fix(rc): warn and deny invalid Spektrum bind sub-type

Previously, an unrecognized param2 sub-type would silently leave dsm_bind_pulses at 0 and return the generic UNSUPPORTED ACK. Add an explicit else-branch that logs a PX4_WARN and returns DENIED so users get clear feedback in QGC.
fix(rc): check write return value in BindCRSF, guard Spektrum bind against invalid sub-type
2026-05-27 23:40:05 +08:00 · 2026-03-19 16:56:36 -08:00 · 2026-03-17 20:06:53 -08:00 · 2026-03-17 19:16:57 -08:00 · 2026-03-17 19:15:02 -08:00 · 2026-03-17 19:11:33 -08:00
253 changed files with 5867 additions and 5414 deletions
@@ -141,8 +141,6 @@ Checks:          '*,
                  -cppcoreguidelines-avoid-goto,
                  -hicpp-avoid-goto,
                  -bugprone-branch-clone,
-                  -bugprone-unhandled-self-assignment,
-                  -cert-oop54-cpp,
                  -performance-enum-size,
                  -readability-avoid-nested-conditional-operator,
                  -cppcoreguidelines-prefer-member-initializer,
@@ -130,8 +130,8 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,scope=${{ matrix.arch }}
+          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
@@ -0,0 +1,27 @@
+cff-version: 1.2.0
+title: "PX4 Autopilot"
+message: "If you use PX4 in your research, please cite it using this metadata."
+type: software
+authors:
+  - family-names: Meier
+    given-names: Lorenz
+  - name: "The PX4 Contributors"
+repository-code: "https://github.com/PX4/PX4-Autopilot"
+url: "https://px4.io"
+abstract: >-
+  PX4 is an open-source autopilot stack for drones and
+  unmanned vehicles. It supports multirotors, fixed-wing,
+  VTOL, rovers, and many more platforms. PX4 runs on both
+  RTOS and POSIX-compatible operating systems.
+keywords:
+  - autopilot
+  - drone
+  - uav
+  - flight-controller
+  - robotics
+  - ros2
+license: BSD-3-Clause
+identifiers:
+  - type: doi
+    value: "10.5281/zenodo.595432"
+    description: "Zenodo concept DOI (resolves to latest version)"
@@ -10,6 +10,7 @@

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

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

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

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

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

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

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

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

 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60
@@ -44,4 +44,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GPS0_OFFX 0.055
+param set-default SENS_GPS0_OFFZ -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -2,7 +2,8 @@
 # shellcheck disable=SC2154

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

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

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

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

 param set-default EKF2_DRAG_CTRL 1

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

 param set-default EKF2_IMU_POS_X 0.06
@@ -191,8 +191,8 @@ else
 	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -6,32 +6,42 @@ cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
-  mkdir artifacts/$build_dir
+  mkdir -p artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe
-  cp $build_dir_path/airframes.xml artifacts/$build_dir/
+  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
+  airframes_src=""
+  if [ -f "$build_dir_path/airframes.xml" ]; then
+    airframes_src="$build_dir_path/airframes.xml"
+  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
+    airframes_src="$build_dir_path/docs/airframes.xml"
+  fi
+  if [ -n "$airframes_src" ]; then
+    cp "$airframes_src" "artifacts/$build_dir/"
+  fi
  # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/
-  cp $build_dir_path/parameters.json artifacts/$build_dir/
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
  # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
+  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
  # Events
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # ROS 2 msgs
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # Module Docs
+  mkdir -p artifacts/$build_dir/events/
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
  ls -la artifacts/$build_dir
  echo "----------"
 done

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

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

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

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

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

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

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"
@@ -273,7 +273,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

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

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

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

 #define BOARD_HAS_ON_RESET 1
@@ -455,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 	SPI6_RESET(true);

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

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

 	SPI6_RESET(false);
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -0,0 +1,19 @@
+4001_quad_x
+4050_generic_250
+6001_hexa_x
+12001_octo_cox
+13100_generic_vtol_tiltrotor
+5001_quad_+
+24001_dodeca_cox
+2100_standard_plane
+13000_generic_vtol_standard
+4601_droneblocks_dexi_5
+11001_hexa_cox
+14001_generic_mc_with_tilt
+16001_helicopter
+9001_octo_+
+7001_hexa_+
+3000_generic_wing
+2106_albatross
+13200_generic_vtol_tailsitter
+13030_generic_vtol_quad_tiltrotor
@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"
@@ -306,9 +306,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

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

 #define BOARD_HAS_ON_RESET 1
@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"
@@ -311,9 +311,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

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

 #define BOARD_HAS_ON_RESET 1
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -69,7 +69,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -262,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

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

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

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

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

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

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

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

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

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

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

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

 	/* Need hrt running before using the ADC */
@@ -49,7 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -58,11 +58,13 @@
 //#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
 //#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */

-// Assigned in timer_config.cpp
-
-// TODO
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
+// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
+// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
+// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
+// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
+// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
+// Timer 15 - no TIM15UP DMA, cannot do DShot

 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V
@@ -38,18 +38,20 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer15),
-	initIOTimer(Timer::Timer3),
-	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
 };

+// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
+// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
 	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
@@ -65,7 +65,6 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
-adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"
@@ -143,7 +143,7 @@ if [ "$GPS" != "NONE" ]; then
    if [ "$PLATFORM" == "M0197" ]; then
 	gps start -d /dev/ttyHS7
    else
-	qshell gps start
+	qshell gps start -d 6
    fi
 fi

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

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

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

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

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

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

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

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

 /* Tone alarm output */

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

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

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

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

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

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

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

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

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

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

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

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

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


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

 /* Tone alarm output */

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

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

 }

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

 	/* Need hrt running before using the ADC */

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

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

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

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

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

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

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

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

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

 	/* Need hrt running before using the ADC */
@@ -301,7 +301,6 @@
 1	1	COM_FLTMODE5	-1	6
 1	1	COM_FLTMODE6	8	6
 1	1	COM_FLTT_LOW_ACT	3	6
-1	1	COM_FLT_PROFILE	0	6
 1	1	COM_FLT_TIME_MAX	-1	6
 1	1	COM_FORCE_SAFETY	0	6
 1	1	COM_HLDL_LOSS_T	120	6
@@ -309,10 +308,8 @@
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
-1	1	COM_KILL_DISARM	5.000000000000000000	9
 1	1	COM_LKDOWN_TKO	3.000000000000000000	9
 1	1	COM_LOW_BAT_ACT	0	6
-1	1	COM_MOT_TEST_EN	1	6
 1	1	COM_OBC_LOSS_T	5.000000000000000000	9
 1	1	COM_OBL_RC_ACT	0	6
 1	1	COM_OBS_AVOID	0	6
@@ -129,5 +129,5 @@ See also:
 The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.

 ::: warning
-If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `SENS_GPS0_DELAY` will be used instead for estimating the latency.
 :::
@@ -4202,6 +4202,9 @@ Custom PWM rates can be used by directly setting any value >0.

 **Values:**

+- `-8`: BDShot150
+- `-7`: BDShot300
+- `-6`: BDShot600
 - `-5`: DShot150
 - `-4`: DShot300
 - `-3`: DShot600
@@ -5499,7 +5502,7 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR

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

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

@@ -5513,7 +5516,7 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR

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

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

@@ -5701,7 +5704,7 @@ Maxmimum output value (when not disarmed).

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

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

@@ -5713,7 +5716,7 @@ Maxmimum output value (when not disarmed).

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

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

@@ -5725,7 +5728,7 @@ Minimum output value (when not disarmed).

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

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

@@ -5737,7 +5740,7 @@ Minimum output value (when not disarmed).

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

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

@@ -18620,25 +18623,6 @@ the estimated time it takes to reach the RTL destination.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          | 1         | 0       |      |

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

 Maximum allowed flight time.
@@ -18732,16 +18716,6 @@ See also FD_IMB_PROP_THR to set the failure threshold.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          | 1         | 0       |      |

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

 Timeout for detecting a failure after takeoff.
@@ -18878,17 +18852,6 @@ By default disabled for safety reasons
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 | &nbsp; |          |          |           | Disabled (0) |      |

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

 Time-out to wait when onboard computer connection is lost before warning about loss connection.
@@ -19134,7 +19097,7 @@ Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
 Stick override threshold.

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

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -19539,18 +19502,33 @@ When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 | &nbsp; |          |          |           | Disabled (0) |      |

-### DSHOT_BIDIR_EN (`INT32`) {#DSHOT_BIDIR_EN}
+### DSHOT_BIDIR_EDT (`INT32`) {#DSHOT_BIDIR_EDT}

-Enable bidirectional DShot.
+Enable Extended DShot Telemetry.

