(outputs[2]));
+			motor_out[4] = static_cast<uint16_t>(lroundf(outputs[1]));
+			motor_out[5] = static_cast<uint16_t>(lroundf(outputs[5]));
 			break;

 		default:

 			// Use the system defaults
 			for (uint8_t i = 0; i < num_outputs; ++i) {
-				motor_out[i] = outputs[i];
+				motor_out[i] = static_cast<uint16_t>(lroundf(outputs[i]));
 			}

 			break;
@@ -101,8 +101,7 @@ public:

 	int init();

-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;

 private:

--- a/Show More
+++ b/Show More