Improve intro, I hope

.clang-tidy

@@ -105,81 +105,6 @@ Checks:          '*,
                   -readability-redundant-declaration,
                   -readability-static-accessed-through-instance,
                   -readability-static-definition-in-anonymous-namespace,
-                  -altera-struct-pack-align,
-                  -bugprone-easily-swappable-parameters,
-                  -concurrency-mt-unsafe,
-                  -cppcoreguidelines-avoid-const-or-ref-data-members,
-                  -cppcoreguidelines-macro-usage,
-                  -cppcoreguidelines-non-private-member-variables-in-classes,
-                  -hicpp-uppercase-literal-suffix,
-                  -llvm-qualified-auto,
-                  -misc-non-private-member-variables-in-classes,
-                  -misc-use-anonymous-namespace,
-                  -modernize-concat-nested-namespaces,
-                  -readability-const-return-type,
-                  -readability-identifier-length,
-                  -readability-isolate-declaration,
-                  -readability-qualified-auto,
-                  -readability-redundant-access-specifiers,
-                  -cppcoreguidelines-avoid-do-while,
-                  -misc-include-cleaner,
-                  -misc-const-correctness,
-                  -llvm-else-after-return,
-                  -readability-function-cognitive-complexity,
-                  -cppcoreguidelines-init-variables,
-                  -bugprone-reserved-identifier,
-                  -cert-dcl37-c,
-                  -cert-dcl51-cpp,
-                  -modernize-use-nodiscard,
-                  -misc-confusable-identifiers,
-                  -cert-err33-c,
-                  -readability-redundant-inline-specifier,
-                  -readability-uppercase-literal-suffix,
-                  -bugprone-narrowing-conversions,
-                  -cppcoreguidelines-narrowing-conversions,
-                  -bugprone-switch-missing-default-case,
-                  -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,
-                  -cppcoreguidelines-explicit-virtual-functions,
-                  -readability-convert-member-functions-to-static,
-                  -readability-make-member-function-const,
-                  -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-multi-level-implicit-pointer-conversion,
-                  -bugprone-signed-char-misuse,
-                  -cppcoreguidelines-avoid-non-const-global-variables,
-                  -cppcoreguidelines-use-default-member-init,
-                  -hicpp-multiway-paths-covered,
-                  -hicpp-named-parameter,
-                  -misc-header-include-cycle,
-                  -misc-no-recursion,
-                  -performance-no-int-to-ptr,
-                  -readability-avoid-return-with-void-value,
-                  -readability-avoid-unconditional-preprocessor-if,
-                  -readability-delete-null-pointer,
-                  -readability-redundant-casting,
-                  -readability-redundant-member-init,
-                  -readability-reference-to-constructed-temporary,
-                  -readability-simplify-boolean-expr,
-                  -cert-msc32-c,
-                  -cert-msc33-c,
-                  -cert-msc51-cpp,
-                  -cert-str34-c,
-                  -cppcoreguidelines-macro-to-enum,
-                  -modernize-macro-to-enum,
-                  -abseil-string-find-str-contains,
-                  -bugprone-suspicious-include,
-                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
-                  -clang-analyzer-optin.core.EnumCastOutOfRange,
-                  -modernize-type-traits,
-                  -misc-definitions-in-headers,
-                  -bugprone-casting-through-void,
-                  -readability-redundant-string-init,
                  '
 WarningsAsErrors: '*'
 CheckOptions:

.clusterfuzzlite/Dockerfile

@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -0,0 +1 @@
+language: c++

.editorconfig

@@ -12,11 +12,3 @@ max_line_length = 120
 [*.yaml, *.yml]
 indent_style = space
 indent_size = 2
-
-[*.sh]
-indent_style = tab
-indent_size = 2
-insert_final_newline = true
-trim_trailing_whitespace = true
-# Not in the official standard, but supported by many editors
-max_line_length = 80

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -3,45 +3,92 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
-  - type: markdown
-    attributes:
-      value: |
-        **Tips for a great bug report:**
-        - Describe what went wrong and what you expected
-        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
-        - Mention your PX4 version, flight controller, and vehicle type if relevant
-
   - type: textarea
     attributes:
       label: Describe the bug
-      description: A clear description of the bug and what you expected to happen.
-      placeholder: |
-        What happened and what did you expect instead?
-
-        Steps to reproduce (if applicable):
-        1.
-        2.
-        3.
+      description: A clear and concise description of the bug.
     validations:
       required: true
 
   - type: textarea
     attributes:
-      label: Flight Log / Additional Information
+      label: To Reproduce
       description: |
-        **Flight log** (highly recommended for flight-related issues):
-        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
-
-        **Additional details** (if relevant):
-        - PX4 version (output of `ver all` in MAVLink Shell)
-        - Flight controller model
-        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
-        - Screenshots or media
-      placeholder: |
-        Flight log link:
-
-        Version:
-
-        Hardware:
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
     validations:
       required: false
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: false
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: false
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: false
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -1,4 +1,4 @@
-blank_issues_enabled: true
+blank_issues_enabled: false
 contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,9 +1,22 @@
 <!--
 
+Thank you for your contribution!
+
+Get early feedback through
+- Dronecode Discord: https://discord.gg/dronecode
+- PX4 Discuss: http://discuss.px4.io/
+- opening a draft pr and sharing the link
+
+-->
+
 ### Solved Problem
+When ... I found that ...
+
 Fixes #{Github issue ID}
 
 ### Solution
+- Add ... for ...
+- Refactor ...
 
 ### Changelog Entry
 For release notes:
@@ -14,10 +27,11 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives
+We could also ...
 