-This parameter enables bidirectional DShot which provides RPM feedback.
-Note that this requires ESCs that support bidirectional DSHot, e.g. BlHeli32.
-This is not the same as DShot telemetry which requires an additional serial connection.
+This parameter enables Extended DShot Telemetry which allows transmission of
+additional telemetry within the eRPM frame. The EDT data is interleaved with
+the eRPM frames at a low rate.

 | Reboot  | minValue | maxValue | increment | default      | unit |
 | ------- | -------- | -------- | --------- | ------------ | ---- |
 | &check; |          |          |           | Disabled (0) |      |

+### DSHOT_ESC_TYPE (`INT32`) {#DSHOT_ESC_TYPE}
+
+ESC Type.
+
+The ESC firmware type
+
+**Values:**
+
+- `0`: Unknown
+- `1`: AM32
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
 ### DSHOT_MIN (`FLOAT`) {#DSHOT_MIN}

 Minimum DShot Motor Output.
@@ -19563,6 +19541,174 @@ armed.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1        | 0.01      | 0.055   | norm |

+### DSHOT_MOT_POL1 (`INT32`) {#DSHOT_MOT_POL1}
+
+Number of magnetic poles of motor 1.
+
+Number of magnetic poles for motor 1.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL10 (`INT32`) {#DSHOT_MOT_POL10}
+
+Number of magnetic poles of motor 10.
+
+Number of magnetic poles for motor 10.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL11 (`INT32`) {#DSHOT_MOT_POL11}
+
+Number of magnetic poles of motor 11.
+
+Number of magnetic poles for motor 11.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL12 (`INT32`) {#DSHOT_MOT_POL12}
+
+Number of magnetic poles of motor 12.
+
+Number of magnetic poles for motor 12.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL2 (`INT32`) {#DSHOT_MOT_POL2}
+
+Number of magnetic poles of motor 2.
+
+Number of magnetic poles for motor 2.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL3 (`INT32`) {#DSHOT_MOT_POL3}
+
+Number of magnetic poles of motor 3.
+
+Number of magnetic poles for motor 3.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL4 (`INT32`) {#DSHOT_MOT_POL4}
+
+Number of magnetic poles of motor 4.
+
+Number of magnetic poles for motor 4.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL5 (`INT32`) {#DSHOT_MOT_POL5}
+
+Number of magnetic poles of motor 5.
+
+Number of magnetic poles for motor 5.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL6 (`INT32`) {#DSHOT_MOT_POL6}
+
+Number of magnetic poles of motor 6.
+
+Number of magnetic poles for motor 6.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL7 (`INT32`) {#DSHOT_MOT_POL7}
+
+Number of magnetic poles of motor 7.
+
+Number of magnetic poles for motor 7.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL8 (`INT32`) {#DSHOT_MOT_POL8}
+
+Number of magnetic poles of motor 8.
+
+Number of magnetic poles for motor 8.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
+### DSHOT_MOT_POL9 (`INT32`) {#DSHOT_MOT_POL9}
+
+Number of magnetic poles of motor 9.
+
+Number of magnetic poles for motor 9.
+Required to compute RPM from the eRPM returned by ESC telemetry.
+Either get the number from the motor spec sheet or count the magnets
+on the bell of the motor (not the stator magnets).
+Typical motors for 5 inch props have 14 poles.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 2        | 400      |           | 14      |      |
+
 ### DSHOT_TEL_CFG (`INT32`) {#DSHOT_TEL_CFG}

 Serial Configuration for DShot Driver.
@@ -19588,20 +19734,6 @@ Configure on which serial port to run DShot Driver.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 0       |      |

-### MOT_POLE_COUNT (`INT32`) {#MOT_POLE_COUNT}
-
-Number of magnetic poles of the motors.
-
-Specify the number of magnetic poles of the motors.
-It is required to compute the RPM value from the eRPM returned with the ESC telemetry.
-
-Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets).
-Typical motors for 5 inch props have 14 poles.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 14      |      |
-
 ## EKF2

 ### EKF2_ABIAS_INIT (`FLOAT`) {#EKF2_ABIAS_INIT}
@@ -20337,16 +20469,6 @@ Set bits in the following positions to enable: 0 : Longitude and latitude fusion
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 15       |           | 7       |      |

-### EKF2_GPS_DELAY (`FLOAT`) {#EKF2_GPS_DELAY}
-
-GPS measurement delay relative to IMU measurement.
-
-GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).
-
-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; | 0        | 300      |           | 110     | ms   |
-
 ### EKF2_GPS_MODE (`INT32`) {#EKF2_GPS_MODE}

 Fusion reset mode.
@@ -20362,36 +20484,6 @@ Automatic: reset on fusion timeout if no other source of position is available.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0       |      |

-### EKF2_GPS_POS_X (`FLOAT`) {#EKF2_GPS_POS_X}
-
-X position of GPS antenna in body frame.
-
-Forward (roll) axis with origin relative to vehicle centre of gravity
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0.0     | m    |
-
-### EKF2_GPS_POS_Y (`FLOAT`) {#EKF2_GPS_POS_Y}
-
-Y position of GPS antenna in body frame.
-
-Right (pitch) axis with origin relative to vehicle centre of gravity
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0.0     | m    |
-
-### EKF2_GPS_POS_Z (`FLOAT`) {#EKF2_GPS_POS_Z}
-
-Z position of GPS antenna in body frame.
-
-Down (yaw) axis with origin relative to vehicle centre of gravity
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0.0     | m    |
-
 ### EKF2_GPS_P_GATE (`FLOAT`) {#EKF2_GPS_P_GATE}

 Gate size for GNSS position fusion.
@@ -31983,7 +32075,7 @@ Emergency Kill switch channel.

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

 **Values:**

@@ -37226,14 +37318,129 @@ Configure on which serial port to run FT Technologies Digital Wind Sensor (seria
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 0       |      |

+### SENS_GPS0_DELAY (`INT32`) {#SENS_GPS0_DELAY}
+
+GPS 0 measurement delay.
+
+GPS measurement delay relative to IMU measurements.
+Matched to physical GPS receiver via SENS_GPS0_ID.
+Only applied when the GPS driver does not provide its own
+timestamp_sample correction.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 300      |           | 110     | ms   |
+
+### SENS_GPS0_ID (`INT32`) {#SENS_GPS0_ID}
+
+GPS 0 device ID.
+
+Device ID of the GPS receiver for antenna offset slot 0.
+Set to 0 to disable this slot. When all slots are 0, offsets are
+matched by uORB instance index (only reliable for serial GPS).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
+### SENS_GPS0_OFFX (`FLOAT`) {#SENS_GPS0_OFFX}
+
+GPS 0 antenna X position.
+
+Forward axis relative to vehicle centre of gravity.
+Matched to physical GPS receiver via SENS_GPS0_ID.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     | m    |
+
+### SENS_GPS0_OFFY (`FLOAT`) {#SENS_GPS0_OFFY}
+
+GPS 0 antenna Y position.
+
+Right axis relative to vehicle centre of gravity.
+Matched to physical GPS receiver via SENS_GPS0_ID.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     | m    |
+
+### SENS_GPS0_OFFZ (`FLOAT`) {#SENS_GPS0_OFFZ}
+
+GPS 0 antenna Z position.
+
+Down axis relative to vehicle centre of gravity.
+Matched to physical GPS receiver via SENS_GPS0_ID.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     | m    |
+
+### SENS_GPS1_DELAY (`INT32`) {#SENS_GPS1_DELAY}
+
+GPS 1 measurement delay.
+
+GPS measurement delay relative to IMU measurements.
+Matched to physical GPS receiver via SENS_GPS1_ID.
+Only applied when the GPS driver does not provide its own
+timestamp_sample correction.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 300      |           | 110     | ms   |
+
+### SENS_GPS1_ID (`INT32`) {#SENS_GPS1_ID}
+
+GPS 1 device ID.
+
+Device ID of the GPS receiver for antenna offset slot 1.
+Set to 0 to disable this slot. When all slots are 0, offsets are
+matched by uORB instance index (only reliable for serial GPS).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
+### SENS_GPS1_OFFX (`FLOAT`) {#SENS_GPS1_OFFX}
+
+GPS 1 antenna X position.
+
+Forward axis relative to vehicle centre of gravity.
+Matched to physical GPS receiver via SENS_GPS1_ID.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     | m    |
+
+### SENS_GPS1_OFFY (`FLOAT`) {#SENS_GPS1_OFFY}
+
+GPS 1 antenna Y position.
+
+Right axis relative to vehicle centre of gravity.
+Matched to physical GPS receiver via SENS_GPS1_ID.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     | m    |
+
+### SENS_GPS1_OFFZ (`FLOAT`) {#SENS_GPS1_OFFZ}
+
+GPS 1 antenna Z position.
+
+Down axis relative to vehicle centre of gravity.
+Matched to physical GPS receiver via SENS_GPS1_ID.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     | m    |
+
 ### SENS_GPS_MASK (`INT32`) {#SENS_GPS_MASK}

 Multi GPS Blending Control Mask.

-Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance.
-0 : Set to true to use speed accuracy
-1 : Set to true to use horizontal position accuracy
-2 : Set to true to use vertical position accuracy
+Set bits in the following positions to set which GPS accuracy metrics will
+be used to calculate the blending weight. Set to zero to disable and always
+used first GPS instance.

