fix: add whitelist on dds em

Co-Authored-By: PX4 BuildBot <bot@px4.io>

.clang-tidy

@@ -150,7 +150,6 @@ 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,

.github/workflows/build_all_targets.yml

@@ -265,7 +265,5 @@ jobs:
         with:
           draft: true
           prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: |
-            artifacts/*.px4
-            artifacts/*.deb
+          files: artifacts/*.px4
           name: ${{ steps.upload-location.outputs.uploadlocation }}

CONTRIBUTING.md

@@ -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

Makefile

@@ -226,22 +226,9 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
-# Multi-processor boards: build all processor targets together
-# VOXL2 apps processor (default) depends on SLPI DSP being built first
-modalai_voxl2_default: modalai_voxl2_slpi
-modalai_voxl2: modalai_voxl2_slpi
-modalai_voxl2_deb: modalai_voxl2_slpi
-
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
-# DEB package targets: builds _default config, then runs cpack.
-# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
-# via existing cmake prerequisites.
-%_deb:
-	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
-	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
-
 updateconfig:
 	@./Tools/kconfig/updateconfig.py
 

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/70000_gz_atmos

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -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

SECURITY.md

@@ -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.

Tools/ci/generate_board_targets_json.py

@@ -189,65 +189,6 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                 if target is not None:
                     build_configs.append(target)
 
-# Remove companion targets from CI groups (parent target builds them via Make prerequisite)
-for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
-    if not manufacturer.is_dir():
-        continue
-    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
-        if not board.is_dir():
-            continue
-        companion_file = os.path.join(board.path, 'companion_targets')
-        if os.path.exists(companion_file):
-            with open(companion_file) as f:
-                companions = {l.strip() for l in f if l.strip() and not l.startswith('#')}
-            for arch in grouped_targets:
-                for man in grouped_targets[arch]['manufacturers']:
-                    grouped_targets[arch]['manufacturers'][man] = [
-                        t for t in grouped_targets[arch]['manufacturers'][man]
-                        if t not in companions
-                    ]
-
-# Append _deb targets for boards that have cmake/package.cmake
-for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
-    if not manufacturer.is_dir():
-        continue
-    if manufacturer.name in excluded_manufacturers:
-        continue
-    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
-        if not board.is_dir():
-            continue
-        board_name = manufacturer.name + '_' + board.name
-        if board_name in excluded_boards:
-            continue
-        package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
-        if os.path.exists(package_cmake):
-            deb_target = board_name + '_deb'
-            if target_filter and not any(deb_target.startswith(f) for f in target_filter):
-                continue
-            # Determine the container and group for this board
-            container = default_container
-            if board_name in board_container_overrides:
-                container = board_container_overrides[board_name]
-            target_entry = {'target': deb_target, 'container': container}
-            if args.group:
-                # Find the group where this board's _default target already lives
-                default_target = board_name + '_default'
-                group = None
-                for g in grouped_targets:
-                    targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
-                    if default_target in targets_in_group:
-                        group = g
-                        break
-                if group is None:
-                    group = 'base'
-                target_entry['arch'] = group
-                if group not in grouped_targets:
-                    grouped_targets[group] = {'container': container, 'manufacturers': {}}
-                if manufacturer.name not in grouped_targets[group]['manufacturers']:
-                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
-                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
-            build_configs.append(target_entry)
-
 if(verbose):
     import pprint
     print("============================")

Tools/ci/package_build_artifacts.sh

@@ -3,7 +3,6 @@
 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
 cp **/**/*.elf artifacts/ 2>/dev/null || true
-cp **/**/*.deb artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}

boards/modalai/voxl2-slpi/default.px4board

@@ -1,23 +1,5 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
-# Disable modules from default.px4board that are apps-only
-CONFIG_BOARD_LINUX_TARGET=n
-CONFIG_DRIVERS_OSD_MSP_OSD=n
-CONFIG_DRIVERS_QSHELL_POSIX=n
-CONFIG_DRIVERS_RC_INPUT=n
-CONFIG_MODULES_DATAMAN=n
-CONFIG_MODULES_LOGGER=n
-CONFIG_MODULES_MAVLINK=n
-CONFIG_MODULES_MUORB_APPS=n
-CONFIG_MODULES_NAVIGATOR=n
-CONFIG_MODULES_UXRCE_DDS_CLIENT=n
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
-CONFIG_SYSTEMCMDS_BSONDUMP=n
-CONFIG_SYSTEMCMDS_PERF=n
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
-CONFIG_SYSTEMCMDS_VER=n
-CONFIG_SYSTEMCMDS_REBOOT=n
-CONFIG_PARAM_PRIMARY=n
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y

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

@@ -0,0 +1,84 @@
+############################################################################
+#
+#   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# Need to make sure that the DSP processor on VOXL2
+# knows about all parameters since some modules need parameters
+# from other modules that are not running on the DSP.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
+add_library(drivers_board
+	board_config.h
+	i2c.cpp
+	init.c
+	spi.cpp
+    )
+
+# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
+# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
+# SLPI build is self-contained and does not depend on voxl2-default.
+set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
+set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
+
+px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
+
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
+	COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		--lang C --wire-protocol 2.0
+		--output ${MAVLINK_LIBRARY_DIR}
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+		> ${CMAKE_BINARY_DIR}/mavgen_common.log
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+	COMMENT "Generating MAVLink common headers for SLPI"
+)
+add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
+
+add_library(mavlink_common_headers INTERFACE)
+add_dependencies(mavlink_common_headers mavlink_common_generate)
+target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+target_include_directories(mavlink_common_headers INTERFACE
+	${MAVLINK_LIBRARY_DIR}
+	${MAVLINK_LIBRARY_DIR}/common
+)
+
+# Add custom drivers for SLPI
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)

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

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

boards/modalai/voxl2-slpi/src/init.c

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include "board_config.h"
+
+// Place holder for VOXL2-specific early startup code

boards/modalai/voxl2/README.md

@@ -13,10 +13,6 @@ critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.
 
-Both processors are built from this single board directory:
-- `default.px4board` - POSIX apps processor (ARM64)
-- `slpi.px4board` - QURT DSP (Hexagon)
-
 ## Build environment
 
 In order to build for this platform both the Qualcomm Hexagon (DSP) toolchain and the Linaro ARM64 toolchain need to be installed. The (nearly) complete setup including the ARM64 toolchain is provided in the base Docker image provided by ModalAI, but since ModalAI is not allowed to redistribute the Qualcomm Hexagon DSP SDK this must be added by the end user.
@@ -26,21 +22,17 @@ The full instructions are available here:
 