 ### Test coverage
+- Unit/integration test: ...
+- Simulation/hardware testing logs: https://review.px4.io/
 
 ### Context
 Related links, screenshot before/after, video
-
--->

.github/fuzzing_issue_template.md

@@ -1,6 +0,0 @@
----
-title: '[CI] Fuzzing Workflow Failed'
-labels: ['Fuzzing']
----
-The automated fuzzing workflow has failed.
-See {{ env.WORKFLOW_RUN_URL }} for details.

.github/instructions/docs.en.instructions.md

@@ -1,50 +0,0 @@
----
-applyTo: "docs/en/**"
----
-
-# Review Guidelines docs/en Tree
-
-## File System & Structure
-
-- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
-- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
-  - Valid: `docs/en/category/file.md`
-  - Invalid: `docs/en/category/subcategory/file.md`
-- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
-- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
-- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
-
-## Markdown & Style
-
-- **Headings:** Use Title Case ("First Letter Capitalisation"). 
-  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
-  - Do not apply bold or italic styling inside a heading.
-- **Formatting:** 
-  - **Bold:** Only for UI elements (buttons, menu items).
-  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
-    Backticks are optional for hyperlinked CLI commands and tool names.
-  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
-    Emphasis is optional for hyperlinked applications.
-- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
-
-## Linking & Navigation
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
-  Note relative link. 
-- **Table Links:** To keep tables readable, use reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
-- **Table Links:** To keep tables easier to edit, prefer reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
-
-## Quality Control
-
-- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
-- **Language:** Enforce **UK English** spelling and grammar.

.github/labeler.yml

@@ -1,10 +0,0 @@
-# Labeler configuration file for GitHub Actions
-# The action is ./.github/workflows/label.yml
-# Docs for the syntax in this file can be found at
-# https://github.com/actions/labeler
-
-
-# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation 📑":
-- changed-files:
-  - any-glob-to-any-file: docs/**

.github/runs-on.yml

@@ -1,24 +0,0 @@
-runners:
-  x86-small-runner:
-    cpu: [1, 2]
-    ram: [1, 4]
-    disk: default
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  x86-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7i", "m7i", "r7i"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  arm64-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7g", "m7g", "r7g"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-arm64
-    extras: s3-cache

.github/workflows/build_all_targets.yml

@@ -2,37 +2,6 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-#
-# ===================================================================================
-# RELEASE UPLOAD LOGIC
-# ===================================================================================
-# This workflow handles building firmware and uploading to S3 + GitHub Releases.
-#
-# S3 Bucket Structure (s3://px4-travis/Firmware/):
-#   - master/          <- Latest main branch build (for QGC compatibility)
-#   - stable/          <- Latest stable release, controlled by 'stable' branch
-#   - beta/            <- Latest pre-release, controlled by 'beta' branch
-#   - vX.Y.Z/          <- Archived stable release
-#   - vX.Y.Z-beta1/    <- Archived pre-release
-#
-# Trigger Behavior:
-#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
-#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
-#   - Branch main        -> Upload to: master/ (for QGC compatibility)
-#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
-#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
-#   - Branch release/**  -> Build only, no S3 upload (CI validation)
-#   - Pull requests      -> Build only, no S3 upload (CI validation)
-#
-# GitHub Releases:
-#   - All version tags create a draft GitHub Release
-#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
-#
-# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
-# corresponding branch pushes control those directories. This prevents
-# pre-release tags from accidentally overwriting stable firmware (#26340)
-# and avoids race conditions between tag and branch builds.
-# ===================================================================================
 
 name: Build all targets
 
@@ -49,7 +18,7 @@ on:
       - 'docs/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
 
@@ -57,16 +26,11 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
-permissions:
-  contents: write
-  actions: read
-  packages: read
-
 jobs:
   group_targets:
     name: Scan for Board Targets
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -74,14 +38,6 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: Cache Python pip
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-
       - name: Update python packaging to avoid canonicalize_version() error
         run: |
             pip3 install -U packaging
@@ -92,15 +48,12 @@ jobs:
           path: "./Tools/setup/requirements.txt"
 
       - id: set-matrix
-        name: Generate Build Matrix
-        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
 
       - id: set-timestamp
-        name: Save Current Timestamp
-        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        name: Save Current Branch Name
         run: |
           echo "branchname=${{
             github.event_name == 'pull_request' &&
@@ -117,7 +70,7 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
     # runs-on: ubuntu-latest
     runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
@@ -126,11 +79,7 @@ jobs:
       fail-fast: false
     container:
       image: ${{ matrix.container }}
-      credentials:
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
     steps:
-      - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -138,24 +87,14 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
+      - name: Setup ccache
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
-          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
 
-      - name: Cache Config and Stats
+      - name: Configure ccache
         run: |
             mkdir -p ~/.ccache
             echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -163,11 +102,10 @@ jobs:
             echo "compression_level = 6" >> ~/.ccache/ccache.conf
             echo "max_size = 120M" >> ~/.ccache/ccache.conf
             echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
             ccache -s
             ccache -z
 
-      - name: Building Artifacts for [${{ matrix.targets }}]
+      - name: Building [${{ matrix.group }}]
         run: |
             ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
@@ -181,34 +119,15 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
       - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        run: ccache -s
 