 **Bitmask:**

@@ -37254,11 +37461,7 @@ The GPS selection logic waits until the primary receiver is available to
 send data to the EKF even if a secondary instance is already available.
 The secondary instance is then only used if the primary one times out.

-Accepted values:
-1 : Auto (equal priority for all instances)
-0 : Main serial GPS instance
-1 : Secondary serial GPS instance
-2-127 : UAVCAN module node ID
+To select a DroneCAN GPS, set this to the node ID.

 This parameter has no effect if blending is active.

@@ -37270,7 +37473,9 @@ This parameter has no effect if blending is active.

 Multi GPS Blending Time Constant.

-Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.
+Sets the longest time constant that will be applied to the calculation of GPS
+position and height offsets used to correct data from multiple GPS data for
+steady state position differences.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -20,7 +20,7 @@ For more information see [Setting the Compass Orientation](../config/flight_cont

 ## Position

-In order to compensate for the relative motion between the receiver and the CoG, you should [configure](../advanced_config/parameters.md) the following parameters to set the offsets: [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z).
+In order to compensate for the relative motion between the receiver and the CoG, you should [configure](../advanced_config/parameters.md) the following parameters to set the offsets: [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ).

 This is important because the body frame estimated by the EKF will converge on the location of the GNSS module and assume it to be at the CoG. If the GNSS module is significantly offset from the CoG, then rotation around the COG will be interpreted as an altitude change, which in some flight modes (such as position mode) will result in unnecessary corrections.

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

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

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

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

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

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

 | Parameter                                                                                                | Description                                                                                          |
 | -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------- |
@@ -72,7 +72,7 @@ The ESC RPM feedback is used to track the rotor blade pass frequency and its har

 ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
 Before enabling, make sure that the ESC RPM is correct.
-You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).
+You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT_POL12`).

 The following parameters should be set to enable and configure dynamic notch filters:

@@ -97,7 +97,7 @@ There is also CAN built-in bus termination via [CANNODE_TERM](../advanced_config
 You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:

 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK GPS from the vehicle's centre of gravity.
+- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK G5 RTK GPS from the vehicle's centre of gravity.

 ## LED Meanings

@@ -99,7 +99,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK HEADING GPS from the vehicle's centre of gravity.
+- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK G5 RTK HEADING GPS from the vehicle's centre of gravity.

 ### Parameter references

@@ -91,7 +91,7 @@ If the sensor is not centred within the vehicle you will also need to define sen

 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
+- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.

 ### ARK GPS Configuration

@@ -84,8 +84,9 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if

 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
+- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.

 ### ARK RTK GPS Configuration

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

 Setup via UART:

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

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

@@ -85,7 +85,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS L1 L5 from the vehicles centre of gravity.
+- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS L1 L5 from the vehicles centre of gravity.

 ### ARK RTK GPS L1 L5 Configuration

@@ -88,7 +88,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK X20 RTK GPS from the vehicles centre of gravity.
+- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK X20 RTK GPS from the vehicles centre of gravity.

 ### ARK X20 RTK GPS Configuration

@@ -94,4 +94,4 @@ If the sensor is not centred within the vehicle you will also need to define sen
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
+- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
@@ -188,7 +188,7 @@ GPS CANNODE parameter ([set using QGC](#qgc-cannode-parameter-configuration)):

 Other PX4 Parameters:

- If the GPS is not positioned at the vehicle centre of gravity you can account for the offset using [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z).
+- If the GPS is not positioned at the vehicle centre of gravity you can account for the offset using [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ).
 - If the GPS module provides yaw information, you can enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.

 #### RTK GPS
@@ -51,6 +51,18 @@ Other
 - Open source AM32 firmware
 - [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)

+## PX4 Configuration
+
+The ARK 4IN1 ESC supports DShot 300/600, Bidirectional DShot, and PWM input protocols.
+
+- **Bidirectional DShot**: Select BDShot300 or BDShot600 in the [Actuator Configuration](../config/actuators.md) to enable eRPM telemetry.
+- **[Extended DShot Telemetry (EDT)](https://github.com/bird-sanctuary/extended-dshot-telemetry)**: AM32 firmware supports EDT, which provides temperature, voltage, and current through the BDShot signal. Enable with `DSHOT_BIDIR_EDT=1`.
+- **AM32 EEPROM Settings**: Set `DSHOT_ESC_TYPE=1` to enable reading and writing ESC firmware settings via a ground station.
+
+See [DShot ESCs](../peripherals/dshot.md) for full setup details.
+
 ## See Also

 - [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
+- [DShot and Bidirectional DShot](https://brushlesswhoop.com/dshot-and-bidirectional-dshot/) (brushlesswhoop.com - General DShot reference)
+- [Extended DShot Telemetry (EDT) Specification](https://github.com/bird-sanctuary/extended-dshot-telemetry) (bird-sanctuary)
@@ -163,6 +163,42 @@ $$\dot{B} = \gamma - \frac{\dot{V_T}}{g}$$

 ## Fixed-Wing Attitude Controller

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

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

 ### Turn coordination

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

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

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

 ## VTOL Flight Controller

@@ -230,7 +230,7 @@ If you search in the file you'll find groups of messages defined in a switch sta
 - `MAVLINK_MODE_IRIDIUM`: Streamed to an iridium satellite phone