 ## Build overview
 
-A single `make modalai_voxl2` command builds both the DSP and apps processor
-firmware. The Makefile chains the SLPI build as a prerequisite of the default
-(apps) build.
-
 - Clone the repo (Don't forget to update and initialize all submodules)
 - In the top level directory
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
 ```
 
-For DSP-only rebuilds: `make modalai_voxl2_slpi`
-
 ## Install and run on VOXL 2
 
 Once the DSP and Linux images have been built they can be installed on a VOXL 2

boards/modalai/voxl2/cmake/init.cmake

@@ -31,10 +31,6 @@
 #
 ############################################################################
 
-if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
-	return()
-endif()
-
 # Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
 execute_process(
 	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api

boards/modalai/voxl2/cmake/install.cmake

@@ -1,83 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-# VOXL2 board-specific install rules for .deb packaging
-# Included from platforms/posix/CMakeLists.txt where the px4 target exists
-
-# SLPI companion build output directory
-set(VOXL2_SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/modalai_voxl2_slpi")
-
-# Apps processor binary
-install(TARGETS px4 RUNTIME DESTINATION bin)
-
-# px4-alias.sh (generated during build into bin/ subdirectory)
-install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
-
-# Startup scripts from board target directory
-install(PROGRAMS
-	${PX4_BOARD_DIR}/target/voxl-px4
-	${PX4_BOARD_DIR}/target/voxl-px4-start
-	${PX4_BOARD_DIR}/target/voxl-px4-hitl
-	${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
-	DESTINATION bin
-)
-
-# DSP firmware blob from companion SLPI build
-install(FILES ${VOXL2_SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
-	DESTINATION lib/rfsa/adsp
-)
-
-# Configuration files
-install(FILES
-	${PX4_BOARD_DIR}/target/voxl-px4-fake-imu-calibration.config
-	${PX4_BOARD_DIR}/target/voxl-px4-hitl-set-default-parameters.config
-	DESTINATION ../etc/modalai
-)
-
-# Systemd service file
-install(FILES ${PX4_BOARD_DIR}/debian/voxl-px4.service
-	DESTINATION ../etc/systemd/system
-)
-
-# Component metadata JSON files
-install(FILES
-	${PX4_BINARY_DIR}/actuators.json.xz
-	${PX4_BINARY_DIR}/component_general.json.xz
-	${PX4_BINARY_DIR}/parameters.json.xz
-	DESTINATION ../data/px4/etc/extras
-	OPTIONAL
-)
-install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
-	DESTINATION ../data/px4/etc/extras
-	OPTIONAL
-)

boards/modalai/voxl2/cmake/link_libraries.cmake

@@ -1,6 +1,3 @@
-if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
-	return()
-endif()
 
 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE

boards/modalai/voxl2/cmake/package.cmake

@@ -1,63 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-# VOXL2 board-specific CPack overrides
-# Loaded after cmake/package.cmake sets up CPack defaults
-
-# Derive Debian-compatible version from git tag (e.g. v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef)
-string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
-string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}" )
-string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
-
-# VOXL2 is always aarch64 regardless of build host
-set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "arm64")
-set(CPACK_DEBIAN_PACKAGE_NAME "voxl-px4")
-set(CPACK_DEBIAN_FILE_NAME "voxl-px4_${_deb_ver}_arm64.deb")
-set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
-set(CPACK_INSTALL_PREFIX "/usr")
-set(CPACK_SET_DESTDIR true)
-
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.1.16) | modalai-adsp(>=1.0.2)")
-set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
-set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
-set(CPACK_DEBIAN_PACKAGE_MAINTAINER "ModalAI <support@modalai.com>")
-
-# Disable shlibdeps for cross-compiled boards
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
-
-set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
-	"${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
-
-# Install rules are in boards/modalai/voxl2/cmake/install.cmake,
-# included from platforms/posix/CMakeLists.txt where the px4 target exists.

boards/modalai/voxl2/companion_targets

@@ -1,3 +0,0 @@
-# Companion processor targets - built automatically by the parent (default) target
-# These are excluded from CI target lists to avoid redundant builds
-modalai_voxl2_slpi

boards/modalai/voxl2/debian/postinst

@@ -1,36 +0,0 @@
-#!/bin/bash
-set -e
-
-# Create px4-* symlinks from px4-alias.sh
-# The alias format is: alias <module>='px4-<module> --instance $px4_instance'
-# We extract the px4-<module> command name and symlink it to the px4 binary
-if [ -f /usr/bin/px4-alias.sh ]; then
-    grep "^alias " /usr/bin/px4-alias.sh | \
-        sed -n "s/.*'\(px4-[a-zA-Z0-9_]*\).*/\1/p" | while read cmd; do
-        ln -sf px4 "/usr/bin/${cmd}"
-    done
-fi
-
-# Detect platform and generate DSP test signature if needed
-if ! /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
-    echo "[INFO] Generating DSP test signature..."
-    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
-        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh || true
-    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
-        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh || true
-    else
-        echo "[WARNING] Could not find DSP signature generation script"
-    fi
-fi
-
-# Create required data directories
-mkdir -p /data/px4/param
-mkdir -p /data/px4/etc/extras
-chown -R root:root /data/px4
-
-# Reload systemd if available
-if command -v systemctl > /dev/null 2>&1; then
-    systemctl daemon-reload
-fi
-
-echo "voxl-px4 installed successfully"

boards/modalai/voxl2/debian/prerm

@@ -1,14 +0,0 @@
-#!/bin/bash
-set -e
-
-# Stop voxl-px4 service if running
-if command -v systemctl > /dev/null 2>&1; then
-    systemctl stop voxl-px4 2>/dev/null || true
-fi
-
-# Remove px4-* symlinks
-for f in /usr/bin/px4-*; do
-    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
-        rm -f "$f"
-    fi
-done

boards/modalai/voxl2/debian/voxl-px4.service

@@ -1,14 +0,0 @@
-[Unit]
-Description=PX4 Autopilot for VOXL2
-After=sscrpcd.service
-Requires=sscrpcd.service
-
-[Service]
-Type=simple
-ExecStart=/usr/bin/voxl-px4
-ExecStopPost=/usr/bin/voxl-reset-slpi
-Restart=on-failure
-RestartSec=5
-
-[Install]
-WantedBy=multi-user.target

boards/modalai/voxl2/scripts/build-apps.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
+echo "*** Starting apps processor build ***"
 
 source /home/build-env.sh
 
@@ -8,4 +8,4 @@ make modalai_voxl2
 
 cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
 
-echo "*** End of unified VOXL2 build ***"
+echo "*** End of apps processor build ***"

boards/modalai/voxl2/scripts/build-pkg.sh

@@ -1,11 +0,0 @@
-#!/bin/bash
-
-echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
-
-source /home/build-env.sh
-
-make modalai_voxl2_deb
-
-cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
-
-echo "*** End of unified VOXL2 build ***"

boards/modalai/voxl2/scripts/build-slpi.sh

@@ -4,6 +4,6 @@ echo "*** Starting qurt slpi build ***"
 
 source /home/build-env.sh
 
-make modalai_voxl2_slpi
+make modalai_voxl2-slpi
 
 echo "*** End of qurt slpi build ***"

boards/modalai/voxl2/scripts/install-voxl-bins.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Push slpi image to voxl2
-adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
 
 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Push slpi image to voxl2
-adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
 
 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin

boards/modalai/voxl2/src/CMakeLists.txt

@@ -31,81 +31,28 @@
 #
 ############################################################################
 
-# Both processors need to know about all parameters since modules are
-# split across processors and may reference parameters from the other side.
+# Need to make sure that the Linux processor on VOXL2
+# knows about all parameters since it is acting as the
+# parameter server for other processors that may define
+# parameters that it doesn't normally know about.
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
 
-set(SRCS
+add_library(drivers_board
 	board_config.h
+	i2c.cpp
 	init.c
-)
+	boardctl.c
+	spi.cpp
+    )
 
-if("${PX4_PLATFORM}" STREQUAL "qurt")
-	list(APPEND SRCS
-		i2c_qurt.cpp
-		spi_qurt.cpp
-	)
-elseif("${PX4_PLATFORM}" STREQUAL "posix")
-	list(APPEND SRCS
-		boardctl.c
-		i2c_posix.cpp
-		spi_posix.cpp
-	)
-endif()
+# Add custom drivers
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
 
-add_library(drivers_board ${SRCS})
+# Add custom libraries
+add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa)
 
-if("${PX4_PLATFORM}" STREQUAL "qurt")
-	# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
-	# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
-	# SLPI build is self-contained and does not depend on voxl2-default.
-	set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
-	set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
-
-	px4_add_git_submodule(TARGET git_mavlink_v2_slpi PATH "${MAVLINK_GIT_DIR}")
-
-	add_custom_command(
-		OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
-		COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-			--lang C --wire-protocol 2.0
-			--output ${MAVLINK_LIBRARY_DIR}
-			${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-			> ${CMAKE_BINARY_DIR}/mavgen_common.log
-		DEPENDS
-			git_mavlink_v2_slpi
-			${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-			${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-		COMMENT "Generating MAVLink common headers for SLPI"
-	)
-	add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
-
-	add_library(mavlink_common_headers INTERFACE)
-	add_dependencies(mavlink_common_headers mavlink_common_generate)
-	target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
-	target_include_directories(mavlink_common_headers INTERFACE
-		${MAVLINK_LIBRARY_DIR}
-		${MAVLINK_LIBRARY_DIR}/common
-	)
-
-	# Add custom drivers for SLPI
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/rc_controller rc_controller)
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/mavlink_rc_in mavlink_rc_in)
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/spektrum_rc spektrum_rc)
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/ghst_rc ghst_rc)
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/dsp_hitl dsp_hitl)
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/dsp_sbus dsp_sbus)
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/elrs_led elrs_led)
-
-elseif("${PX4_PLATFORM}" STREQUAL "posix")
-	# Add custom drivers
-	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/posix/apps_sbus apps_sbus)
-
-	# Add custom libraries
-	add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa mpa)
-
-	# Add custom modules
-	add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params voxl_save_cal_params)
-	add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge vehicle_air_data_bridge)
-	add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge sensor_baro_bridge)
-	add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge vehicle_local_position_bridge)
-endif()
+# Add custom modules
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge)

boards/modalai/voxl2/src/board_config.h

@@ -42,44 +42,21 @@
 #define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
+// Define this as empty since i2c clock init isn't required
+#define BOARD_I2C_BUS_CLOCK_INIT
+
 /*
- * SPI buses (shared)
+ * I2C buses
+ */
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    1
+
+/*
+ * SPI buses
  */
 #define CONFIG_SPI 1
 #define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
 
-#ifdef __PX4_QURT
-/*
- * QURT (DSP) specific defines
- */
-
-#define CONFIG_I2C 1
-#define PX4_NUMBER_I2C_BUSES    4
-
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>
-
-#define VOXL_ESC_DEFAULT_PORT 	"2"
-#define GHST_RC_DEFAULT_PORT 	"7"
-#define VOXL2_IO_DEFAULT_PORT 	"2"
-
-/* M0065 PWM */
-#define DIRECT_PWM_OUTPUT_CHANNELS 4
-#define MAX_IO_TIMERS 3
-
-#endif /* __PX4_QURT */
-
-#if defined(__PX4_POSIX) && !defined(__PX4_QURT)
-/*
- * POSIX (apps processor) specific defines
- */
-
-/* I2C clock init not required on Linux */
-#define BOARD_I2C_BUS_CLOCK_INIT
-
-#define CONFIG_I2C 1
-#define PX4_NUMBER_I2C_BUSES    1
-
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
 
@@ -88,5 +65,3 @@
 
 #define VOXL_ESC_DEFAULT_PORT 	"2"
 #define VOXL2_IO_DEFAULT_PORT 	"2"
-
-#endif /* __PX4_POSIX && !__PX4_QURT */

cmake/package.cmake

@@ -86,7 +86,7 @@ if("${CMAKE_SYSTEM}" MATCHES "Linux")
 		set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 autopilot")
 		set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 		set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
-		set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+		set(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
 
 		# autogenerate dependency information
 		set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
@@ -97,9 +97,4 @@ else()
 	set(CPACK_GENERATOR "ZIP")
 endif()
 
-# Board-specific overrides (loaded after defaults are set)
-if(EXISTS "${PX4_BOARD_DIR}/cmake/package.cmake")
-	include(${PX4_BOARD_DIR}/cmake/package.cmake)
-endif()
-
 include(CPack)

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -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
@@ -479,11 +479,6 @@
 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