-  # ===========================================================================
-  # ARTIFACT UPLOAD JOB
-  # ===========================================================================
-  # Uploads build artifacts to S3 and creates GitHub Releases.
-  # Runs for version tags (v*), main, stable, and beta branch pushes.
-  # See header comments for full upload logic documentation.
-  # ===========================================================================
   artifacts:
-    name: Upload Artifacts
+    name: Upload Artifacts to S3
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
-    outputs:
-      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
+    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
@@ -216,36 +135,11 @@ jobs:
           path: artifacts/
           merge-multiple: true
 
-      - name: Choose Upload Location
-        id: upload-location
+      - name: Branch Name
         run: |
-          set -euo pipefail
+          echo "${{ needs.group_targets.outputs.branchname }}"
 
-          ref="${GITHUB_REF}"
-          branch=${{ needs.group_targets.outputs.branchname  }}
-          location="$branch"
-          is_prerelease="false"
-
-          # Main branch uploads to "master" for QGC backward compatibility
-          if [[ "$branch" == "main" ]]; then
-            location="master"
-          fi
-
-          # Version tags: upload to versioned directory (e.g., v1.16.1/)
-          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
-            tag="${ref#refs/tags/}"
-            location="$tag"
-
-            # Pre-release tags contain -alpha, -beta, or -rc suffix
-            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
-              is_prerelease="true"
-            fi
-          fi
-
-          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
-
-      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
+      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
         uses: jakejarvis/s3-sync-action@master
         with:
           args: --acl public-read
@@ -255,15 +149,25 @@ jobs:
           AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           AWS_REGION: 'us-west-1'
           SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
+          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
 
-      # Create a draft GitHub Release for all version tags
-      # Pre-releases are automatically marked as such
-      - name: Upload Artifacts to GitHub Release
+  release:
+    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/')
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: artifacts/
+          merge-multiple: true
+
+      - name: Upload Binaries to Release
         uses: softprops/action-gh-release@v2
-        if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
-          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
           files: artifacts/*.px4
-          name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/cflite_batch.yml

@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -6,23 +6,17 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     strategy:
       fail-fast: false
       matrix:
@@ -39,17 +33,20 @@ jobs:
           "px4_sitl_allyes",
           "module_documentation",
         ]
-
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Building [${{ matrix.check }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}
 
       - name: Uploading Coverage to Codecov.io
         if: contains(matrix.check, 'coverage')

.github/workflows/clang-tidy.yml

@@ -1,4 +1,4 @@
-name: Static Analysis
+name: Clang Tidy
 
 on:
   push:
@@ -6,64 +6,27 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-permissions:
-  contents: read
-
+      - '.github/**'
 jobs:
-  clang_tidy:
-    name: Clang-Tidy
-    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+  build:
+    runs-on: ubuntu-latest
     steps:
-    - uses: runs-on/action@v2
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-        fetch-tags: true
 
-    - name: Configure Git Safe Directory
-      run: git config --system --add safe.directory '*'
-
-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - name: Testing (clang-tidy-quiet)
+      uses: addnab/docker-run-action@v3
       with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
-
-    - name: Configure Compiler Cache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
-
-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
-
-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy-quiet

.github/workflows/commit_checks.yml

@@ -1,148 +0,0 @@
-name: Commit Quality
-
-on:
-  pull_request:
-    types: [opened, edited, synchronize, reopened]
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  PR_NUMBER: ${{ github.event.pull_request.number }}
-  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
-
-jobs:
-  pr-title:
-    name: PR Title
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR title
-        id: check
-        run: |
-          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
-          exit 1
-
-  commit-messages:
-    name: Commit Messages
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check commit messages
-        id: check
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          gh api \
-            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
-            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-          # Check for warnings (non-empty markdown on exit 0)
-          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
-            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
-          else
-            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
-          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::Commit message errors found. See the PR comment for details."
-          exit 1
-
-  pr-body:
-    name: PR Description
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        if: env.IS_FORK == 'false'
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR body
-        id: check
-        env:
-          PR_BODY: ${{ github.event.pull_request.body }}
-        run: |
-          message=""
-          if [ -z "$PR_BODY" ]; then
-            message="PR description is empty. Please add a summary of the changes."
-            echo "::warning::PR description is empty."
-          else
-            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
-            if [ -z "$cleaned" ]; then
-              message="PR description contains only template comments. Please fill in the details."
-              echo "::warning::PR description contains only template comments."
-            fi
-          fi
-          echo "message=$message" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ -n "${{ steps.check.outputs.message }}" ]; then
-            printf '%s\n' \
-              "## PR Description (advisory)" \
-              "" \
-              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
-              "" \
-              "${{ steps.check.outputs.message }}" \
-              "" \
-              "A good PR description helps reviewers understand what changed and why." \
-              "" \
-              "---" \
-              "*This comment will be automatically removed once the issue is resolved.*" \
-            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
-          fi

.github/workflows/compile_macos.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
@@ -34,15 +32,14 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
       shell: cmake -P {0}
       run: |
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+        message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
       uses: actions/cache@v4
       with:

.github/workflows/compile_ubuntu.yml

@@ -9,19 +9,17 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   RUNS_IN_DOCKER: true
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build_and_test:
     name: Build and Test
@@ -29,7 +27,7 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
     container:
       image: ${{ matrix.version }}
       volumes:

.github/workflows/dev_container.yml

@@ -11,7 +11,7 @@ on:
       - 'v*'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths:
       - '.github/workflows/dev_container.yml'
       - 'Tools/setup/ubuntu.sh'
@@ -30,16 +30,12 @@ on:
         type: boolean
         default: false
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   setup:
     name: Set Tags and Variables
     permissions:
       contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     outputs:
       px4_version: ${{ steps.px4_version.outputs.px4_version }}
       meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +83,7 @@ jobs:
           - platform: linux/amd64
             arch: amd64
             runner: x64
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     steps:
       - uses: runs-on/action@v1
       - uses: actions/checkout@v4
@@ -130,15 +126,15 @@ 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,version=1
+          cache-to: type=gha,version=1,mode=max
 
   deploy:
     name: Deploy To Registry
     permissions:
       contents: read
       packages: write
-    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     needs: [build, setup]
     if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
     steps:

.github/workflows/docs-orchestrator.yml

@@ -1,416 +0,0 @@
-# Docs - Orchestrator
-#
-# Trigger paths:
-#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
-#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
-#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
-#
-# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
-# require safe.directory + fetch-depth: 0 for git operations.
-
-name: Docs - Orchestrator
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/**"
-      - "src/**"
-      - "msg/**"
-      - "ROMFS/**"
-      - "Tools/module_config/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  pull_request:
-    paths:
-      - "docs/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  workflow_dispatch:
-
-concurrency:
-  group: docs-orchestrator-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  # =============================================================================
-  # Detect Changes (PR only)
-  # =============================================================================
-  detect-changes:
-    name: "T1: Detect Changes"
-    if: github.event_name == 'pull_request'
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    outputs:
-      source_changed: ${{ steps.changes.outputs.source }}
-      docs_changed: ${{ steps.changes.outputs.docs }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            source:
-              - 'src/**'
-              - 'msg/**'
-              - 'ROMFS/**'
-              - 'Tools/module_config/**'
-            docs:
-              - 'docs/**'
-
-  # =============================================================================
-  # PR Metadata Regen (conditional - only when PR touches source files)
-  # =============================================================================
-  pr-metadata-regen:
-    name: "T2: PR Metadata"
-    needs: [detect-changes]
-    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-          retention-days: 1
-
-  # =============================================================================
-  # Push Metadata Regen (main/release branches)
-  # =============================================================================
-  metadata-regen:
-    name: "T2: Metadata Sync"
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    permissions:
-      contents: write
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Install Node.js and Yarn
-        run: |
-          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
-          apt-get install -y nodejs
-          corepack enable
-
-      - name: Format markdown with Prettier
-        run: |
-          cd docs
-          yarn install --frozen-lockfile
-          yarn prettier --write "en/**/*.md"
-
-      - name: Commit and push changes
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add docs/
-          if git diff --staged --quiet; then
-            echo "No changes to commit"
-          else
-            git commit -m "docs: auto-sync metadata [skip ci]
-
-            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
-            git push
-          fi
-
-  # =============================================================================
-  # Link Check
-  # =============================================================================
-  link-check:
-    name: "T2: Link Check"
-    needs: [detect-changes, pr-metadata-regen]
-    if: always() && (github.event_name == 'pull_request')
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-
-      - name: Download metadata artifact
-        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - name: Get changed doc files
-        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          write_output_files: true
-          output_dir: ./logs
-          base_sha: ${{ github.event.pull_request.base.sha }}
-          sha: ${{ github.event.pull_request.head.sha }}
-          files: |
-            docs/en/**/*.md
-
-      - name: Save changed files list
-        run: |
-          mv ./logs/all_changed_files.json ./logs/prFiles.json
-          echo "Changed files:"
-          cat ./logs/prFiles.json
-
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-
-      - name: Run filtered link checker (changed files)
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
-            markdown_link_checker_sc \
-              -r "$GITHUB_WORKSPACE" \
-              -d docs \
-              -e en \
-              -f ./logs/prFiles.json \
-              -i assets \
-              -u docs.px4.io/main/ \
-              > ./logs/filtered-link-check-results.md || true
-          fi
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
-          fi
-          cat ./logs/filtered-link-check-results.md
-
-      - name: Run full link checker
-        run: |
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/link-check-results.md || true
-          cat ./logs/link-check-results.md
-
-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
-
-      - name: Upload link check results
-        uses: actions/upload-artifact@v4
-        with:
-          name: link-check-results
-          path: logs/
-          retention-days: 7
-
-  # =============================================================================
-  # Build Site
-  # =============================================================================
-  build-site:
-    name: "T3: Build Site"
-    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
-    if: >-
-      always() &&
-      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
-      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
-      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
-
-      - name: Download metadata artifact (PR)
-        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          elif [[ "$branch" =~ ^release/ ]]; then
-            version="v${branch#release/}"
-          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
-            version="main"
-          else
-            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
-            exit 1
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  # =============================================================================
-  # Deploy to AWS (push + workflow_dispatch)
-  # =============================================================================
-  deploy-aws:
-    name: "T4: Deploy"
-    needs: [metadata-regen, build-site]
-    if: >-
-      always() &&
-      needs.metadata-regen.result == 'success' &&
-      needs.build-site.result == 'success' &&
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
-    permissions:
-      id-token: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_crowdin_download.yml

@@ -34,13 +34,13 @@ jobs:
           upload_sources: false
           upload_translations: false
           download_translations: true
-          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
+          commit_message: New Crowdin translations - ${{ matrix.lc }}
           localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
           crowdin_branch_name: main
           create_pull_request: true
           pull_request_base_branch_name: 'main'
-          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
-          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
           pull_request_labels: 'Documentation 📑'
           pull_request_reviewers: hamishwillee
           download_language: ${{ matrix.lc }}