 Normally you'll be testing on a GCS, so you could just add the message to the `MAVLINK_MODE_NORMAL` case using the `configure_stream_local()` method.
-For example, to stream CA_TRAJECTORY at 5 Hz:
+For example, to stream `BATTERY_STATUS_DEMO` at 5 Hz:

 ```cpp
 	case MAVLINK_MODE_CONFIG: // USB
@@ -95,202 +95,204 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [Mission](../msg_docs/Mission.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.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)
- [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)
- [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)
- [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)
- [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)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
 - [VehicleImu](../msg_docs/VehicleImu.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
+- [Event](../msg_docs/Event.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [Ping](../msg_docs/Ping.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
 - [SensorTemp](../msg_docs/SensorTemp.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
 - [RaptorInput](../msg_docs/RaptorInput.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [Mission](../msg_docs/Mission.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
  :::
@@ -191,28 +191,13 @@ Source: [drivers/dshot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drive

 ### Description

-This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement
+This is the DShot output driver. It can be used as drop-in replacement
 to use DShot as ESC communication protocol instead of PWM.

-On startup, the module tries to occupy all available pins for DShot output.
-It skips all pins already in use (e.g. by a camera trigger module).
-
 It supports:

 - DShot150, DShot300, DShot600
 - telemetry via separate UART and publishing as esc_status message
- sending DShot commands via CLI
-
-### Examples
-
-Permanently reverse motor 1:
-
-```
-dshot reverse -m 1
-dshot save -m 1
-```
-
-After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.

 ### Usage {#dshot_usage}

@@ -226,36 +211,6 @@ dshot <command> [arguments...]
                 values: <device>
     [-x]        Swap RX/TX pins

-   reverse       Reverse motor direction
-     [-m <val>]  Motor index (1-based, default=all)
-
-   normal        Normal motor direction
-     [-m <val>]  Motor index (1-based, default=all)
-
-   save          Save current settings
-     [-m <val>]  Motor index (1-based, default=all)
-
-   3d_on         Enable 3D mode
-     [-m <val>]  Motor index (1-based, default=all)
-
-   3d_off        Disable 3D mode
-     [-m <val>]  Motor index (1-based, default=all)
-
-   beep1         Send Beep pattern 1
-     [-m <val>]  Motor index (1-based, default=all)
-
-   beep2         Send Beep pattern 2
-     [-m <val>]  Motor index (1-based, default=all)
-
-   beep3         Send Beep pattern 3
-     [-m <val>]  Motor index (1-based, default=all)
-
-   beep4         Send Beep pattern 4
-     [-m <val>]  Motor index (1-based, default=all)
-
-   beep5         Send Beep pattern 5
-     [-m <val>]  Motor index (1-based, default=all)
-
   stop

   status        print status info
@@ -1109,7 +1064,7 @@ px4io <command> [arguments...]

 ## rgbled

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

 ### Usage {#rgbled_usage}

@@ -1124,9 +1079,7 @@ rgbled <command> [arguments...]
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
-                 default: 57
-     [-o <val>]  RGB PWM Assignment
-                 default: 123
+                 default: 85

   stop

@@ -0,0 +1,41 @@
+---
+pageClass: is-wide-page
+---
+
+# EscEepromRead (UORB message)
+
+**TOPICS:** esc_eeprom_read
+
+## Fields
+
+| Name      | Type        | Unit [Frame] | Range/Enum | Description                                          |
+| --------- | ----------- | ------------ | ---------- | ---------------------------------------------------- |
+| timestamp | `uint64`    | us           |            | Time since system start                              |
+| firmware  | `uint8`     |              |            | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
+| index     | `uint8`     |              |            | Index of the ESC (0 = ESC1, 1 = ESC2, etc.)          |
+| length    | `uint16`    |              |            | Length of valid data                                 |
+| data      | `uint8[48]` |              |            | Raw ESC EEPROM data                                  |
+
+## Constants
+
+| Name                                            | Type    | Value | Description                      |
+| ----------------------------------------------- | ------- | ----- | -------------------------------- |
+| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8     | To support 8 queued up responses |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscEepromRead.msg)
+
+::: details Click here to see original file
+
+```c
+uint64 timestamp # [us] Time since system start
+uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
+uint16 length # [-] Length of valid data
+uint8[48] data # [-] Raw ESC EEPROM data
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up responses
+```
+
+:::
@@ -0,0 +1,43 @@
+---
+pageClass: is-wide-page
+---
+
+# EscEepromWrite (UORB message)
+
+**TOPICS:** esc_eeprom_write
+
+## Fields
+
+| Name       | Type        | Unit [Frame] | Range/Enum | Description                                                                        |
+| ---------- | ----------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
+| timestamp  | `uint64`    | us           |            | Time since system start                                                            |
+| firmware   | `uint8`     |              |            | ESC firmware type (see ESC_FIRMWARE enum in MAVLink)                               |
+| index      | `uint8`     |              |            | Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)                              |
+| length     | `uint16`    |              |            | Length of valid data                                                               |
+| data       | `uint8[48]` |              |            | Raw ESC EEPROM data                                                                |
+| write_mask | `uint32[2]` |              |            | Bitmask indicating which bytes in the data array should be written (max 48 values) |
+
+## Constants
+
+| Name                                            | Type    | Value | Description                     |
+| ----------------------------------------------- | ------- | ----- | ------------------------------- |
+| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8     | To support 8 queued up requests |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscEepromWrite.msg)
+
+::: details Click here to see original file
+
+```c
+uint64 timestamp # [us] Time since system start
+uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
+uint16 length # [-] Length of valid data
+uint8[48] data # [-] Raw ESC EEPROM data
+uint32[2] write_mask # [-] Bitmask indicating which bytes in the data array should be written (max 48 values)
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests
+```
+
+:::
@@ -8,28 +8,27 @@ pageClass: is-wide-page

 ## Fields

-| Name              | Type      | Unit [Frame] | Range/Enum | Description                                                        |
-| ----------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------ |
-| timestamp         | `uint64`  |              |            | time since system start (microseconds)                             |
-| esc_errorcount    | `uint32`  |              |            | Number of reported errors by ESC - if supported                    |
-| esc_rpm           | `int32`   |              |            | Motor RPM, negative for reverse rotation [RPM] - if supported      |
-| esc_voltage       | `float32` |              |            | Voltage measured from current ESC [V] - if supported               |
-| esc_current       | `float32` |              |            | Current measured from current ESC [A] - if supported               |
-| esc_temperature   | `float32` |              |            | Temperature measured from current ESC [degC] - if supported        |
-| motor_temperature | `int16`   |              |            | Temperature measured from current motor [degC] - if supported      |
-| esc_address       | `uint8`   |              |            | Address of current ESC (in most cases 1-8 / must be set by driver) |
-| esc_cmdcount      | `uint8`   |              |            | Counter of number of commands                                      |
-| esc_state         | `uint8`   |              |            | State of ESC - depend on Vendor                                    |
-| actuator_function | `uint8`   |              |            | actuator output function (one of Motor1...MotorN)                  |
-| failures          | `uint16`  |              |            | Bitmask to indicate the internal ESC faults                        |
-| esc_power         | `int8`    |              |            | Applied power 0-100 in % (negative values reserved)                |
+| Name              | Type      | Unit [Frame] | Range/Enum          | Description                                                         |
+| ----------------- | --------- | ------------ | ------------------- | ------------------------------------------------------------------- |
+| timestamp         | `uint64`  | us           |                     | Time since system start                                             |
+| esc_errorcount    | `uint32`  |              |                     | Number of reported errors by ESC - if supported                     |
+| esc_rpm           | `int32`   | rpm          |                     | Motor RPM, negative for reverse rotation - if supported             |
+| esc_voltage       | `float32` | V            |                     | Voltage measured from current ESC - if supported                    |
+| esc_current       | `float32` | A            |                     | Current measured from current ESC - if supported                    |
+| esc_temperature   | `float32` | degC         |                     | Temperature measured from current ESC - if supported                |
+| esc_address       | `uint8`   |              |                     | Address of current ESC (in most cases 1-12 / must be set by driver) |
+| motor_temperature | `int16`   | degC         |                     | Temperature measured from current motor - if supported              |
+| esc_state         | `uint8`   |              |                     | State of ESC - depend on Vendor                                     |
+| actuator_function | `uint8`   |              |                     | Actuator output function (one of Motor1...MotorN)                   |
+| failures          | `uint16`  |              | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults                         |
+| esc_power         | `int8`    | %            | [0 : 100]           | Applied power (negative values reserved)                            |

-## Constants
+## Enums
+
+### FAILURE {#FAILURE}

 | Name                                                                        | Type    | Value | Description                                                                  |
 | --------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------- |
-| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1             | `uint8` | 101   |
-| <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)                                                                     |
@@ -40,7 +39,14 @@ pageClass: is-wide-page
 | <a id="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7     | (1 << 7)                                                                     |
 | <a id="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE     | `uint8` | 8     | (1 << 8)                                                                     |
 | <a id="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE     | `uint8` | 9     | (1 << 9)                                                                     |
-| <a id="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT                           | `uint8` | 10    | Counter - keep it as last element!                                           |
+
+## Constants
+
+| Name                                                                  | Type    | Value | Description                                         |
+| --------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------- |
+| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1       | `uint8` | 101   |
+| <a id="#ACTUATOR_FUNCTION_MOTOR_MAX"></a> ACTUATOR_FUNCTION_MOTOR_MAX | `uint8` | 112   | output_functions.yaml Motor.start + Motor.count - 1 |
+| <a id="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT                     | `uint8` | 10    | Counter - keep it as last element!                  |

 ## Source Message

@@ -49,36 +55,37 @@ pageClass: is-wide-page
 ::: details Click here to see original file

 ```c
-uint64 timestamp					# time since system start (microseconds)
-uint32 esc_errorcount					# Number of reported errors by ESC - if supported
-int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
-float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
-float32 esc_current					# Current measured from current ESC [A] - if supported
-float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
-int16 motor_temperature 				# Temperature measured from current motor [degC] - if supported
-uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
-uint8 esc_cmdcount					# Counter of number of commands
+uint64 timestamp # [us] Time since system start

-uint8 esc_state					# State of ESC - depend on Vendor
+uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
+int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
+float32 esc_voltage # [V] Voltage measured from current ESC - if supported
+float32 esc_current # [A] Current measured from current ESC - if supported
+float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
+uint8 esc_address # [-] Address of current ESC (in most cases 1-12 / must be set by driver)
+int16 motor_temperature # [degC] Temperature measured from current motor - if supported
+
+uint8 esc_state # [-] State of ESC - depend on Vendor
+
+uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)

-uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
 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)
+uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
+int8 esc_power # [%] [@range 0,100] Applied power (negative values reserved)

-uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
-uint8 FAILURE_OVER_VOLTAGE = 1 			# (1 << 1)
-uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 	# (1 << 2)
-uint8 FAILURE_OVER_RPM = 3			# (1 << 3)
-uint8 FAILURE_INCONSISTENT_CMD = 4 		# (1 << 4)  Set if ESC received an inconsistent command (i.e out of boundaries)
-uint8 FAILURE_MOTOR_STUCK = 5			# (1 << 5)
-uint8 FAILURE_GENERIC = 6			# (1 << 6)
-uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7	# (1 << 7)
-uint8 FAILURE_WARN_ESC_TEMPERATURE = 8		# (1 << 8)
-uint8 FAILURE_OVER_ESC_TEMPERATURE = 9		# (1 << 9)
-uint8 ESC_FAILURE_COUNT = 10 			# Counter - keep it as last element!
+uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
+uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
+uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
+uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
+uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
+uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
+uint8 FAILURE_GENERIC = 6 # (1 << 6)
+uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
+uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
+uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
+uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
 ```

 :::
@@ -8,27 +8,34 @@ pageClass: is-wide-page

 ## Fields

-| Name               | Type           | Unit [Frame] | Range/Enum | Description                                                                                                                                       |
-| ------------------ | -------------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp          | `uint64`       |              |            | time since system start (microseconds)                                                                                                            |
-| counter            | `uint16`       |              |            | incremented by the writing thread everytime new data is stored                                                                                    |
-| esc_count          | `uint8`        |              |            | number of connected ESCs                                                                                                                          |
-| esc_connectiontype | `uint8`        |              |            | how ESCs connected to the system                                                                                                                  |
-| esc_online_flags   | `uint8`        |              |            | Bitmask indicating which ESC is online/offline                                                                                                    |
-| esc_armed_flags    | `uint8`        |              |            | Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. |
-| esc                | `EscReport[8]` |              |            |
+| Name               | Type            | Unit [Frame] | Range/Enum                                  | Description                                                     |
+| ------------------ | --------------- | ------------ | ------------------------------------------- | --------------------------------------------------------------- |
+| timestamp          | `uint64`        | us           |                                             | Time since system start                                         |
+| counter            | `uint16`        |              |                                             | Incremented by the writing thread everytime new data is stored  |
+| esc_count          | `uint8`         |              |                                             | Number of connected ESCs                                        |
+| esc_connectiontype | `uint8`         |              | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system                                |
+| esc_online_flags   | `uint16`        |              |                                             | Bitmask indicating which ESC is online/offline (in motor order) |
+| esc_armed_flags    | `uint16`        |              |                                             | Bitmask indicating which ESC is armed (in motor order)          |
+| esc                | `EscReport[12]` |              |                                             |
+
+## Enums
+
+### ESC_CONNECTION_TYPE {#ESC_CONNECTION_TYPE}
+
+| Name                                                                  | Type    | Value | Description              |
+| --------------------------------------------------------------------- | ------- | ----- | ------------------------ |
+| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM         | `uint8` | 0     | Traditional PPM ESC      |
+| <a id="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL   | `uint8` | 1     | Serial Bus connected ESC |
+| <a id="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2     | One Shot PPM             |
+| <a id="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C         | `uint8` | 3     | I2C                      |
+| <a id="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN         | `uint8` | 4     | CAN-Bus                  |
+| <a id="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT     | `uint8` | 5     | DShot                    |

 ## Constants

-| Name                                                                  | Type    | Value | Description                                                       |
-| --------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- |
-| <a id="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX                     | `uint8` | 8     | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
-| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM         | `uint8` | 0     | Traditional PPM ESC                                               |
-| <a id="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL   | `uint8` | 1     | Serial Bus connected ESC                                          |
-| <a id="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2     | One Shot PPM                                                      |
-| <a id="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C         | `uint8` | 3     | I2C                                                               |
-| <a id="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN         | `uint8` | 4     | CAN-Bus                                                           |
-| <a id="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT     | `uint8` | 5     | DShot                                                             |
+| Name                                              | Type    | Value | Description                                   |
+| ------------------------------------------------- | ------- | ----- | --------------------------------------------- |
+| <a id="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 12    | The number of ESCs supported (Motor1-Motor12) |

 ## Source Message

@@ -37,34 +44,38 @@ pageClass: is-wide-page
 ::: details Click here to see original file

 ```c
-uint64 timestamp					# time since system start (microseconds)
-uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
+uint64 timestamp # [us] Time since system start
+uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)

-uint8 ESC_CONNECTION_TYPE_PPM = 0			# Traditional PPM ESC
-uint8 ESC_CONNECTION_TYPE_SERIAL = 1			# Serial Bus connected ESC
-uint8 ESC_CONNECTION_TYPE_ONESHOT = 2			# One Shot PPM
-uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
-uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
-uint8 ESC_CONNECTION_TYPE_DSHOT = 5			# DShot
+uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
+uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
+uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
+uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
+uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
+uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot

-uint16 counter  					# incremented by the writing thread everytime new data is stored
+uint16 counter # [-] Incremented by the writing thread everytime new data is stored

-uint8 esc_count						# number of connected ESCs
-uint8 esc_connectiontype				# how ESCs connected to the system
+uint8 esc_count # [-] Number of connected ESCs
+uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system

-uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
-# esc_online_flags bit 0 : Set to 1 if ESC0 is online
-# esc_online_flags bit 1 : Set to 1 if ESC1 is online
-# esc_online_flags bit 2 : Set to 1 if ESC2 is online
-# esc_online_flags bit 3 : Set to 1 if ESC3 is online
-# esc_online_flags bit 4 : Set to 1 if ESC4 is online
-# esc_online_flags bit 5 : Set to 1 if ESC5 is online
-# esc_online_flags bit 6 : Set to 1 if ESC6 is online
-# esc_online_flags bit 7 : Set to 1 if ESC7 is online
+uint16 esc_online_flags               # Bitmask indicating which ESC is online/offline (in motor order)
+# esc_online_flags bit 0 : Set to 1 if Motor1 is online
+# esc_online_flags bit 1 : Set to 1 if Motor2 is online
+# esc_online_flags bit 2 : Set to 1 if Motor3 is online
+# esc_online_flags bit 3 : Set to 1 if Motor4 is online
+# esc_online_flags bit 4 : Set to 1 if Motor5 is online
+# esc_online_flags bit 5 : Set to 1 if Motor6 is online
+# esc_online_flags bit 6 : Set to 1 if Motor7 is online
+# esc_online_flags bit 7 : Set to 1 if Motor8 is online
+# esc_online_flags bit 8 : Set to 1 if Motor9 is online
+# esc_online_flags bit 9 : Set to 1 if Motor10 is online
+# esc_online_flags bit 10: Set to 1 if Motor11 is online
+# esc_online_flags bit 11: Set to 1 if Motor12 is online

-uint8 esc_armed_flags					# Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
+uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)