docs/en/SUMMARY.md

@@ -476,7 +476,6 @@
     - [Flight Controller Porting Guide](hardware/porting_guide.md)
       - [PX4 Board Configuration (kconfig)](hardware/porting_guide_config.md)
       - [NuttX Board Porting Guide](hardware/porting_guide_nuttx.md)
-      - [Board Firmware Packaging (.deb)](hardware/board_packaging.md)
     - [Serial Port Mapping](hardware/serial_port_mapping.md)
     - [Airframes](dev_airframes/index.md)
       - [Adding a New Airframe](dev_airframes/adding_a_new_frame.md)
@@ -760,6 +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)

docs/en/advanced_config/parameter_reference.md

@@ -20502,7 +20502,8 @@ 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 +22730,6 @@ 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 |
-| ------- | -------- | -------- | --------- | ------------ | ---- |
-| ✓ |          |          |           | 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 |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 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 |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 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 |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 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 |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 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 |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 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 |
-| ------ | -------- | -------- | --------- | ----------- | ---- |
-|   |          |          |           | 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 +28303,63 @@ needs to be changed to match a custom setting
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          |           | 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 |
+| ------ | -------- | -------- | --------- | ------------ | ---- |
+|   |          |          |           | 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 |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 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 |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 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 |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 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 |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.01     | 10       | 1         | 1.      | s    |
+
 ## Mount
 
 ### MNT_DO_STAB (`INT32`) {#MNT_DO_STAB}

docs/en/hardware/board_packaging.md

@@ -1,298 +0,0 @@
-# Board Firmware Packaging
-
-PX4 supports building distributable firmware packages for Linux-based (POSIX) boards.
-While NuttX boards produce `.px4` firmware files that are flashed via QGroundControl, POSIX boards can produce `.deb` (Debian) packages that are installed using standard Linux package management tools (`dpkg`, `apt`).
-
-This page covers how manufacturers can add `.deb` packaging to their boards, with examples for both single-processor and multi-processor architectures.
-
-## Overview
-
-The packaging framework uses [CMake CPack](https://cmake.org/cmake/help/latest/module/CPack.html) with the DEB generator.
-It is built on two extension points in the PX4 build system:
-
-- **`boards/<vendor>/<board>/cmake/package.cmake`**: CPack variable overrides (package name, version, dependencies, architecture, maintainer info). Loaded during CMake configure.
-- **`boards/<vendor>/<board>/cmake/install.cmake`**: `install()` rules that define what goes into the package (binaries, scripts, config files, service files). Loaded from `platforms/posix/CMakeLists.txt` where build targets are available.
-
-When a board provides these files, CI automatically discovers and builds the `_deb` target alongside the normal firmware build.
-
-## Build Command
-
-For any board with packaging support:
-
-```sh
-make <vendor>_<board>_deb
-```
-
-For example:
-
-```sh
-make modalai_voxl2_deb
-```
-
-This builds the `_default` configuration (and any companion builds for multi-processor boards), then runs `cpack -G DEB` in the build directory.
-The resulting `.deb` file is placed in `build/<vendor>_<board>_default/`.
-
-## Adding Packaging to a Board
-
-### File Structure
-
-```
-boards/<vendor>/<board>/
-    cmake/
-        package.cmake      # CPack configuration (required)
-        install.cmake      # Install rules (required)
-    debian/
-        postinst           # Post-install script (optional)
-        prerm              # Pre-remove script (optional)
-        <name>.service     # Systemd unit file (optional)
-```
-
-### Step 1: CPack Configuration (package.cmake)
-
-This file sets CPack variables that control the `.deb` metadata.
-It is included from `cmake/package.cmake` after the base CPack defaults are configured.
-
-```cmake
-# boards/<vendor>/<board>/cmake/package.cmake
-
-# Derive Debian-compatible version from git tag
-# v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef
-# v1.17.0 -> 1.17.0
-string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
-string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}")
-string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
-
-# Target architecture (use the target arch, not the build host)
-set(CPACK_DEBIAN_ARCHITECTURE "arm64")
-
-# Package identity
-set(CPACK_DEBIAN_PACKAGE_NAME "my-px4-board")
-set(CPACK_DEBIAN_FILE_NAME "my-px4-board_${_deb_ver}_arm64.deb")
-
-# Install prefix
-set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
-set(CPACK_INSTALL_PREFIX "/usr")
-set(CPACK_SET_DESTDIR true)
-
-# Package metadata
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for My Board")
-set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vendor <support@vendor.com>")
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "some-dependency (>= 1.0)")
-set(CPACK_DEBIAN_PACKAGE_CONFLICTS "")
-set(CPACK_DEBIAN_PACKAGE_REPLACES "")
-
-# Disable shlibdeps for cross-compiled boards
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
-
-# Include post-install and pre-remove scripts (optional)
-set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
-    "${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
-```
-
-**Key variables:**
-
-| Variable | Purpose |
-|---|---|
-| `CPACK_DEBIAN_ARCHITECTURE` | Target architecture. Set explicitly for cross-compiled boards since `dpkg --print-architecture` reports the build host, not the target. |
-| `CPACK_DEBIAN_PACKAGE_NAME` | Package name as it appears in `dpkg -l`. |
-| `CPACK_DEBIAN_FILE_NAME` | Output `.deb` filename. |
-| `CPACK_DEBIAN_PACKAGE_DEPENDS` | Runtime dependencies (comma-separated, Debian format). |
-| `CPACK_DEBIAN_PACKAGE_SHLIBDEPS` | Set to `OFF` for cross-compiled boards where `dpkg-shlibdeps` cannot inspect target binaries. |
-
-### Step 2: Install Rules (install.cmake)
-
-This file defines what files are packaged in the `.deb`.
-It is included from `platforms/posix/CMakeLists.txt` where the `px4` build target is available.
-
-All paths are relative to `CPACK_PACKAGING_INSTALL_PREFIX` (typically `/usr`). Use `../` to install outside the prefix (e.g., `../etc/` installs to `/etc/`).
-
-**Minimal example (single-processor board):**
-
-```cmake
-# boards/<vendor>/<board>/cmake/install.cmake
-
-# PX4 binary
-install(TARGETS px4 RUNTIME DESTINATION bin)
-
-# Module alias script (generated during build)
-install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
-
-# Startup scripts
-install(PROGRAMS
-    ${PX4_BOARD_DIR}/target/my-px4-start
-    DESTINATION bin
-)
-
-# Configuration files
-install(FILES
-    ${PX4_BOARD_DIR}/target/my-config.conf
-    DESTINATION ../etc/my-board
-)
-
-# Systemd service
-install(FILES ${PX4_BOARD_DIR}/debian/my-px4.service
-    DESTINATION ../etc/systemd/system
-)
-
-# Component metadata
-install(FILES
-    ${PX4_BINARY_DIR}/actuators.json.xz
-    ${PX4_BINARY_DIR}/parameters.json.xz
-    DESTINATION ../data/px4/etc/extras
-    OPTIONAL
-)
-install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
-    DESTINATION ../data/px4/etc/extras
-    OPTIONAL
-)
-```
-
-### Step 3: Debian Scripts (optional)
-
-#### postinst
-
-Runs after the package is installed. Common tasks:
-
-- Create `px4-*` module symlinks from `px4-alias.sh`
-- Set up required directories with correct ownership
-- Run `systemctl daemon-reload` to pick up the service file
-- Board-specific setup (e.g., DSP signature generation)
-
-```bash
-#!/bin/bash
-set -e
-
-# Create px4-* symlinks
-if [ -f /usr/bin/px4-alias.sh ]; then
-    grep "^alias " /usr/bin/px4-alias.sh | \
-        sed "s/alias \(px4-[a-zA-Z0-9_]*\)=.*/\1/" | while read cmd; do
-        ln -sf px4 "/usr/bin/${cmd}"
-    done
-fi
-
-# Create data directories
-mkdir -p /data/px4/param
-mkdir -p /data/px4/etc/extras
-
-# Reload systemd
-if command -v systemctl > /dev/null 2>&1; then
-    systemctl daemon-reload
-fi
-```
-
-#### prerm
-
-Runs before the package is removed:
-
-```bash
-#!/bin/bash
-set -e
-
-# Stop the service
-if command -v systemctl > /dev/null 2>&1; then
-    systemctl stop my-px4 2>/dev/null || true
-fi
-
-# Remove px4-* symlinks
-for f in /usr/bin/px4-*; do
-    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
-        rm -f "$f"
-    fi
-done
-```
-
-Both scripts must be executable (`chmod +x`).
-
-## Multi-Processor Boards
-
-Some boards run PX4 across multiple processors, for example the ModalAI VOXL2 which has a POSIX apps processor (ARM) and a Hexagon DSP (SLPI).
-These produce two separate CMake builds, but the `.deb` must contain artifacts from both.
-
-### How It Works
-
-1. The `_default` build (POSIX/apps processor) owns the `.deb`.
-2. The Makefile `%_deb` target builds `_default`, which chains any companion builds as CMake prerequisites.
-3. The `install.cmake` pulls companion build artifacts via absolute path to the sibling build directory.
-4. CPack runs in the `_default` build tree and produces a single `.deb`.
-
-### Companion Build Artifacts
-
-In `install.cmake`, reference the companion build output by absolute path:
-
-```cmake
-# DSP firmware blob from companion SLPI build
-set(SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/<vendor>_<board>-slpi_default")
-
-install(FILES ${SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
-    DESTINATION lib/rfsa/adsp
-    OPTIONAL
-)
-```
-
-The `OPTIONAL` keyword allows the `.deb` to build even when the companion build hasn't run (useful for development/testing of just the apps-processor side).
-
-### VOXL2 Reference
-
-The VOXL2 board is a complete working example of multi-processor packaging:
-
-```
-boards/modalai/voxl2/
-    cmake/
-        package.cmake      # CPack config: voxl-px4, arm64, deps, shlibdeps off
-        install.cmake      # px4 binary, SLPI libpx4.so, scripts, configs, metadata
-    debian/
-        postinst           # Symlinks, DSP signature, directory setup
-        prerm              # Stop service, remove symlinks
-        voxl-px4.service   # Systemd unit (after sscrpcd, restart on-failure)
-    target/
-        voxl-px4           # Main startup wrapper
-        voxl-px4-start     # PX4 module startup script
-```
-
-The resulting `.deb` installs:
-
-| Path | Contents |
-|---|---|
-| `/usr/bin/px4` | Apps processor PX4 binary |
-| `/usr/bin/px4-alias.sh` | Module alias script |
-| `/usr/bin/voxl-px4` | Startup wrapper |
-| `/usr/bin/voxl-px4-start` | Module startup script |
-| `/usr/lib/rfsa/adsp/libpx4.so` | DSP firmware (from SLPI build) |
-| `/etc/modalai/*.config` | Board configuration files |
-| `/etc/systemd/system/voxl-px4.service` | Systemd service |
-| `/data/px4/etc/extras/*.json.xz` | Component metadata |
-
-## CI Integration
-
-### Automatic Discovery
-
-The CI system (`Tools/ci/generate_board_targets_json.py`) automatically discovers boards with `cmake/package.cmake` and adds a `<vendor>_<board>_deb` target to the board's existing CI group.
-No manual CI configuration is needed.
-
-### Artifact Collection
-
-The `Tools/ci/package_build_artifacts.sh` script collects `.deb` files alongside `.px4` and `.elf` artifacts.
-On tagged releases, `.deb` files are uploaded to both S3 and GitHub Releases.
-
-## Version Format
-
-The `.deb` version is derived from `PX4_GIT_TAG` using Debian-compatible formatting:
-
-| Git Tag | Debian Version | Notes |
-|---|---|---|
-| `v1.17.0` | `1.17.0` | Stable release |
-| `v1.17.0-beta1` | `1.17.0~beta1` | Pre-release (`~` sorts before release) |
-| `v1.17.0-alpha1-42-gabcdef` | `1.17.0~alpha1.42.gabcdef` | Development build |
-
-The `~` prefix in Debian versioning ensures pre-releases sort lower than the final release: `1.17.0~beta1 < 1.17.0`.
-
-## Checklist for New Boards
-
-1. Create `boards/<vendor>/<board>/cmake/package.cmake` with CPack variables
-2. Create `boards/<vendor>/<board>/cmake/install.cmake` with install rules
-3. (Optional) Create `boards/<vendor>/<board>/debian/postinst` and `prerm`
-4. (Optional) Create `boards/<vendor>/<board>/debian/<name>.service`
-5. Test locally: `make <vendor>_<board>_deb`
-6. Verify: `dpkg-deb --info build/<vendor>_<board>_default/<name>_*.deb`
-7. Verify: `dpkg-deb --contents build/<vendor>_<board>_default/<name>_*.deb`
-8. CI picks it up automatically on the next push

docs/en/mavlink/index.md

@@ -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.
 :::

docs/en/mavlink/security_hardening.md

@@ -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.

docs/en/middleware/dds_topics.md

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

docs/en/msg_docs/ActuatorMotors.md

@@ -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)
 ```
 