.github/workflows/docs_deploy.yml

@@ -1,6 +1,19 @@
-name: Docs - Deploy PX4 User Guide to Github pages (Manual)
+name: Docs - Deploy PX4 User Guide
 
 on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+  pull_request:
+    branches:
+      - '*'
+    paths:
+      - 'docs/en/**'
+
+  # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -20,7 +33,7 @@ env:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     steps:
       - uses: runs-on/action@v1
       - name: Checkout
@@ -55,7 +68,7 @@ jobs:
   deploy:
     if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
     needs: build
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
 
     steps:
       - name: Download Artifact
@@ -67,7 +80,7 @@ jobs:
       - name: Deploy
         run: |
           git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch
+          # make it an orphan branch      
           cd docs.px4.io
           CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
           git checkout --orphan "${CURRENT_DATETIME}_main"

.github/workflows/docs_flaw_checker.yml

@@ -0,0 +1,74 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english doc files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v35.9.2
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "${{ steps.read-errors-by-page.outputs.content }}"
+
+      - name: Save PR number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+        run: |
+          #mkdir -p ./pr
+          echo $PR_NUMBER > ./pr/pr_number
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -0,0 +1,107 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "${{ steps.read-errors-by-page.outputs.content }}"
+          echo "${{ steps.read-error-pr-number.outputs.content }}"
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -3,33 +3,29 @@ name: EKF Change Indicator
 on:
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
           make tests TESTFILTER=EKF
 
-      - name: Check if there is a functional change
-        run: git diff --exit-code
-        working-directory: src/modules/ekf2/test/change_indication
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -4,51 +4,45 @@ on:
   push:
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
-
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
           make tests TESTFILTER=EKF
 
-      - name: Check if there exists diff and save result in variable
-        id: diff-check
-        working-directory: src/modules/ekf2/test/change_indication
-        run: |
-          if git diff --quiet; then
-            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
-          else
-            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
-          fi
+    - name: Check if there exists diff and save result in variable
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
+      working-directory: src/modules/ekf2/test/change_indication
 
-      - name: auto-commit any changes to change indication
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
-        with:
-          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
-          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
-          commit_message: |
-            [AUTO COMMIT] update change indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+        commit_message: |
+          '[AUTO COMMIT] update change indication'
 
-            See .github/workflows/ekf_update_change_indicator.yml for more details
+          See .github/workflopws/ekf_update_change_indicator.yml for more details
 
-      - name: if there is a functional change, fail check
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        run: exit 1
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
+      run: exit 1

.github/workflows/failsafe_sim.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
@@ -29,7 +27,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
       - name: Install Node v20.18.0
@@ -48,7 +46,6 @@ jobs:
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
-          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/flash_analysis.yml

@@ -11,11 +11,13 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -24,9 +26,9 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -54,7 +56,6 @@ jobs:
         run: |
           make clean
           make distclean
-          make submodulesclean
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -98,7 +99,7 @@ jobs:
   # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [analyze_flash]
     env:
       V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}

.github/workflows/fuzzing.yml

@@ -1,49 +0,0 @@
-name: Fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-
-permissions:
-  contents: read
-  issues: write # for JasonEtco/create-an-issue
-
-env:
-  RUNS_IN_DOCKER: true
-
-jobs:
-  Fuzzing:
-    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
-    steps:
-      - name: Install Dependencies
-        run: |
-          apt update && apt install -y clang
-
-      - name: Fix git in Container
-        run: |
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Build and Run Fuzz Tests
-        run: |
-          # Only build the tests
-          export CC=clang
-          export CXX=clang++
-          make tests TESTFILTER=__no_tests__
-
-          # Run the fuzz tests
-          for fuzz_binary in build/px4_sitl_test/*fuzz*; do
-            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
-          done
-
-      # Create a github issue in case of a failure
-      - name: Create Issue
-        if: ${{ failure() }}
-        uses: JasonEtco/create-an-issue@v2
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
-        with:
-          filename: .github/fuzzing_issue_template.md

.github/workflows/itcm_check.yml

@@ -9,22 +9,20 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
     strategy:
       fail-fast: false
       matrix:
@@ -41,10 +39,6 @@ jobs:
             scripts: >
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_mr-tropic
-            scripts: >
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/label.yml

@@ -1,21 +0,0 @@
-# This workflow will triage pull requests and apply a label based on the
-# paths that are modified in the pull request.
-# The paths are set up in .github/labeler.yml
-#
-# See: https://github.com/actions/labeler
-
-name: Labeler
-on: [pull_request_target]
-
-jobs:
-  label:
-
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      pull-requests: write
-
-    steps:
-    - uses: actions/labeler@v5
-      with:
-        repo-token: "${{ secrets.GITHUB_TOKEN }}"

.github/workflows/mavros_mission_tests.yml

@@ -6,40 +6,37 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-
     strategy:
       fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box"}
+          - {vehicle: "rover",         mission: "rover_mission_1"}
 
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build SITL and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_test_mission.test \
-                mission:=MC_mission_box \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/mavros_offboard_tests.yml

@@ -6,39 +6,38 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
 
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build PX4 and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_tests_offboard_posctl.test \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/nuttx_env_config.yml

@@ -6,41 +6,38 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     strategy:
       matrix:
-        config:
-          - px4_fmu-v5_default
+        config: [
+          px4_fmu-v5_default,
+          ]
 
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Build PX4 and Run Test [${{ matrix.config }}]
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-ondemand
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
           echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
           make ${{ matrix.config }} nuttx_context
-
           echo "Check that the config option is set"
           grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/python_checks.yml

@@ -6,11 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_integration_tests.yml

@@ -11,19 +11,17 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -35,12 +33,6 @@ jobs:
     - name: Git Ownership Workaround
       run: git config --system --add safe.directory '*'
 