-EscReport[8] esc
+EscReport[12] esc
 ```

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

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -10,45 +10,48 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v

 ## Fields

-| Name                    | Type      | Unit [Frame] | Range/Enum | Description                                                                                                                                                     |
-| ----------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp               | `uint64`  |              |            | time since system start (microseconds)                                                                                                                          |
-| timestamp_sample        | `uint64`  |              |            |
-| device_id               | `uint32`  |              |            | unique device ID for the sensor that does not change between power cycles                                                                                       |
-| latitude_deg            | `float64` |              |            | Latitude in degrees, allows centimeter level RTK precision                                                                                                      |
-| longitude_deg           | `float64` |              |            | Longitude in degrees, allows centimeter level RTK precision                                                                                                     |
-| altitude_msl_m          | `float64` |              |            | Altitude above MSL, meters                                                                                                                                      |
-| altitude_ellipsoid_m    | `float64` |              |            | Altitude above Ellipsoid, meters                                                                                                                                |
-| s_variance_m_s          | `float32` |              |            | GPS speed accuracy estimate, (metres/sec)                                                                                                                       |
-| c_variance_rad          | `float32` |              |            | GPS course accuracy estimate, (radians)                                                                                                                         |
-| fix_type                | `uint8`   |              |            | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.                                          |
-| eph                     | `float32` |              |            | GPS horizontal position accuracy (metres)                                                                                                                       |
-| epv                     | `float32` |              |            | GPS vertical position accuracy (metres)                                                                                                                         |
-| hdop                    | `float32` |              |            | Horizontal dilution of precision                                                                                                                                |
-| vdop                    | `float32` |              |            | Vertical dilution of precision                                                                                                                                  |
-| noise_per_ms            | `int32`   |              |            | GPS noise per millisecond                                                                                                                                       |
-| automatic_gain_control  | `uint16`  |              |            | Automatic gain control monitor                                                                                                                                  |
-| jamming_state           | `uint8`   |              |            | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected                                         |
-| jamming_indicator       | `int32`   |              |            | indicates jamming is occurring                                                                                                                                  |
-| spoofing_state          | `uint8`   |              |            | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected                                        |
-| authentication_state    | `uint8`   |              |            | GPS signal authentication state                                                                                                                                 |
-| vel_m_s                 | `float32` |              |            | GPS ground speed, (metres/sec)                                                                                                                                  |
-| vel_n_m_s               | `float32` |              |            | GPS North velocity, (metres/sec)                                                                                                                                |
-| vel_e_m_s               | `float32` |              |            | GPS East velocity, (metres/sec)                                                                                                                                 |
-| vel_d_m_s               | `float32` |              |            | GPS Down velocity, (metres/sec)                                                                                                                                 |
-| cog_rad                 | `float32` |              |            | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)                                                                                 |
-| vel_ned_valid           | `bool`    |              |            | True if NED velocity is valid                                                                                                                                   |
-| timestamp_time_relative | `int32`   |              |            | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)                                                              |
-| time_utc_usec           | `uint64`  |              |            | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 |
-| satellites_used         | `uint8`   |              |            | Number of satellites used                                                                                                                                       |
-| system_error            | `uint32`  |              |            | General errors with the connected GPS receiver                                                                                                                  |
-| heading                 | `float32` |              |            | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])                               |
-| heading_offset          | `float32` |              |            | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])                                                              |
-| heading_accuracy        | `float32` |              |            | heading accuracy (rad, [0, 2PI])                                                                                                                                |
-| rtcm_injection_rate     | `float32` |              |            | RTCM message injection rate Hz                                                                                                                                  |
-| selected_rtcm_instance  | `uint8`   |              |            | uorb instance that is being used for RTCM corrections                                                                                                           |
-| rtcm_crc_failed         | `bool`    |              |            | RTCM message CRC failure detected                                                                                                                               |
-| rtcm_msg_used           | `uint8`   |              |            | Indicates if the RTCM message was used successfully by the receiver                                                                                             |
+| Name                    | Type      | Unit [Frame]       | Range/Enum | Description                                                                                                                                                     |
+| ----------------------- | --------- | ------------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp               | `uint64`  |                    |            | time since system start (microseconds)                                                                                                                          |
+| timestamp_sample        | `uint64`  |                    |            |
+| device_id               | `uint32`  |                    |            | unique device ID for the sensor that does not change between power cycles                                                                                       |
+| latitude_deg            | `float64` |                    |            | Latitude in degrees, allows centimeter level RTK precision                                                                                                      |
+| longitude_deg           | `float64` |                    |            | Longitude in degrees, allows centimeter level RTK precision                                                                                                     |
+| altitude_msl_m          | `float64` |                    |            | Altitude above MSL, meters                                                                                                                                      |
+| altitude_ellipsoid_m    | `float64` |                    |            | Altitude above Ellipsoid, meters                                                                                                                                |
+| s_variance_m_s          | `float32` |                    |            | GPS speed accuracy estimate, (metres/sec)                                                                                                                       |
+| c_variance_rad          | `float32` |                    |            | GPS course accuracy estimate, (radians)                                                                                                                         |
+| fix_type                | `uint8`   |                    |            | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.                                          |
+| eph                     | `float32` |                    |            | GPS horizontal position accuracy (metres)                                                                                                                       |
+| epv                     | `float32` |                    |            | GPS vertical position accuracy (metres)                                                                                                                         |
+| hdop                    | `float32` |                    |            | Horizontal dilution of precision                                                                                                                                |
+| vdop                    | `float32` |                    |            | Vertical dilution of precision                                                                                                                                  |
+| noise_per_ms            | `int32`   |                    |            | GPS noise per millisecond                                                                                                                                       |
+| automatic_gain_control  | `uint16`  |                    |            | Automatic gain control monitor                                                                                                                                  |
+| jamming_state           | `uint8`   |                    |            | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected                                         |
+| jamming_indicator       | `int32`   |                    |            | indicates jamming is occurring                                                                                                                                  |
+| spoofing_state          | `uint8`   |                    |            | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected                                        |
+| authentication_state    | `uint8`   |                    |            | GPS signal authentication state                                                                                                                                 |
+| vel_m_s                 | `float32` |                    |            | GPS ground speed, (metres/sec)                                                                                                                                  |
+| vel_n_m_s               | `float32` |                    |            | GPS North velocity, (metres/sec)                                                                                                                                |
+| vel_e_m_s               | `float32` |                    |            | GPS East velocity, (metres/sec)                                                                                                                                 |
+| vel_d_m_s               | `float32` |                    |            | GPS Down velocity, (metres/sec)                                                                                                                                 |
+| cog_rad                 | `float32` |                    |            | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)                                                                                 |
+| vel_ned_valid           | `bool`    |                    |            | True if NED velocity is valid                                                                                                                                   |
+| timestamp_time_relative | `int32`   |                    |            | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)                                                              |
+| time_utc_usec           | `uint64`  |                    |            | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 |
+| satellites_used         | `uint8`   |                    |            | Number of satellites used                                                                                                                                       |
+| system_error            | `uint32`  |                    |            | General errors with the connected GPS receiver                                                                                                                  |
+| heading                 | `float32` |                    |            | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])                               |
+| heading_offset          | `float32` |                    |            | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])                                                              |
+| heading_accuracy        | `float32` |                    |            | heading accuracy (rad, [0, 2PI])                                                                                                                                |
+| rtcm_injection_rate     | `float32` |                    |            | RTCM message injection rate Hz                                                                                                                                  |
+| selected_rtcm_instance  | `uint8`   |                    |            | uorb instance that is being used for RTCM corrections                                                                                                           |
+| rtcm_crc_failed         | `bool`    |                    |            | RTCM message CRC failure detected                                                                                                                               |
+| rtcm_msg_used           | `uint8`   |                    |            | Indicates if the RTCM message was used successfully by the receiver                                                                                             |
+| antenna_offset_x        | `float32` | m [body frame FRD] |            | X Position of GNSS antenna                                                                                                                                      |
+| antenna_offset_y        | `float32` | m [body frame FRD] |            | Y Position of GNSS antenna                                                                                                                                      |
+| antenna_offset_z        | `float32` | m [body frame FRD] |            | Z Position of GNSS antenna                                                                                                                                      |

 ## Constants

@@ -182,6 +185,10 @@ uint8 RTCM_MSG_USED_NOT_USED = 1
 uint8 RTCM_MSG_USED_USED = 2
 uint8 rtcm_msg_used		# Indicates if the RTCM message was used successfully by the receiver

+float32 antenna_offset_x	# [m] [@frame body frame FRD] X Position of GNSS antenna
+float32 antenna_offset_y	# [m] [@frame body frame FRD] Y Position of GNSS antenna
+float32 antenna_offset_z	# [m] [@frame body frame FRD] Z Position of GNSS antenna
+
 # TOPICS sensor_gps vehicle_gps_position
 ```

@@ -1052,6 +1052,20 @@ Actuator configuration command.
 | 6     |       |            | ?               |
 | 7     |       |            | ?               |

+### VEHICLE_CMD_ESC_REQUEST_EEPROM (312)
+
+Request EEPROM data from an ESC.
+
+| Param | Units | Range/Enum | Description   |
+| ----- | ----- | ---------- | ------------- |
+| 1     |       |            | ESC Index     |
+| 2     |       |            | Firmware Type |
+| 3     |       |            | Unused        |
+| 4     |       |            | Unused        |
+| 5     |       |            | Unused        |
+| 6     |       |            | ?             |
+| 7     |       |            | ?             |
+
 ### VEHICLE_CMD_COMPONENT_ARM_DISARM (400)

 Arms / Disarms a component.
@@ -1526,16 +1540,22 @@ Change mode by specifying nav_state directly.

 ## Constants

-| Name                                                                                                      | Type     | Value | Description                                                                                |
-| --------------------------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------------------------------------------------ |
+| Name                                                                                                      | Type     | Value | Description                                                                                           |
+| --------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------------------------------- |
 | <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                                             | `uint32` | 0     |
-| <a id="#PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION"></a> PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3     | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration.        |
-| <a id="#VEHICLE_MOUNT_MODE_RETRACT"></a> VEHICLE_MOUNT_MODE_RETRACT                                       | `uint8`  | 0     | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
-| <a id="#VEHICLE_MOUNT_MODE_NEUTRAL"></a> VEHICLE_MOUNT_MODE_NEUTRAL                                       | `uint8`  | 1     | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.                     |
-| <a id="#VEHICLE_MOUNT_MODE_MAVLINK_TARGETING"></a> VEHICLE_MOUNT_MODE_MAVLINK_TARGETING                   | `uint8`  | 2     | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization.         |
-| <a id="#VEHICLE_MOUNT_MODE_RC_TARGETING"></a> VEHICLE_MOUNT_MODE_RC_TARGETING                             | `uint8`  | 3     | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization.              |
-| <a id="#VEHICLE_MOUNT_MODE_GPS_POINT"></a> VEHICLE_MOUNT_MODE_GPS_POINT                                   | `uint8`  | 4     | Load neutral position and start to point to Lat,Lon,Alt.                                   |
+| <a id="#PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION"></a> PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3     | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration.                   |
+| <a id="#VEHICLE_MOUNT_MODE_RETRACT"></a> VEHICLE_MOUNT_MODE_RETRACT                                       | `uint8`  | 0     | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.            |
+| <a id="#VEHICLE_MOUNT_MODE_NEUTRAL"></a> VEHICLE_MOUNT_MODE_NEUTRAL                                       | `uint8`  | 1     | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.                                |
+| <a id="#VEHICLE_MOUNT_MODE_MAVLINK_TARGETING"></a> VEHICLE_MOUNT_MODE_MAVLINK_TARGETING                   | `uint8`  | 2     | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization.                    |
+| <a id="#VEHICLE_MOUNT_MODE_RC_TARGETING"></a> VEHICLE_MOUNT_MODE_RC_TARGETING                             | `uint8`  | 3     | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization.                         |
+| <a id="#VEHICLE_MOUNT_MODE_GPS_POINT"></a> VEHICLE_MOUNT_MODE_GPS_POINT                                   | `uint8`  | 4     | Load neutral position and start to point to Lat,Lon,Alt.                                              |
 | <a id="#VEHICLE_MOUNT_MODE_ENUM_END"></a> VEHICLE_MOUNT_MODE_ENUM_END                                     | `uint8`  | 5     |
+| <a id="#ACTUATOR_CONFIGURATION_NONE"></a> ACTUATOR_CONFIGURATION_NONE                                     | `uint8`  | 0     | Do nothing.                                                                                           |
+| <a id="#ACTUATOR_CONFIGURATION_BEEP"></a> ACTUATOR_CONFIGURATION_BEEP                                     | `uint8`  | 1     | Command the actuator to beep now.                                                                     |
+| <a id="#ACTUATOR_CONFIGURATION_3D_MODE_ON"></a> ACTUATOR_CONFIGURATION_3D_MODE_ON                         | `uint8`  | 2     | Permanently set the actuator (ESC) to 3D mode (reversible thrust).                                    |
+| <a id="#ACTUATOR_CONFIGURATION_3D_MODE_OFF"></a> ACTUATOR_CONFIGURATION_3D_MODE_OFF                       | `uint8`  | 3     | Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).                            |
+| <a id="#ACTUATOR_CONFIGURATION_SPIN_DIRECTION1"></a> ACTUATOR_CONFIGURATION_SPIN_DIRECTION1               | `uint8`  | 4     | Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise). |
+| <a id="#ACTUATOR_CONFIGURATION_SPIN_DIRECTION2"></a> ACTUATOR_CONFIGURATION_SPIN_DIRECTION2               | `uint8`  | 5     | Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).                     |
 | <a id="#PARACHUTE_ACTION_DISABLE"></a> PARACHUTE_ACTION_DISABLE                                           | `uint8`  | 0     |
 | <a id="#PARACHUTE_ACTION_ENABLE"></a> PARACHUTE_ACTION_ENABLE                                             | `uint8`  | 1     |
 | <a id="#PARACHUTE_ACTION_RELEASE"></a> PARACHUTE_ACTION_RELEASE                                           | `uint8`  | 2     |
@@ -1660,6 +1680,7 @@ uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information
 uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
 uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
 uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
+uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC Index|Firmware Type|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
 uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
@@ -1709,6 +1730,13 @@ uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
 uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
 uint8 VEHICLE_ROI_ENUM_END = 5