docs/en/msg_docs/EscReport.md

@@ -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)

docs/package.json

@@ -27,5 +27,9 @@
   },
   "devDependencies": {
     "prettier": "^3.2.0"
+  },
+  "resolutions": {
+    "markdown-it": "^14.1.1",
+    "esbuild": "^0.25.0"
   }
 }

msg/EscReport.msg

@@ -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)

msg/versioned/ActuatorMotors.msg

@@ -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)

platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -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); \
 	}
 

platforms/posix/CMakeLists.txt

@@ -80,8 +80,7 @@ target_link_libraries(px4 PRIVATE uORB)
 # install
 #
 
-# Generic install rules (skipped when board provides its own install.cmake)
-if(NOT EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
+# TODO: extend to snapdragon
 
 # px4 dirs
 install(
@@ -95,8 +94,6 @@ install(
 	USE_SOURCE_PERMISSIONS
 )
 
-endif() # NOT board install.cmake
-
 # Module Symlinks
 px4_posix_generate_symlinks(
 	MODULE_LIST ${module_libraries}
@@ -115,11 +112,6 @@ if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
 	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
 endif()
 
-# board defined install rules for .deb packaging
-if(EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
-	include(${PX4_BOARD_DIR}/cmake/install.cmake)
-endif()
-
 # board defined link libraries
 if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
 	include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)

src/drivers/camera_trigger/camera_trigger.cpp

@@ -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
 {

src/lib/tinybson/tinybson.cpp

@@ -51,8 +51,8 @@
 # define debug(fmt, args...)		do { } while(0)
 #endif
 
-#define CODER_CHECK(_c)		do { if (_c->dead) { PX4_ERR("coder dead"); return -1; }} while(0)
-#define CODER_KILL(_c, _reason)	do { PX4_ERR("killed: %s", _reason); _c->dead = true; return -1; } while(0)
+#define CODER_CHECK(_c)		do { if ((_c)->dead) { PX4_ERR("coder dead"); return -1; }} while(0)
+#define CODER_KILL(_c, _reason)	do { PX4_ERR("killed: %s", _reason); (_c)->dead = true; return -1; } while(0)
 
 static int
 read_x(bson_decoder_t decoder, void *p, size_t s)

src/lib/tunes/tunes.cpp

@@ -46,7 +46,7 @@
 #include <errno.h>
 
 #define BEAT_TIME_CONVERSION_MS (60 * 1000 * 4)
-#define BEAT_TIME_CONVERSION_US BEAT_TIME_CONVERSION_MS * 1000
+#define BEAT_TIME_CONVERSION_US (BEAT_TIME_CONVERSION_MS * 1000)
 #define BEAT_TIME_CONVERSION    BEAT_TIME_CONVERSION_US
 
 // semitone offsets from C for the characters 'A'-'G'

src/modules/commander/Commander.cpp

@@ -2016,7 +2016,7 @@ void Commander::run()
 			_vehicle_status.timestamp = hrt_absolute_time();
 			_vehicle_status_pub.publish(_vehicle_status);
 
-			_failure_detector.publishStatus();
+			_failure_detector.publishStatus(_health_and_arming_checks.getEscArmStatus(), _health_and_arming_checks.getMotorFailureMask());
 		}
 
 		checkWorkerThread();

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -109,6 +109,9 @@ public:
 
 	const failsafe_flags_s &failsafeFlags() const { return _failsafe_flags; }
 
+	uint16_t getMotorFailureMask() const {return _esc_checks.getMotorFailureMask(); }
+	bool getEscArmStatus() const { return _esc_checks.getEscArmStatus(); }
+
 #ifndef CONSTRAINED_FLASH
 	ExternalChecks &externalChecks() { return _external_checks; }
 #endif

src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.cpp

@@ -37,13 +37,13 @@ void ArmPermissionChecks::checkAndReport(const Context &context, Report &reporte
 {
 	if (_param_com_armable.get() < 1) {
 		/* EVENT
-		* @description
-		* Vehicle is in safety configuration and denies arming.
-		*
-		* <profile name="dev">
-		* This check can be configured via <param>COM_ARMABLE</param> parameter.
-		* </profile>
-		*/
+		 * @description
+		 * Vehicle is in safety configuration and denies arming.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>COM_ARMABLE</param> parameter.
+		 * </profile>
+		 */
 		reporter.armingCheckFailure(NavModes::All, health_component_t::system,
 					    events::ID("check_armable_configuration"),
 					    events::Log::Error, "Vehicle is in safety configuration");

src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp

@@ -211,13 +211,13 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 			// This is declared critical so QGC displays a yellow box and reads "low battery" out loud making the user aware
 
 			/* EVENT
-			* @description
-			* The lowest battery state of charge is below the low threshold.
-			*
-			* <profile name="dev">
-			* Can be configured with <param>BAT_LOW_THR</param>.
-			* </profile>
-			*/
+			 * @description
+			 * The lowest battery state of charge is below the low threshold.
+			 *
+			 * <profile name="dev">
+			 * Can be configured with <param>BAT_LOW_THR</param>.
+			 * </profile>
+			 */
 			reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"),
 						    events::Log::Critical, "Low battery");
 
@@ -229,13 +229,13 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 
 		case battery_status_s::WARNING_CRITICAL:
 			/* EVENT
-			* @description
-			* The lowest battery state of charge is below the critical threshold.
-			*
-			* <profile name="dev">
-			* Can be configured with <param>BAT_CRIT_THR</param> and from when to disalow arming with <param>COM_ARM_BAT_MIN</param>.
-			* </profile>
-			*/
+			 * @description
+			 * The lowest battery state of charge is below the critical threshold.
+			 *
+			 * <profile name="dev">
+			 * Can be configured with <param>BAT_CRIT_THR</param> and from when to disalow arming with <param>COM_ARM_BAT_MIN</param>.
+			 * </profile>
+			 */
 			reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_critical"),
 						    events::Log::Critical, "Critical battery");
 
@@ -247,13 +247,13 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 
 		case battery_status_s::WARNING_EMERGENCY:
 			/* EVENT
-			* @description
-			* The lowest battery state of charge is below the emergency threshold.
-			*
-			* <profile name="dev">
-			* Can be configured with <param>BAT_EMERGEN_THR</param>.
-			* </profile>
-			*/
+			 * @description
+			 * The lowest battery state of charge is below the emergency threshold.
+			 *
+			 * <profile name="dev">
+			 * Can be configured with <param>BAT_EMERGEN_THR</param>.
+			 * </profile>
+			 */
 			reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_emergency"),
 						    events::Log::Emergency, "Emergency battery level");
 

src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp

@@ -62,7 +62,6 @@ static constexpr const char *esc_fault_reason_str(esc_fault_reason_t esc_fault_r
 	case esc_fault_reason_t::esc_warn_temp: return "over temperature";
 
 	case esc_fault_reason_t::esc_over_temp: return "critical temperature";
-
 	}
 
 	return "";
@@ -72,19 +71,31 @@ static constexpr const char *esc_fault_reason_str(esc_fault_reason_t esc_fault_r
 void EscChecks::checkAndReport(const Context &context, Report &reporter)
 {
 	const hrt_abstime now = hrt_absolute_time();
-	const hrt_abstime esc_telemetry_timeout =
-		700_ms; // Some DShot ESCs are unresponsive for ~550ms during their initialization, so we use a timeout higher than that
-
 	esc_status_s esc_status;
 
-	if (_esc_status_sub.copy(&esc_status) && (now < esc_status.timestamp + esc_telemetry_timeout)) {
+	// Run motor status checks even when no new ESC data arrives (to detect timeouts)
+	if (_esc_status_sub.copy(&esc_status)) {
+		if (esc_status.esc_count <= 0) {
+			return;
+		}
 