-    - name: Update ROS Keys
-      run: |
-        sudo rm /etc/apt/sources.list.d/ros2.list && \
-        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
     - name: Install gazebo
       run: |
         apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -90,9 +82,6 @@ jobs:
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
         git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

.github/workflows/ros_translation_node.yml

@@ -5,23 +5,20 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 defaults:
   run:
     shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     strategy:
       fail-fast: false
       matrix:

.github/workflows/sitl_tests.yml

@@ -11,20 +11,18 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-    - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
     name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -33,10 +31,8 @@ jobs:
       matrix:
         config:
           - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
-          # transitions). Re-enable once the test infrastructure is stabilized.
-          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
     steps:
       - uses: actions/checkout@v4
@@ -120,7 +116,7 @@ jobs:
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45
 
       - name: Upload failed logs

.github/workflows/stale.yml

@@ -7,15 +7,10 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v10
+      - uses: actions/stale@v8
         with:
-          operations-per-run: 250
-          days-before-stale: 90
-          days-before-close: 30
+          days-before-stale: 30
+          days-before-close: -1
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'
           remove-stale-when-updated: true
-          stale-issue-message: ''
-          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: ''
-          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'

.github/workflows/sync_to_px4_msgs.yml

@@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs

.gitignore

@@ -109,6 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata
-_emscripten_sdk/

.gitmodules

@@ -89,29 +89,3 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
-[submodule "test/fuzztest"]
-	path = test/fuzztest
-	url = https://github.com/google/fuzztest.git
-	branch = main
-[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
-	path = src/lib/tensorflow_lite_micro/tflite_micro
-	url = https://github.com/PX4/tflite-micro.git
-	branch = main
-[submodule "src/drivers/ins/microstrain/mip_sdk"]
-	path = src/drivers/ins/microstrain/mip_sdk
-	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
-[submodule "src/drivers/ins/sbgecom/sbgECom"]
-	path = src/drivers/ins/sbgecom/sbgECom
-	url = https://github.com/PX4/sbgECom.git
-[submodule "src/modules/mc_raptor/blob"]
-	path = src/modules/mc_raptor/blob
-	url = https://github.com/rl-tools/px4-blob
-[submodule "src/lib/rl_tools/rl_tools"]
-	path = src/lib/rl_tools/rl_tools
-	url = https://github.com/rl-tools/rl-tools.git
-[submodule "libmodal-json"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
-[submodule "libmodal-pipe"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git

.vscode/cmake-variants.yaml

@@ -6,21 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_raptor:
-      short: px4_sitl_raptor
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_raptor_debug:
-      short: px4_sitl_raptor_debug
-      buildType: Debug
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_spacecraft:
-      short: px4_sitl_spacecraft
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_spacecraft
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
@@ -46,11 +31,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_test
-    px4_sitl_zenoh:
-      short: px4_sitl_zenoh
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_test
     px4_io-v2_default:
       short: px4_io-v2
       buildType: MinSizeRel
@@ -151,11 +131,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_default:
-      short: ark_can-flow-mr_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_default
     ark_can-flow-mr_canbootloader:
       short: ark_can-flow-mr_canbootloader
       buildType: MinSizeRel
@@ -211,26 +186,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_cannode_canbootloader
-    ark_dist_default:
-      short: ark_dist_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_default
-    ark_dist_canbootloader:
-      short: ark_dist_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_canbootloader
-    ark_f9p-gps_default:
-      short: ark_f9p-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_f9p-gps_default
-    ark_f9p-gps_canbootloader:
-      short: ark_f9p-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_f9p-gps_canbootloader
     ark_fmu-v6x_bootloader:
       short: ark_fmu-v6x_bootloader
       buildType: MinSizeRel
@@ -251,16 +206,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fpv_default
-    ark_mag_canbootloader:
-      short: ark_mag_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_canbootloader
-    ark_mag_default:
-      short: ark_mag_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_default
     ark_pi6x_bootloader:
       short: ark_pi6x_bootloader
       buildType: MinSizeRel
@@ -271,16 +216,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_pi6x_default
-    ark_x20-gps_default:
-      short: ark_x20-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_x20-gps_default
-    ark_x20-gps_canbootloader:
-      short: ark_x20-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_x20-gps_canbootloader
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel
@@ -326,21 +261,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_7-nano_default
-    cuav_fmu-v6x_default:
-      short: cuav_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_fmu-v6x_default
-    cuav_x25_default:
-      short: cuav_x25-evo
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-evo_default
-    cuav_x25-super_default:
-      short: cuav_x25-super
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-super_default
     cubepilot_cubeorange_test:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
@@ -381,11 +301,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7-wing_default:
-      short: holybro_kakuteh7-wing
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7-wing_default
     holybro_kakuteh7dualimu_default:
       short: holybro_kakuteh7dualimu
       buildType: MinSizeRel
@@ -436,16 +351,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-v2_default
-    micoair_h743-lite_bootloader:
-      short: micoair_h743-lite_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_bootloader
-    micoair_h743-lite_default:
-      short: micoair_h743-lite
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -496,16 +401,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
-    nxp_mr-tropic_default:
-      short: nxp_mr-tropic_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_default
-    nxp_mr-tropic_bootloader:
-      short: nxp_mr-tropic_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_bootloader
     nxp_tropic-community_default:
       short: nxp_tropic-community_default
       buildType: MinSizeRel
@@ -536,23 +431,3 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: x-mav_ap-h743v2_default
-    svehicle_e2_bootloader:
-      short: svehicle_e2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_bootloader
-    svehicle_e2_default:
-      short: svehicle_e2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default