+uint8 ACTUATOR_CONFIGURATION_NONE = 0 # Do nothing.
+uint8 ACTUATOR_CONFIGURATION_BEEP = 1 # Command the actuator to beep now.
+uint8 ACTUATOR_CONFIGURATION_3D_MODE_ON = 2 # Permanently set the actuator (ESC) to 3D mode (reversible thrust).
+uint8 ACTUATOR_CONFIGURATION_3D_MODE_OFF = 3 # Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
+uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 = 4 # Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
+uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 = 5 # Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).
+
 uint8 PARACHUTE_ACTION_DISABLE = 0
 uint8 PARACHUTE_ACTION_ENABLE = 1
 uint8 PARACHUTE_ACTION_RELEASE = 2
@@ -85,6 +85,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
 - [DronecanNodeStatus](DronecanNodeStatus.md)
 - [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
+- [EscEepromRead](EscEepromRead.md)
+- [EscEepromWrite](EscEepromWrite.md)
 - [EscReport](EscReport.md)
 - [EscStatus](EscStatus.md)
 - [EstimatorAidSource1d](EstimatorAidSource1d.md)
@@ -47,71 +47,12 @@ Then connect the battery and arm the vehicle.
 The ESCs should initialize and the motors turn in the correct directions.

 - If the motors do not spin in the correct direction (for the [selected airframe](../airframes/airframe_reference.md)) you can reverse them in the UI using the **Set Spin Direction** option (this option appears after you select DShot and assign motors).
-  You can also reverse motors by sending an [ESC Command](#commands).

 ## ESC Commands {#commands}

 Commands can be sent to the ESC via the [MAVLink shell](../debug/mavlink_shell.md).
 See [here](../modules/modules_driver.md#dshot) for a full reference of the supported commands.

-The most important ones are:
-
- Make a motor connected to FMU output pin 1 beep (helps with identifying motors)
-
-  ```sh
-  dshot beep1 -m 1
-  ```
-
- Retrieve ESC information (requires telemetry, see below):
-
-  ```sh
-  nsh> dshot esc_info -m 2
-  INFO  [dshot] ESC Type: #TEKKO32_4in1#
-  INFO  [dshot] MCU Serial Number: xxxxxx-xxxxxx-xxxxxx-xxxxxx
-  INFO  [dshot] Firmware version: 32.60
-  INFO  [dshot] Rotation Direction: normal
-  INFO  [dshot] 3D Mode: off
-  INFO  [dshot] Low voltage Limit: off
-  INFO  [dshot] Current Limit: off
-  INFO  [dshot] LED 0: unsupported
-  INFO  [dshot] LED 1: unsupported
-  INFO  [dshot] LED 2: unsupported
-  INFO  [dshot] LED 3: unsupported
-  ```
-
- Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning):
-  - Set spin direction to `reversed`:
-
-    ```sh
-    dshot reverse -m 1
-    dshot save -m 1
-    ```
-
-    Retrieving ESC information will then show:
-
-    ```sh
-    Rotation Direction: reversed
-    ```
-
-  - Set spin direction to `normal`:
-
-    ```sh
-    dshot normal -m 1
-    dshot save -m 1
-    ```
-
-    Retrieving ESC information will then show:
-
-    ```sh
-    Rotation Direction: normal
-    ```
-
-  ::: info
-  - The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction.
-  - The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction.
-
-  :::
-
 ## ESC Telemetry

 Some ESCs are capable of sending telemetry back to the flight controller through a UART RX port.
@@ -130,60 +71,76 @@ To enable this feature (on ESCs that support it):
 1. Join all the telemetry wires from all the ESCs together, and then connect them to one of the RX pins on an unused flight controller serial port.
 2. Enable telemetry on that serial port using [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG).

-After a reboot you can check if telemetry is working (make sure the battery is connected) using:
-
-```sh
-dshot esc_info -m 1
-```
-
-::: tip
-You may have to configure [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) to get the correct RPM values.
+:::tip
+You may have to configure the per-motor pole count parameters ([`DSHOT_MOT_POL1`–`DSHOT_MOT_POL12`](../advanced_config/parameter_reference.md#DSHOT_MOT_POL1)) to get correct RPM values.
+The default value for these is 14 poles, which is typical for 5-inch prop motors.
 :::

-::: tip
-Not all DSHOT-capable ESCs support `[esc_info]`(e.g. APD 80F3x), even when telemetry is supported and enabled.
-The resulting error is:
-
-```sh
-ERROR [dshot] No data received. If telemetry is setup correctly, try again.
-```
-
-Check manufacturer documentation for confirmation/details.
+:::tip
+[Extended DShot Telemetry (EDT)](#extended-dshot-telemetry-edt) can provide temperature, voltage, and current through the BDShot signal — no serial telemetry wire needed.
 :::

 ## Bidirectional DShot (Telemetry)

 <Badge type="tip" text="PX4 v1.16" />

-Bidirectional DShot is a protocol that can provide telemetry including: high rate ESC RPM data, voltage, current, and temperature with a single wire.
+Bidirectional DShot (BDShot) enables the ESC to send eRPM telemetry back to the flight controller on the same signal wire used for throttle commands — no additional telemetry wire is needed for RPM data.
+High-rate eRPM data significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.

-The PX4 implementation currently enables only ESC RPM (eRPM) data collection from each ESC at high frequencies.
-This telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
+With [Extended DShot Telemetry (EDT)](#extended-dshot-telemetry-edt) enabled, BDShot can also provide temperature, voltage, and current data.
+
+### Hardware Support
+
+BDShot requires a flight controller with DMA-capable timers.
+Any FMU output on a supported timer can be used for BDShot — multiple timers are supported through sequential burst/capture.
+
+Supported processors:
+
+- **STM32H7**: All FMU outputs on DMA-capable timers
+- **i.MXRT** (V6X-RT & Tropic): All FMU outputs

 ::: info
-The [ESC Telemetry](#esc-telemetry) described above is currently still necessary if you want voltage, current, or temperature information.
-It's setup and use is independent of bidirectional DShot.
-:::
-
-### Hardware Setup
-
 The ESC must be connected to FMU outputs only.
-These will be labeled `MAIN` on flight controllers that only have one PWM bus, and `AUX` on controllers that have both `MAIN` and `AUX` ports (i.e. FCs that have an IO board).
-
-::: warning **Limited hardware support**
-This feature is only supported on flight controllers with the following processors:
-
- STM32H7: First four FMU outputs
-  - Must be connected to the first 4 FMU outputs, and these outputs must also be mapped to the same timer.
-  - [KakuteH7](../flight_controller/kakuteh7v2.md) is not supported because the outputs are not mapped to the same timer.
- [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic): 8 FMU outputs.
-
-No other boards are supported.
+These are labeled `MAIN` on controllers with a single PWM bus, and `AUX` on controllers with both `MAIN` and `AUX` ports (i.e. those with an IO board).
 :::

-### Configuration {#bidirectional-dshot-configuration}
+### PX4 Configuration {#bidirectional-dshot-configuration}

-To enable bidirectional DShot, set the [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) parameter.
+BDShot is enabled **per-timer** in the [Actuator Configuration](../config/actuators.md) UI.
+Select **BDShot150**, **BDShot300**, or **BDShot600** as the output protocol instead of the corresponding DShot speed.
+There is no separate enable parameter — choosing a BDShot protocol activates bidirectional telemetry on that timer's outputs.