-		checkEscStatus(context, reporter, esc_status);
+		uint16_t mask = 0;
+
+		if (_param_com_arm_chk_escs.get() > 0) {
+			mask |= checkEscOnline(context, reporter, esc_status, now);
+			mask |= checkEscStatus(context, reporter, esc_status);
+		}
+
+		if (_param_fd_act_en.get() > 0) {
+			updateEscsStatus(context, reporter, esc_status, now);
+			mask |= checkMotorStatus(context, reporter, esc_status, now);
+		}
+
+		_motor_failure_mask = mask;
 		reporter.setIsPresent(health_component_t::motors_escs);
+		reporter.failsafeFlags().fd_motor_failure = (mask != 0);
 
-	} else if (_param_com_arm_chk_escs.get()
-		   && now - _start_time > 5_s) { // Wait a bit after startup to allow esc's to init
-
+	} else if ((_param_com_arm_chk_escs.get() > 0) && now > _start_time + 3_s) { // Allow ESCs to init
 		/* EVENT
 		 * @description
 		 * <profile name="dev">
@@ -100,83 +111,240 @@ void EscChecks::checkAndReport(const Context &context, Report &reporter)
 	}
 }
 
-void EscChecks::checkEscStatus(const Context &context, Report &reporter, const esc_status_s &esc_status)
+uint16_t EscChecks::checkEscOnline(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now)
 {
-	const NavModes required_modes = _param_com_arm_chk_escs.get() ? NavModes::All : NavModes::None;
+	// Check if one or more the ESCs are offline
+	uint16_t mask = 0;
+	char esc_fail_msg[esc_status_s::CONNECTED_ESC_MAX * 6 + 1] = "";
 
-	if (esc_status.esc_count > 0) {
-		// Check if one or more the ESCs are offline
-		char esc_fail_msg[50];
-		esc_fail_msg[0] = '\0';
+	for (int esc_index = 0; esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
+		if (!math::isInRange(esc_status.esc[esc_index].actuator_function,
+				     esc_report_s::ACTUATOR_FUNCTION_MOTOR1, esc_report_s::ACTUATOR_FUNCTION_MOTOR_MAX)) {
+			continue; // Skip unmapped ESC status entries
+		}
 
-		for (int i = 0; i < esc_status_s::CONNECTED_ESC_MAX; ++i) {
-			const bool mapped = math::isInRange(esc_status.esc[i].actuator_function, actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1,
-							    uint8_t(actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + actuator_motors_s::NUM_CONTROLS - 1));
-			const bool offline = (esc_status.esc_online_flags & (1 << i)) == 0;
+		const bool timeout = now > esc_status.esc[esc_index].timestamp + ESC_TIMEOUT_US;
+		const bool is_offline = (esc_status.esc_online_flags & (1 << esc_index)) == 0;
 
-			if (mapped && offline) {
-				/* EVENT
-					* @description
-					* <profile name="dev">
-					* This check can be configured via <param>COM_ARM_CHK_ESCS</param> parameter.
-					* </profile>
-					*/
-				reporter.healthFailure<uint8_t>(required_modes, health_component_t::motors_escs, events::ID("check_escs_offline"),
-								events::Log::Critical, "ESC {1} offline", i + 1);
-				snprintf(esc_fail_msg + strlen(esc_fail_msg), sizeof(esc_fail_msg) - strlen(esc_fail_msg), "ESC%d ", i + 1);
-				esc_fail_msg[sizeof(esc_fail_msg) - 1] = '\0';
+		// Set failure bits for this motor
+		if (timeout || is_offline) {
+			mask |= (1u << esc_index);
+
+			uint8_t esc_nr = esc_index + 1;
+			/* EVENT
+			 * @description
+			 * <profile name="dev">
+			 * This check can be configured via <param>COM_ARM_CHK_ESCS</param> parameter.
+			 * </profile>
+			 */
+			reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::motors_escs, events::ID("check_escs_offline"),
+							events::Log::Critical, "ESC {1} offline", esc_nr);
+			snprintf(esc_fail_msg + strlen(esc_fail_msg), sizeof(esc_fail_msg) - strlen(esc_fail_msg), "ESC%d ", esc_nr);
+			esc_fail_msg[sizeof(esc_fail_msg) - 1] = '\0';
+		}
+	}
+
+	if (reporter.mavlink_log_pub() && esc_fail_msg[0] != '\0') {
+		mavlink_log_critical(reporter.mavlink_log_pub(), "%soffline. %s\t", esc_fail_msg, context.isArmed() ? "Land now!" : "");
+	}
+
+	return mask;
+}
+
+uint16_t EscChecks::checkEscStatus(const Context &context, Report &reporter, const esc_status_s &esc_status)
+{
+	uint16_t mask = 0;
+
+	for (int esc_index = 0; esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
+		if (!math::isInRange(esc_status.esc[esc_index].actuator_function,
+				     esc_report_s::ACTUATOR_FUNCTION_MOTOR1, esc_report_s::ACTUATOR_FUNCTION_MOTOR_MAX)) {
+			continue; // Skip unmapped ESC status entries
+		}
+
+		const uint8_t actuator_function_index = esc_status.esc[esc_index].actuator_function - esc_report_s::ACTUATOR_FUNCTION_MOTOR1;
+
+		if (esc_status.esc[esc_index].failures == 0) {
+			continue;
+
+		} else {
+			mask |= (1u << actuator_function_index); // Set bit in mask
+		}
+
+		for (uint8_t fault_index = 0; fault_index <= static_cast<uint8_t>(esc_fault_reason_t::_max); fault_index++) {
+			if (!(esc_status.esc[esc_index].failures & (1 << fault_index))) {
+				continue;
 			}
-		}
 
-		if ((esc_fail_msg[0] != '\0') && reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "%soffline. %s\t", esc_fail_msg, context.isArmed() ? "Land now!" : "");
-		}
+			esc_fault_reason_t fault_reason_index = static_cast<esc_fault_reason_t>(fault_index);
+			const char *user_action = "";
+			events::px4::enums::suggested_action_t action = events::px4::enums::suggested_action_t::none;
 
-		for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; ++index) {
+			if (context.isArmed()) {
+				if (fault_reason_index == esc_fault_reason_t::motor_warn_temp
+				    || fault_reason_index == esc_fault_reason_t::esc_warn_temp
+				    || fault_reason_index == esc_fault_reason_t::over_rpm) {
+					user_action = "Reduce throttle";
+					action = events::px4::enums::suggested_action_t::reduce_throttle;
 