.vscode/settings.json

@@ -43,7 +43,7 @@
         "files.watcherExclude": {
                 "**/build/**": true
         },
-        "git.detectSubmodulesLimit": 25,
+        "git.detectSubmodulesLimit": 20,
         "git.ignoreLimitWarning": true,
         "githubPullRequests.defaultMergeMethod": "squash",
         "githubPullRequests.telemetry.enabled": false,

CMakeLists.txt

@@ -267,7 +267,7 @@ endif()
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -334,33 +334,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-# (Needs to be before setting the common compile flags)
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
-	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
-		set(FUZZTEST_FUZZING_MODE ON)
-	endif()
-	add_subdirectory(test)
-	fuzztest_setup_fuzzing_flags()
-endif()
-
 #=============================================================================
 # build flags
 #
@@ -413,6 +386,47 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+# if testing is enabled download and configure gtest
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	include(gtest)
+
+	# Ensure there's no -R without any filter expression since that trips newer ctest versions
+	if(TESTFILTER)
+		set(TESTFILTERARG "-R")
+	else()
+		set(TESTFILTERARG "")
+	endif()
+
+	add_custom_target(test_results
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
+			DEPENDS
+				px4
+				examples__dyn_hello
+			USES_TERMINAL
+			COMMENT "Running tests"
+			WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
+endif()
+
+
 #=============================================================================
 # subdirectories
 #
@@ -482,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)
 
 
+include(doxygen)
 include(metadata)
 include(package)
 

CONTRIBUTING.md

@@ -1,170 +1,44 @@
-# Contributing to PX4-Autopilot
+# Contributing to PX4 Firmware
 
-We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
 
-## Fork the project, then clone your repo
+### Fork the project, then clone your repo
 
-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
 
-## Create a feature branch
+### Create a feature branch
 
-Always branch off `main` for new features.
+*Always* branch off main for new features.
 
 ```
 git checkout -b mydescriptivebranchname
 ```
 
-## Edit and build the code
+### Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
 
-### Coding standards
+### Commit your changes
 
-All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
+Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
 
-Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
-
-## Commit message convention
-
-PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
-
-### Format
+**Example:**
 
 ```
-type(scope): short description of the change
+Change how the attitude controller works
+
+- Fixes rate feed forward
+- Allows a local body rate override
+
+Fixes issue #123
 ```
 
-| Part | Rule |
-|------|------|
-| **type** | Category of change (see types table below) |
-| **scope** | The module, driver, board, or area of PX4 affected |
-| **`!`** (optional) | Append before `:` to mark a breaking change |
-| **description** | What the change does, at least 5 characters, written in imperative form |
+### Test your changes
 
-### Types
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
 
-| Type | Description |
-|------|-------------|
-| `feat` | A new feature |
-| `fix` | A bug fix |
-| `docs` | Documentation only changes |
-| `style` | Formatting, whitespace, no code change |
-| `refactor` | Code change that neither fixes a bug nor adds a feature |
-| `perf` | Performance improvement |
-| `test` | Adding or correcting tests |
-| `build` | Build system or external dependencies |
-| `ci` | CI configuration files and scripts |
-| `chore` | Other changes that don't modify src or test files |
-| `revert` | Reverts a previous commit |
+### Push your changes
 
-### Scopes
-
-The scope identifies which part of PX4 is affected. Common scopes:
-
-| Scope | Area |
-|-------|------|
-| `ekf2` | Extended Kalman Filter (state estimation) |
-| `mavlink` | MAVLink messaging protocol |
-| `commander` | Commander and mode management |
-| `navigator` | Mission, RTL, Land, and other navigation modes |
-| `sensors` | Sensor drivers and processing |
-| `drivers` | Hardware drivers |
-| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
-| `mc_att_control` | Multicopter attitude control |
-| `mc_pos_control` | Multicopter position control |
-| `fw_att_control` | Fixed-wing attitude control |
-| `vtol` | VTOL-specific logic |
-| `actuators` | Mixer and actuator output |
-| `battery` | Battery monitoring and estimation |
-| `logger` | On-board logging |
-| `param` | Parameter system |
-| `simulation` | SITL, Gazebo, SIH |
-| `ci` | Continuous integration and workflows |
-| `docs` | Documentation |
-| `build` | CMake, toolchain, build system |
-| `uorb` | Inter-module messaging |
-
-For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
-
-### Breaking changes
-
-Append `!` before the colon to indicate a breaking change:
-
-```
-feat(ekf2)!: remove deprecated height fusion API
-```
-
-### Good commit messages
-
-```
-feat(ekf2): add height fusion timeout
-fix(mavlink): correct BATTERY_STATUS_V2 parsing
-refactor(navigator): simplify RTL altitude logic
-ci(workflows): migrate to reusable workflows
-docs(ekf2): update tuning guide
-feat(boards/px4_fmu-v6x)!: remove deprecated driver API
-perf(mc_rate_control): reduce loop latency
-```
-
-### Commits to avoid
-
-These will be flagged by CI and should be squashed or reworded before merging:
-
-```
-fix                                    # too vague, no type or scope
-update                                 # too vague, no type or scope
-ekf2: fix something                   # missing type prefix
-apply suggestions from code review     # squash into parent commit
-do make format                         # squash into parent commit
-WIP: trying something                  # not ready for main
-oops                                   # not descriptive
-```
-
-### PR titles
-
-The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
-
-### Merge policy
-
-Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
-
-### Cleaning up commits
-
-If CI flags your commit messages, you can fix them with an interactive rebase:
-
-```bash
-# Squash all commits into one:
-git rebase -i HEAD~N   # replace N with the number of commits
-# mark all commits except the first as 'squash' or 'fixup'
-# reword the remaining commit to follow the format
-git push --force-with-lease
-
-# Or reword specific commits:
-git rebase -i HEAD~N
-# mark the bad commits as 'reword'
-git push --force-with-lease
-```
-
-## Test your changes
-
-PX4 is safety-critical software. All contributions must include adequate testing where practical:
-
-- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
-- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
-- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
-
-### Types of tests
-
-| Test type | When to use | How to run |
-|-----------|-------------|------------|
-| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
-| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
-| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
-
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
-
-## Push your changes
-
-Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
+Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
 