-The system calculates actual motor RPM from the received eRPM data using the [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) parameter.
-This parameter must be set correctly for accurate RPM reporting.
+The system calculates actual motor RPM from eRPM data using per-motor pole count parameters: `DSHOT_MOT_POL1` through `DSHOT_MOT_POL12` (one per motor output).
+The default is 14 poles, which is typical for 5-inch prop motors.
+If you are using AM32 ESCs, the motor pole count must also be set in the AM32 firmware configuration (e.g. via the AM32 configurator tool) to match.
+
+### Extended DShot Telemetry (EDT)
+
+EDT extends BDShot by interleaving temperature, voltage, and current data into the eRPM telemetry frames.
+This allows ESC health monitoring through the same signal wire, without requiring a separate serial telemetry connection.
+
+To enable EDT:
+
+1. Configure BDShot on the desired outputs (see above).
+2. Set `DSHOT_BIDIR_EDT` to `1` and reboot.
+
+The ESC firmware must support EDT (e.g. [AM32](https://github.com/am32-firmware/AM32)).
+
+When both serial telemetry and BDShot/EDT are enabled, the driver merges data from both sources.
+
+## AM32 ESC Settings (EEPROM)
+
+PX4 can read and write AM32 ESC firmware settings (EEPROM) via a ground station, enabling remote ESC configuration without connecting directly to each ESC.
+
+### Requirements
+
+- ESCs running [AM32 firmware](https://github.com/am32-firmware/AM32) with serial telemetry connected ([DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG))
+- `DSHOT_ESC_TYPE` set to `1` (AM32)
+- Ground station with ESC EEPROM support (QGroundControl feature in development)
+- MAVLink development dialect enabled on the flight controller
+
+### How It Works
+
+PX4 automatically reads the full EEPROM from each ESC on boot.
+The ground station can then display individual settings and allow the user to modify them.
+Changes are written back to the ESC one byte at a time using the DShot programming protocol.
@@ -296,7 +296,7 @@ For all variants of SIH:
  For SIH on SITL you will need to explicitly enable these sensors as shown below.
  :::

- `param set-default EKF2_GPS_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH).
+- `param set-default SENS_GPS0_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH).

 For SIH on FC:

@@ -7,7 +7,7 @@ Regression test for DSHOT working with PX4
 ## Preflight

 - Ensure vehicle is using a DSHOT ESC
- Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
+- Bidirectional DShot is configured (BDShot150/300/600 selected in [Actuator Configuration](../config/actuators.md))
 - Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
 - Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked

@@ -69,6 +69,8 @@ set(msg_files
 	DistanceSensorModeChangeRequest.msg
 	DronecanNodeStatus.msg
 	Ekf2Timestamps.msg
+	EscEepromRead.msg
+	EscEepromWrite.msg
 	EscReport.msg
 	EscStatus.msg
 	EstimatorAidSource1d.msg
@@ -0,0 +1,7 @@
+uint64 timestamp # [us] Time since system start
+uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
+uint16 length # [-] Length of valid data
+uint8[48] data # [-] Raw ESC EEPROM data
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up responses
@@ -0,0 +1,8 @@
+uint64 timestamp # [us] Time since system start
+uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
+uint16 length # [-] Length of valid data
+uint8[48] data # [-] Raw ESC EEPROM data
+uint32[2] write_mask # [-] Bitmask indicating which bytes in the data array should be written (max 48 values)
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests
@@ -1,30 +1,31 @@
-uint64 timestamp					# time since system start (microseconds)
-uint32 esc_errorcount					# Number of reported errors by ESC - if supported
-int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
-float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
-float32 esc_current					# Current measured from current ESC [A] - if supported
-float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
-int16 motor_temperature 				# Temperature measured from current motor [degC] - if supported
-uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
-uint8 esc_cmdcount					# Counter of number of commands
+uint64 timestamp # [us] Time since system start

-uint8 esc_state					# State of ESC - depend on Vendor
+uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
+int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
+float32 esc_voltage # [V] Voltage measured from current ESC - if supported
+float32 esc_current # [A] Current measured from current ESC - if supported
+float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
+uint8 esc_address # [-] Address of current ESC (in most cases 1-12 / must be set by driver)
+int16 motor_temperature # [degC] Temperature measured from current motor - if supported
+
+uint8 esc_state # [-] State of ESC - depend on Vendor
+
+uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)

-uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
 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)
+uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
+int8 esc_power # [%] [@range 0,100] Applied power (negative values reserved)

-uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
-uint8 FAILURE_OVER_VOLTAGE = 1 			# (1 << 1)
-uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 	# (1 << 2)
-uint8 FAILURE_OVER_RPM = 3			# (1 << 3)
-uint8 FAILURE_INCONSISTENT_CMD = 4 		# (1 << 4)  Set if ESC received an inconsistent command (i.e out of boundaries)
-uint8 FAILURE_MOTOR_STUCK = 5			# (1 << 5)
-uint8 FAILURE_GENERIC = 6			# (1 << 6)
-uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7	# (1 << 7)
-uint8 FAILURE_WARN_ESC_TEMPERATURE = 8		# (1 << 8)
-uint8 FAILURE_OVER_ESC_TEMPERATURE = 9		# (1 << 9)
-uint8 ESC_FAILURE_COUNT = 10 			# Counter - keep it as last element!
+uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
+uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
+uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
+uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
+uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
+uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
+uint8 FAILURE_GENERIC = 6 # (1 << 6)
+uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
+uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
+uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
+uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
@@ -1,28 +1,32 @@
-uint64 timestamp					# time since system start (microseconds)
-uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
+uint64 timestamp # [us] Time since system start
+uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)

-uint8 ESC_CONNECTION_TYPE_PPM = 0			# Traditional PPM ESC
-uint8 ESC_CONNECTION_TYPE_SERIAL = 1			# Serial Bus connected ESC
-uint8 ESC_CONNECTION_TYPE_ONESHOT = 2			# One Shot PPM
-uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
-uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
-uint8 ESC_CONNECTION_TYPE_DSHOT = 5			# DShot
+uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
+uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
+uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
+uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
+uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
+uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot

-uint16 counter  					# incremented by the writing thread everytime new data is stored
+uint16 counter # [-] Incremented by the writing thread everytime new data is stored

-uint8 esc_count						# number of connected ESCs
-uint8 esc_connectiontype				# how ESCs connected to the system
+uint8 esc_count # [-] Number of connected ESCs
+uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system

-uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
-# esc_online_flags bit 0 : Set to 1 if ESC0 is online
-# esc_online_flags bit 1 : Set to 1 if ESC1 is online
-# esc_online_flags bit 2 : Set to 1 if ESC2 is online
-# esc_online_flags bit 3 : Set to 1 if ESC3 is online
-# esc_online_flags bit 4 : Set to 1 if ESC4 is online
-# esc_online_flags bit 5 : Set to 1 if ESC5 is online
-# esc_online_flags bit 6 : Set to 1 if ESC6 is online
-# esc_online_flags bit 7 : Set to 1 if ESC7 is online
+uint16 esc_online_flags               # Bitmask indicating which ESC is online/offline (in motor order)
+# esc_online_flags bit 0 : Set to 1 if Motor1 is online
+# esc_online_flags bit 1 : Set to 1 if Motor2 is online
+# esc_online_flags bit 2 : Set to 1 if Motor3 is online
+# esc_online_flags bit 3 : Set to 1 if Motor4 is online
+# esc_online_flags bit 4 : Set to 1 if Motor5 is online
+# esc_online_flags bit 5 : Set to 1 if Motor6 is online
+# esc_online_flags bit 6 : Set to 1 if Motor7 is online
+# esc_online_flags bit 7 : Set to 1 if Motor8 is online
+# esc_online_flags bit 8 : Set to 1 if Motor9 is online
+# esc_online_flags bit 9 : Set to 1 if Motor10 is online
+# esc_online_flags bit 10: Set to 1 if Motor11 is online
+# esc_online_flags bit 11: Set to 1 if Motor12 is online

-uint8 esc_armed_flags					# Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
+uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)

-EscReport[8] esc
+EscReport[12] esc
@@ -52,6 +52,8 @@ bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion
 bool cs_gnss_fault              # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
 bool cs_yaw_manual              # 46 - true if yaw has been set manually
 bool cs_gnss_hgt_fault          # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
+bool cs_in_transition           # 48 - true if the vehicle is in vtol transition
+bool cs_heading_observable      # 49 - true when heading is observable

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -87,4 +87,8 @@ uint8 RTCM_MSG_USED_NOT_USED = 1
 uint8 RTCM_MSG_USED_USED = 2
 uint8 rtcm_msg_used		# Indicates if the RTCM message was used successfully by the receiver

+float32 antenna_offset_x	# [m] [@frame body frame FRD] X Position of GNSS antenna
+float32 antenna_offset_y	# [m] [@frame body frame FRD] Y Position of GNSS antenna
+float32 antenna_offset_z	# [m] [@frame body frame FRD] Z Position of GNSS antenna
+
 # TOPICS sensor_gps vehicle_gps_position
--- a/Show More
+++ b/Show More