-			if (esc_status.esc[index].failures != 0) {
-
-				for (uint8_t fault_index = 0; fault_index <= static_cast<uint8_t>(esc_fault_reason_t::_max); fault_index++) {
-					if (esc_status.esc[index].failures & (1 << fault_index)) {
-
-						esc_fault_reason_t fault_reason_index = static_cast<esc_fault_reason_t>(fault_index);
-
-						const char *user_action = "";
-						events::px4::enums::suggested_action_t action = events::px4::enums::suggested_action_t::none;
-
-						if (context.isArmed()) {
-							if (fault_reason_index == esc_fault_reason_t::motor_warn_temp
-							    || fault_reason_index == esc_fault_reason_t::esc_warn_temp) {
-								user_action = "Reduce throttle";
-								action = events::px4::enums::suggested_action_t::reduce_throttle;
-
-							} else {
-								user_action = "Land now!";
-								action = events::px4::enums::suggested_action_t::land;
-							}
-						}
-
-						uint8_t motor_index = esc_status.esc[index].actuator_function - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1;
-
-						/* EVENT
-						 * @description
-						 * {3}
-						 *
-						 * <profile name="dev">
-						 * This check can be configured via <param>COM_ARM_CHK_ESCS</param> parameter.
-						 * </profile>
-						 */
-						reporter.healthFailure<uint8_t, events::px4::enums::esc_fault_reason_t, events::px4::enums::suggested_action_t>(
-							required_modes, health_component_t::motors_escs, events::ID("check_escs_fault"),
-							events::Log::Critical, "ESC {1}: {2}", motor_index, fault_reason_index, action);
-
-						if (reporter.mavlink_log_pub()) {
-							mavlink_log_emergency(reporter.mavlink_log_pub(), "ESC%d: %s. %s \t", motor_index,
-									      esc_fault_reason_str(fault_reason_index), user_action);
-						}
-					}
+				} else {
+					user_action = "Land now!";
+					action = events::px4::enums::suggested_action_t::land;
 				}
 			}
+
+			/* EVENT
+			 * @description
+			 * {3}
+			 *
+			 * <profile name="dev">
+			 * This check can be configured via <param>COM_ARM_CHK_ESCS</param> parameter.
+			 * </profile>
+			 */
+			reporter.healthFailure<uint8_t, events::px4::enums::esc_fault_reason_t, events::px4::enums::suggested_action_t>(
+				NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_arm_esc"),
+				events::Log::Critical, "ESC {1}: {2}", esc_index + 1, fault_reason_index, action);
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_emergency(reporter.mavlink_log_pub(), "ESC%d: %s. %s \t", esc_index + 1,
+						      esc_fault_reason_str(fault_reason_index), user_action);
+			}
 		}
 	}
+
+	return mask;
+}
+
+uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now)
+{
+	uint16_t mask = 0;
+
+	// Only check while armed
+	if (context.status().arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+		actuator_motors_s actuator_motors{};
+		_actuator_motors_sub.copy(&actuator_motors);
+
+		// Check individual ESC reports
+		for (uint8_t i = 0; i < esc_status_s::CONNECTED_ESC_MAX; i++) {
+			if (!math::isInRange(esc_status.esc[i].actuator_function,
+					     esc_report_s::ACTUATOR_FUNCTION_MOTOR1, esc_report_s::ACTUATOR_FUNCTION_MOTOR_MAX)) {
+				continue; // Skip unmapped ESC status entries
+			}
+
+			const uint8_t actuator_function_index = esc_status.esc[i].actuator_function - esc_report_s::ACTUATOR_FUNCTION_MOTOR1;
+			const float current = esc_status.esc[i].esc_current;
+
+			// First wait for ESC telemetry reporting non-zero current. Before that happens, don't check it.
+			if (current > FLT_EPSILON) {
+				_esc_has_reported_current[i] = true;
+			}
+
+			if (!_esc_has_reported_current[i]) {
+				continue;
+			}
+
+			// Current limits
+			float thrust = 0.f;
+
+			if (PX4_ISFINITE(actuator_motors.control[actuator_function_index])) {
+				// Normalized motor thrust commands before thrust model factor is applied, NAN means motor is turned off -> 0 thrust
+				thrust = fabsf(actuator_motors.control[actuator_function_index]);
+			}
+
+			bool current_too_low = current < (thrust * _param_motfail_c2t.get()) - _param_motfail_low_off.get();
+			bool current_too_high = current > (thrust * _param_motfail_c2t.get()) + _param_motfail_high_off.get();
+
+			_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_s);
+			_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_s);
+
+			if (!_esc_undercurrent_hysteresis[i].get_state()) {
+				// Only set, never clear mid-air: stopping the motor in response could make it appear healthy again
+				_esc_undercurrent_hysteresis[i].set_state_and_update(current_too_low, now);
+			}
+
+			if (!_esc_overcurrent_hysteresis[i].get_state()) {
+				// Only set, never clear mid-air: stopping the motor in response could make it appear healthy again
+				_esc_overcurrent_hysteresis[i].set_state_and_update(current_too_high, now);
+			}
+
+			mask |= (static_cast<uint16_t>(_esc_undercurrent_hysteresis[i].get_state()) << actuator_function_index);
+			mask |= (static_cast<uint16_t>(_esc_overcurrent_hysteresis[i].get_state()) << actuator_function_index);
+
+			if (_esc_undercurrent_hysteresis[i].get_state()) {
+				/* EVENT
+				 * @description
+				 * <profile name="dev">
+				 * This check can be configured via <param>FD_ACT_EN</param> parameter.
+				 * </profile>
+				 */
+				reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::motors_escs,
+								events::ID("check_motor_undercurrent"),
+								events::Log::Critical, "Motor {1} undercurrent detected", actuator_function_index + 1);
+
+				if (reporter.mavlink_log_pub()) {
+					mavlink_log_critical(reporter.mavlink_log_pub(), "Motor failure: Motor %d undercurrent detected",
+							     actuator_function_index + 1);
+				}
+			}
+
+			if (_esc_overcurrent_hysteresis[i].get_state()) {
+				/* EVENT
+				 * @description
+				 * <profile name="dev">
+				 * This check can be configured via <param>FD_ACT_EN</param> parameter.
+				 * </profile>
+				 */
+				reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::motors_escs,
+								events::ID("check_motor_overcurrent"),
+								events::Log::Critical, "Motor {1} overcurrent detected", actuator_function_index + 1);
+
+				if (reporter.mavlink_log_pub()) {
+					mavlink_log_critical(reporter.mavlink_log_pub(), "Motor failure: Motor %d overcurrent detected",
+							     actuator_function_index + 1);
+				}
+			}
+		}
+
+	} else { // Disarmed
+		for (uint8_t i = 0; i < esc_status_s::CONNECTED_ESC_MAX; ++i) {
+			_esc_undercurrent_hysteresis[i].set_state_and_update(false, now);
+			_esc_overcurrent_hysteresis[i].set_state_and_update(false, now);
+		}
+	}
+
+	return mask;
+}
+
+void EscChecks::updateEscsStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now)
+{
+	if (context.status().arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+		const int limited_esc_count = math::min(esc_status.esc_count, esc_status_s::CONNECTED_ESC_MAX);
+		const int all_escs_armed_mask = (1 << limited_esc_count) - 1;
+		const bool is_all_escs_armed = (all_escs_armed_mask == esc_status.esc_armed_flags);
+
+		_esc_arm_hysteresis.set_hysteresis_time_from(false, ESC_TIMEOUT_US);
+		_esc_arm_hysteresis.set_state_and_update(!is_all_escs_armed, now);
+
+		if (_esc_arm_hysteresis.get_state()) {
+			/* EVENT
+			 * @description
+			 * <profile name="dev">
+			 * This check can be configured via <param>COM_ARM_CHK_ESCS</param> parameter.
+			 * </profile>
+			 */
+			reporter.healthFailure(NavModes::All, health_component_t::motors_escs,
+					       events::ID("check_escs_not_all_armed"),
+					       events::Log::Critical, "Not all ESCs are armed");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_critical(reporter.mavlink_log_pub(), "ESC failure: Not all ESCs are armed. Land now!");
+			}
+
+			reporter.failsafeFlags().fd_esc_arming_failure = true;
+		}
+
+	} else {
+		// reset ESC bitfield
+		_esc_arm_hysteresis.set_state_and_update(false, now);
+		reporter.failsafeFlags().fd_esc_arming_failure = false;
+	}
 }

src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp

@@ -35,8 +35,11 @@
 
 #include "../Common.hpp"
 
+#include <lib/hysteresis/hysteresis.h>
 #include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_motors.h>
 #include <uORB/topics/esc_status.h>
+#include <uORB/topics/failure_detector_status.h>
 
 class EscChecks : public HealthAndArmingCheckBase
 {
@@ -46,14 +49,33 @@ public:
 
 	void checkAndReport(const Context &context, Report &reporter) override;
 
+	uint16_t getMotorFailureMask() const { return _motor_failure_mask; }
+	bool getEscArmStatus() const { return _esc_arm_hysteresis.get_state(); }
+
 private:
-	void checkEscStatus(const Context &context, Report &reporter, const esc_status_s &esc_status);
+	uint16_t checkEscOnline(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now);
+	uint16_t checkEscStatus(const Context &context, Report &reporter, const esc_status_s &esc_status);
+	uint16_t checkMotorStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now);
+	void updateEscsStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now);
+
+	static constexpr hrt_abstime ESC_TIMEOUT_US = 300_ms;
 
 	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
+	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
 
 	const hrt_abstime _start_time{hrt_absolute_time()};
 
+	uint16_t _motor_failure_mask = 0;
+	bool _esc_has_reported_current[esc_status_s::CONNECTED_ESC_MAX] {};
+	systemlib::Hysteresis _esc_undercurrent_hysteresis[esc_status_s::CONNECTED_ESC_MAX];
+	systemlib::Hysteresis _esc_overcurrent_hysteresis[esc_status_s::CONNECTED_ESC_MAX];
+	systemlib::Hysteresis _esc_arm_hysteresis;
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
-					(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_com_arm_chk_escs
-				       )
+					(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_com_arm_chk_escs,
+					(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
+					(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
+					(ParamFloat<px4::params::MOTFAIL_TIME>) _param_motfail_time,
+					(ParamFloat<px4::params::MOTFAIL_LOW_OFF>) _param_motfail_low_off,
+					(ParamFloat<px4::params::MOTFAIL_HIGH_OFF>) _param_motfail_high_off);
 };

src/modules/commander/HealthAndArmingChecks/checks/failureDetectorCheck.cpp

@@ -98,27 +98,6 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor
 			(vehicle_status_s::FAILURE_ROLL | vehicle_status_s::FAILURE_PITCH | vehicle_status_s::FAILURE_ALT |
 			 vehicle_status_s::FAILURE_EXT);
 
-
-	reporter.failsafeFlags().fd_esc_arming_failure = context.status().failure_detector_status &
-			vehicle_status_s::FAILURE_ARM_ESC;
-
-	if (reporter.failsafeFlags().fd_esc_arming_failure) {
-		/* EVENT
-		 * @description
-		 * One or more ESCs failed to arm.
-		 *
-		 * <profile name="dev">
-		 * This check can be configured via <param>FD_ESCS_EN</param> parameter.
-		 * </profile>
-		 */
-		reporter.healthFailure(NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_arm_esc"),
-				       events::Log::Critical, "ESC failure");
-
-		if (reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: ESC failure detected");
-		}
-	}
-
 	reporter.failsafeFlags().fd_imbalanced_prop = context.status().failure_detector_status &
 			vehicle_status_s::FAILURE_IMBALANCED_PROP;
 
@@ -138,22 +117,4 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor
 			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Imbalanced propeller detected");
 		}
 	}
-
-	reporter.failsafeFlags().fd_motor_failure = context.status().failure_detector_status & vehicle_status_s::FAILURE_MOTOR;
-
-	if (reporter.failsafeFlags().fd_motor_failure) {
-		/* EVENT
-		 * @description
-		 * <profile name="dev">
-		 * This check can be configured via <param>FD_ACT_EN</param> parameter.
-		 * </profile>
-		 */
-		reporter.healthFailure(NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_motor"),
-				       events::Log::Critical, "Motor failure detected");
-
-		if (reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Motor failure detected");
-		}
-	}
-
 }

src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp

@@ -80,9 +80,9 @@ void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter)
 				}
 
 				/* EVENT
-				* @description
-				* Maximal flight time warning (less than 1min remaining)
-				*/
+				 * @description
+				 * Maximal flight time warning (less than 1min remaining)
+				 */
 				events::send<int16_t>(events::ID("commander_max_flight_time_warning_seconds"), events::Log::Warning,
 						      "Approaching max flight time (system will RTL in {1} seconds)", floored_remaining_flight_time_sec);
 
@@ -97,9 +97,9 @@ void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter)
 				}
 
 				/* EVENT
-				* @description
-				* Maximal flight time warning (more than 1min remaining)
-				*/
+				 * @description
+				 * Maximal flight time warning (more than 1min remaining)
+				 */
 				events::send<int16_t>(events::ID("commander_max_flight_time_warning_minutes"), events::Log::Warning,
 						      "Approaching max flight time (system will RTL in {1} minutes)", floored_remaining_flight_time_min);
 			}

src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp

@@ -51,11 +51,11 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
 
 		if (geofence_result.geofence_max_dist_triggered) {
 			/* EVENT
-			* @description
-			* <profile name="dev">
-			* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_HOR_DIST</param> parameters.
-			* </profile>
-			*/
+			 * @description
+			 * <profile name="dev">
+			 * This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_HOR_DIST</param> parameters.
+			 * </profile>
+			 */
 			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
 						    events::ID("check_gf_violation_max_hor_dist"),
 						    events::Log::Error, "Geofence violation: exceeding maximum distance to Home");
@@ -67,11 +67,11 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
 
 		if (geofence_result.geofence_max_alt_triggered) {
 			/* EVENT
-			* @description
-			* <profile name="dev">
-			* This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_VER_DIST</param> parameters.
-			* </profile>
-			*/
+			 * @description
+			 * <profile name="dev">
+			 * This check can be configured via <param>GF_ACTION</param> and <param>GF_MAX_VER_DIST</param> parameters.
+			 * </profile>
+			 */
 			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
 						    events::ID("check_gf_violation_max_alt"),
 						    events::Log::Error, "Geofence violation: exceeding maximum altitude above Home");
@@ -83,11 +83,11 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
 
 		if (geofence_result.geofence_custom_fence_triggered) {
 			/* EVENT
-			* @description
-			* <profile name="dev">
-			* This check can be configured via <param>GF_ACTION</param> parameter.
-			* </profile>
-			*/
+			 * @description
+			 * <profile name="dev">
+			 * This check can be configured via <param>GF_ACTION</param> parameter.
+			 * </profile>
+			 */
 			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
 						    events::ID("check_gf_violation_custom_gf"),
 						    events::Log::Error, "Geofence violation: approaching or outside geofence");

src/modules/commander/HealthAndArmingChecks/esc_check_params.c

@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * 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.
+ *
+ * @boolean
+ *
+ * @group Motor Failure
+ */
+PARAM_DEFINE_INT32(FD_ACT_EN, 0);
+
+/**
+ * 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.
+ *
+ * @group Motor Failure
+ * @min 0.0
+ * @max 50.0
+ * @unit A/%
+ * @decimal 2
+ * @increment 1
+ */
+PARAM_DEFINE_FLOAT(MOTFAIL_C2T, 35.f);
+
+/**
+ * Undercurrent motor failure limit offset
+ *
+ * threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF
+ *
+ * @group Motor Failure
+ * @min 0
+ * @max 30
+ * @unit A
+ * @decimal 2
+ * @increment 1
+ */
+PARAM_DEFINE_FLOAT(MOTFAIL_LOW_OFF, 10.f);
+
+/**
+ * Overcurrent motor failure limit offset
+ *
+ * threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF
+ *
+ * @group Motor Failure
+ * @min 0
+ * @max 30
+ * @unit A
+ * @decimal 2
+ * @increment 1
+ */
+PARAM_DEFINE_FLOAT(MOTFAIL_HIGH_OFF, 10.f);
+
+/**
+ * Motor Failure Hysteresis Time
+ *
+ * Motor failure only triggers after current thresholds are exceeded for this time.
+ *
+ * @group Motor Failure
+ * @unit s
+ * @min 0.01
+ * @max 10
+ * @decimal 2
+ * @increment 1
+ */
+PARAM_DEFINE_FLOAT(MOTFAIL_TIME, 1.f);

src/modules/commander/failure_detector/FailureDetector.cpp

@@ -39,6 +39,7 @@
 */
 
 #include "FailureDetector.hpp"
+#include "../HealthAndArmingChecks/HealthAndArmingChecks.hpp"
 
 using namespace time_literals;
 
@@ -67,21 +68,6 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehic
 		_failure_detector_status.flags.ext = false;
 	}
 
-	// esc_status subscriber is shared between subroutines
-	esc_status_s esc_status;
-
-	if (_esc_status_sub.update(&esc_status)) {
-		_failure_injector.manipulateEscStatus(esc_status);
-
-		if (_param_escs_en.get()) {
-			updateEscsStatus(vehicle_status, esc_status);
-		}
-
-		if (_param_fd_act_en.get()) {
-			updateMotorStatus(vehicle_status, esc_status);
-		}
-	}
-
 	if (_param_fd_imb_prop_thr.get() > 0) {
 		updateImbalancedPropStatus();
 	}
@@ -89,19 +75,19 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehic
 	return _failure_detector_status.value != status_prev.value;
 }
 
-void FailureDetector::publishStatus()
+void FailureDetector::publishStatus(bool esc_arm_status, uint16_t motor_failure_mask)
 {
 	failure_detector_status_s failure_detector_status{};
 	failure_detector_status.fd_roll = _failure_detector_status.flags.roll;
 	failure_detector_status.fd_pitch = _failure_detector_status.flags.pitch;
 	failure_detector_status.fd_alt = _failure_detector_status.flags.alt;
 	failure_detector_status.fd_ext = _failure_detector_status.flags.ext;
-	failure_detector_status.fd_arm_escs = _failure_detector_status.flags.arm_escs;
+	failure_detector_status.fd_arm_escs = esc_arm_status || (motor_failure_mask != 0);
 	failure_detector_status.fd_battery = _failure_detector_status.flags.battery;
 	failure_detector_status.fd_imbalanced_prop = _failure_detector_status.flags.imbalanced_prop;
-	failure_detector_status.fd_motor = _failure_detector_status.flags.motor;
+	failure_detector_status.fd_motor = (motor_failure_mask != 0);
 	failure_detector_status.imbalanced_prop_metric = _imbalanced_prop_lpf.getState();
-	failure_detector_status.motor_failure_mask = _motor_failure_mask;
+	failure_detector_status.motor_failure_mask = motor_failure_mask;
 	failure_detector_status.motor_stop_mask = _failure_injector.getMotorStopMask();
 	failure_detector_status.timestamp = hrt_absolute_time();
 	_failure_detector_status_pub.publish(failure_detector_status);
@@ -172,34 +158,6 @@ void FailureDetector::updateExternalAtsStatus()
 	}
 }
 
-void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, const esc_status_s &esc_status)
-{
-	hrt_abstime now = hrt_absolute_time();
-
-	if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
-		const int limited_esc_count = math::min(esc_status.esc_count, esc_status_s::CONNECTED_ESC_MAX);
-		const int all_escs_armed_mask = (1 << limited_esc_count) - 1;
-		const bool is_all_escs_armed = (all_escs_armed_mask == esc_status.esc_armed_flags);
-
-		bool is_esc_failure = !is_all_escs_armed;
-
-		for (int i = 0; i < limited_esc_count; i++) {
-			is_esc_failure = is_esc_failure || (esc_status.esc[i].failures > 0);
-		}
-
-		_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);
-		_esc_failure_hysteresis.set_state_and_update(is_esc_failure, now);
-
-		if (_esc_failure_hysteresis.get_state()) {
-			_failure_detector_status.flags.arm_escs = true;
-		}
-
-	} else {
-		// reset ESC bitfield
-		_esc_failure_hysteresis.set_state_and_update(false, now);
-		_failure_detector_status.flags.arm_escs = false;
-	}
-}
 
 void FailureDetector::updateImbalancedPropStatus()
 {
@@ -258,82 +216,3 @@ void FailureDetector::updateImbalancedPropStatus()
 		}
 	}
 }
-
-void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status, const esc_status_s &esc_status)
-{
-	// 1. Telemetry times out -> communication or power lost on that ESC
-	// 2. Too low current draw compared to commanded thrust
-	// Overvoltage, overcurrent do not have checks yet esc_report.failures are handled separately
-
-	const hrt_abstime now = hrt_absolute_time();
-
-	// Only check while armed
-	if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
-		actuator_motors_s actuator_motors{};
-		_actuator_motors_sub.copy(&actuator_motors);
-
-		// Check individual ESC reports
-		for (uint8_t i = 0; i < esc_status_s::CONNECTED_ESC_MAX; ++i) {
-			// Map the esc status index to the actuator function index
-			const uint8_t actuator_function_index =
-				esc_status.esc[i].actuator_function - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1;
-
-			if (actuator_function_index >= actuator_motors_s::NUM_CONTROLS) {
-				continue; // Invalid mapping
-			}
-
-			const bool timeout = now > esc_status.esc[i].timestamp + 300_ms;
-			const float current = esc_status.esc[i].esc_current;
-
-			// First wait for ESC telemetry reporting non-zero current. Before that happens, don't check it.
-			if (current > FLT_EPSILON) {
-				_esc_has_reported_current[i] = true;
-			}
-
-			if (!_esc_has_reported_current[i]) {
-				continue;
-			}
-
-			_motor_failure_mask &= ~(1u << actuator_function_index); // Reset bit in mask to accumulate failures again
-			_motor_failure_mask |= (static_cast<uint16_t>(timeout) << actuator_function_index); // Telemetry timeout
-
-			// Current limits
-			float thrust = 0.f;
-
-			if (PX4_ISFINITE(actuator_motors.control[actuator_function_index])) {
-				// Normalized motor thrust commands before thrust model factor is applied, NAN means motor is turned off -> 0 thrust
-				thrust = fabsf(actuator_motors.control[actuator_function_index]);
-			}
-
-			bool thrust_above_threshold = thrust > _param_fd_act_mot_thr.get();
-			bool current_too_low = current < (thrust * _param_fd_act_mot_c2t.get()) - _param_fd_act_low_off.get();
-			bool current_too_high = current > (thrust * _param_fd_act_mot_c2t.get()) + _param_fd_act_high_off.get();
-
-			_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_fd_act_mot_tout.get() * 1_ms);
-			_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_fd_act_mot_tout.get() * 1_ms);
-
-			if (!_esc_undercurrent_hysteresis[i].get_state()) {
-				// Do not clear mid operation because a reaction could be to stop the motor and that would be conidered healthy again
-				_esc_undercurrent_hysteresis[i].set_state_and_update(thrust_above_threshold && current_too_low && !timeout, now);
-			}
-
-			if (!_esc_overcurrent_hysteresis[i].get_state()) {
-				// Do not clear mid operation because a reaction could be to stop the motor and that would be conidered healthy again
-				_esc_overcurrent_hysteresis[i].set_state_and_update(current_too_high && !timeout, now);
-			}
-
-			_motor_failure_mask |= (static_cast<uint16_t>(_esc_undercurrent_hysteresis[i].get_state()) << actuator_function_index);
-			_motor_failure_mask |= (static_cast<uint16_t>(_esc_overcurrent_hysteresis[i].get_state()) << actuator_function_index);
-		}
-
-		_failure_detector_status.flags.motor = (_motor_failure_mask != 0u);
-
-	} else { // Disarmed
-		for (uint8_t i = 0; i < esc_status_s::CONNECTED_ESC_MAX; ++i) {
-			_esc_undercurrent_hysteresis[i].set_state_and_update(false, now);
-			_esc_overcurrent_hysteresis[i].set_state_and_update(false, now);
-		}
-
-		_failure_detector_status.flags.motor = false;
-	}
-}

src/modules/commander/failure_detector/FailureDetector.hpp

@@ -53,8 +53,6 @@
 // subscriptions
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/actuator_motors.h>
-#include <uORB/topics/esc_status.h>
 #include <uORB/topics/failure_detector_status.h>
 #include <uORB/topics/pwm_input.h>
 #include <uORB/topics/sensor_selection.h>
@@ -70,10 +68,8 @@ union failure_detector_status_u {
 		uint16_t pitch : 1;
 		uint16_t alt : 1;
 		uint16_t ext : 1;
-		uint16_t arm_escs : 1;
 		uint16_t battery : 1;
 		uint16_t imbalanced_prop : 1;
-		uint16_t motor : 1;
 	} flags;
 	uint16_t value {0};
 };
@@ -89,13 +85,11 @@ public:
 	bool update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode);
 	const failure_detector_status_u &getStatus() const { return _failure_detector_status; }
 
-	void publishStatus();
+	void publishStatus(bool esc_arm_status, uint16_t motor_failure_mask);
 
 private:
 	void updateAttitudeStatus(const vehicle_status_s &vehicle_status);
 	void updateExternalAtsStatus();
-	void updateEscsStatus(const vehicle_status_s &vehicle_status, const esc_status_s &esc_status);
-	void updateMotorStatus(const vehicle_status_s &vehicle_status, const esc_status_s &esc_status);
 	void updateImbalancedPropStatus();
 
 	failure_detector_status_u _failure_detector_status{};
@@ -103,25 +97,17 @@ private:
 	systemlib::Hysteresis _roll_failure_hysteresis{false};
 	systemlib::Hysteresis _pitch_failure_hysteresis{false};
 	systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
-	systemlib::Hysteresis _esc_failure_hysteresis{false};
 
 	static constexpr float _imbalanced_prop_lpf_time_constant{5.f};
 	AlphaFilter<float> _imbalanced_prop_lpf{};
 	uint32_t _selected_accel_device_id{0};
 	hrt_abstime _imu_status_timestamp_prev{0};
 
-	// Motor failure check
-	bool _esc_has_reported_current[esc_status_s::CONNECTED_ESC_MAX] {}; // true if ESC reported non-zero current before (some never report any)
-	systemlib::Hysteresis _esc_undercurrent_hysteresis[esc_status_s::CONNECTED_ESC_MAX];
-	systemlib::Hysteresis _esc_overcurrent_hysteresis[esc_status_s::CONNECTED_ESC_MAX];
-	uint16_t _motor_failure_mask = 0; // actuator function indexed
 
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
-	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)}; // TODO: multi-instance
 	uORB::Subscription _pwm_input_sub{ORB_ID(pwm_input)};
 	uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
 	uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
-	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
 
 	uORB::Publication<failure_detector_status_s> _failure_detector_status_pub{ORB_ID(failure_detector_status)};
 
@@ -134,15 +120,6 @@ private:
 		(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri,
 		(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
 		(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
-		(ParamInt<px4::params::FD_ESCS_EN>) _param_escs_en,
-		(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr,
-
-		// Actuator failure
-		(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
-		(ParamFloat<px4::params::FD_ACT_MOT_THR>) _param_fd_act_mot_thr,
-		(ParamFloat<px4::params::FD_ACT_MOT_C2T>) _param_fd_act_mot_c2t,
-		(ParamInt<px4::params::FD_ACT_MOT_TOUT>) _param_fd_act_mot_tout,
-		(ParamFloat<px4::params::FD_ACT_LOW_OFF>) _param_fd_act_low_off,
-		(ParamFloat<px4::params::FD_ACT_HIGH_OFF>) _param_fd_act_high_off
+		(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr
 	)
 };

src/modules/commander/failure_detector/failure_detector_params.c

@@ -39,9 +39,6 @@
  * @author Mathieu Bresciani <brescianimathieu@gmail.com>
  */
 
-#include <px4_platform_common/px4_config.h>
-#include <parameters/param.h>
-
 /**
  * FailureDetector Max Roll
  *
@@ -130,18 +127,6 @@ PARAM_DEFINE_INT32(FD_EXT_ATS_EN, 0);
  */
 PARAM_DEFINE_INT32(FD_EXT_ATS_TRIG, 1900);
 
-/**
- * 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.
- *
- * @boolean
- *
- * @group Failure Detector
- */
-PARAM_DEFINE_INT32(FD_ESCS_EN, 1);
-
 /**
  * Imbalanced propeller check threshold
  *
@@ -156,89 +141,3 @@ PARAM_DEFINE_INT32(FD_ESCS_EN, 1);
  * @group Failure Detector
  */
 PARAM_DEFINE_INT32(FD_IMB_PROP_THR, 30);
-
-/**
- * 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.
- *
- * @boolean
- * @reboot_required true
- *
- * @group Failure Detector
- */
-PARAM_DEFINE_INT32(FD_ACT_EN, 0);
-
-/**
- * Motor Failure Thrust Threshold
- *
- * Failure detection per motor only triggers above this thrust value.
- * Set to 1 to disable the detection.
- *
- * @group Failure Detector
- * @unit norm
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- */
-PARAM_DEFINE_FLOAT(FD_ACT_MOT_THR, 0.2f);
-
-/**
- * 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.
- *
- * @group Failure Detector
- * @min 0.0
- * @max 50.0
- * @unit A/%
- * @decimal 2
- * @increment 1
- */
-PARAM_DEFINE_FLOAT(FD_ACT_MOT_C2T, 35.f);
-
-/**
- * Motor Failure Hysteresis Time
- *
- * Motor failure only triggers after current thresholds are exceeded for this time.
- *
- * @group Failure Detector
- * @unit ms
- * @min 10
- * @max 10000
- * @increment 100
- */
-PARAM_DEFINE_INT32(FD_ACT_MOT_TOUT, 1000);
-
-/**
- * Undercurrent motor failure limit offset
- *
- * threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF
- *
- * @group Failure Detector
- * @min 0
- * @max 30
- * @unit A
- * @decimal 2
- * @increment 1
- */
-PARAM_DEFINE_FLOAT(FD_ACT_LOW_OFF, 10.f);
-
-/**
- * Overcurrent motor failure limit offset
- *
- * threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF
- *
- * @group Failure Detector
- * @min 0
- * @max 30
- * @unit A
- * @decimal 2
- * @increment 1
- */
-PARAM_DEFINE_FLOAT(FD_ACT_HIGH_OFF, 10.f);

src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/requirements.txt

@@ -1,6 +1,5 @@
 matplotlib==3.5.1
 numpy==1.22.2
-numpy==1.21.5
 numpy_quaternion==2022.4.3
 pyulog==0.9.0
 scipy==1.8.0

src/modules/ekf2/module.yaml

@@ -92,8 +92,10 @@ parameters:
           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.
+
+          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.
       type: enum
       values:
         0: Barometric pressure

src/modules/mavlink/streams/ESC_INFO.hpp

@@ -102,8 +102,8 @@ private:
 				_interface[i].esc_online_flags = 0;
 
 				for (int j = 0; j < esc_status_s::CONNECTED_ESC_MAX; j++) {
-					bool is_motor = ((int)esc.esc[j].actuator_function >= esc_report_s::ACTUATOR_FUNCTION_MOTOR1) &&
-							((int)esc.esc[j].actuator_function <= esc_report_s::ACTUATOR_FUNCTION_MOTOR12);
+					bool is_motor = math::isInRange(esc.esc[j].actuator_function,
+									esc_report_s::ACTUATOR_FUNCTION_MOTOR1, esc_report_s::ACTUATOR_FUNCTION_MOTOR_MAX);
 
 					if (is_motor) {
 						// Map OutputFunction number to index

src/modules/mavlink/streams/ESC_STATUS.hpp

@@ -84,8 +84,8 @@ private:
 			if (_esc_status_subs[i].update(&esc)) {
 				for (int j = 0; j < esc_status_s::CONNECTED_ESC_MAX; j++) {
 
-					bool is_motor = ((int)esc.esc[j].actuator_function >= esc_report_s::ACTUATOR_FUNCTION_MOTOR1) &&
-							((int)esc.esc[j].actuator_function <= esc_report_s::ACTUATOR_FUNCTION_MOTOR12);
+					const bool is_motor = math::isInRange(esc.esc[j].actuator_function,
+									      esc_report_s::ACTUATOR_FUNCTION_MOTOR1, esc_report_s::ACTUATOR_FUNCTION_MOTOR_MAX);
 
 					if (is_motor) {
 						// Map OutputFunction number to index

src/modules/uxrce_dds_client/CMakeLists.txt

@@ -118,6 +118,7 @@ else()
 		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
 			--client-outdir ${CMAKE_CURRENT_BINARY_DIR}
 			--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
+			--whitelist-file ${CMAKE_CURRENT_SOURCE_DIR}/safety_whitelist.yaml
 			--template_file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.h.em
 		DEPENDS
 			${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py