 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

CTestConfig.cmake

@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)

Jenkinsfile

@@ -101,7 +101,6 @@ pipeline {
             echo $0;
             git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
             cd _emscripten_sdk;
-            git checkout 4.0.15;
             ./emsdk install latest;
             ./emsdk activate latest;
             cd ..;
@@ -221,6 +220,36 @@ pipeline {
           }
         }
 
+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'main' branch
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
+              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin main || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+            }
+          }
+        }
+
         stage('S3') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }

Kconfig

@@ -73,11 +73,6 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
-    config BOARD_ADDITIONAL_INIT
-        string "Additional init file"
-        help
-            additional configurable init file to include in the ROMFS
-
     config BOARD_IO
         string "IO board name"
         default "px4_io-v2_default"
@@ -211,8 +206,8 @@ source "src/examples/Kconfig"
 endmenu
 
 menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
-source "platforms/Kconfig"
+depends on PLATFORM_QURT || PLATFORM_POSIX
+source "platforms/common/Kconfig"
 endmenu
 
 source "src/lib/*/Kconfig"

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2025, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MAINTAINERS.md

@@ -19,7 +19,7 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
 | Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
 | Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
 
 

Makefile

@@ -160,6 +160,11 @@ else
 		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif
 
 # Pick up specific Python path if set
@@ -325,14 +330,9 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
-	auterion_fmu-v6s_bootloader \
-	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
-	cuav_fmu-v6x_bootloader \
-	cuav_x25-evo_bootloader \
-	cuav_x25-super_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -347,13 +347,11 @@ bootloaders_update: \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
-	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
 	mro_ctrl-zero-h7-oem_bootloader \
 	mro_pixracerpro_bootloader \
-	narinfc_h7_bootloader \
 	px4_fmu-v6c_bootloader \
 	px4_fmu-v6u_bootloader \
 	px4_fmu-v6x_bootloader \
@@ -367,7 +365,7 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -383,6 +381,12 @@ extract_events:
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -412,18 +416,11 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)
 
-# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch,negative
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test \
-		--base-directory build/px4_sitl_test \
-		--gcov-tool gcov \
-		--capture \
-		$(LCOBUG) \
-		-o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
 
 
 rostest: px4_sitl_default
@@ -475,7 +472,7 @@ python_coverage:
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
 .PHONY: cppcheck shellcheck_all validate_module_configs
 
 scan-build:
@@ -493,29 +490,17 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
-# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
-# - All submodules (external code we consume, not edit)
-# - Test code (allowed looser style)
-# - Example code (educational, not production)
-# - Vendored third-party code (e.g., CMSIS_5)
-# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
-# - GPIO excluded here (NuttX platform headers)
-# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
-#   because CMake Unity Builds merge sources into a generated .cxx under build/
-#
-# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
-# Submodules are automatically excluded - no action needed when adding new ones.
-CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
-CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
-CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
-
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+
+# modified version of run-clang-tidy.py to return error codes and only output relevant results
+clang-tidy-quiet: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -531,7 +516,6 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
@@ -615,10 +599,3 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
-
-# Generate reference documentation for uORB messages
-.PHONY: msg_docs
-msg_docs:
-	$(call colorecho,'Generating uORB message reference docs')
-	@mkdir -p build/msg_docs
-	@./Tools/msg/generate_msg_docs.py -d build/msg_docs

README.md

@@ -1,109 +1,62 @@
-<p align="center">
-  <a href="https://px4.io">
-    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
-  </a>
-</p>
+# PX4 Drone Autopilot
 
-<p align="center">
-  <em>The autopilot stack the industry builds on.</em>
-</p>
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-<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://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>
-</p>
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
----
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
 
-## About
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
-## Why PX4
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
-**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
+## Releases
 
-**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
 
-**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
+## Building a PX4 based drone, rover, boat or robot
 
-**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
-## Supported Vehicles
 
-<table>
-  <tr>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_multicopter/">
-        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
-        <sub>Multicopter</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_plane/">
-        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
-        <sub>Fixed Wing</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_vtol/">
-        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
-        <sub>VTOL</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_rover/">
-        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
-        <sub>Rover</sub>
-      </a>
-    </td>
-  </tr>
-</table>
+## Changing Code and Contributing
 
-<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-## Quick Start
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
-```bash
-git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-cd PX4-Autopilot
-make px4_sitl
-```
 
-> [!NOTE]
-> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
+## Weekly Dev Call
 
-## Documentation & Resources
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
-| Resource | Description |
-| --- | --- |
-| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
-| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
-| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
-| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
-| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
-| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
-## Community
 
-- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
-- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
-- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
-- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
-- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
+## Maintenance Team
 
-## Contributing
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
 
-We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
 
-## Governance
+## Supported Hardware
 
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
 
-<p align="center">
-  <a href="https://www.dronecode.org/">
-    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
-  </a>
-</p>
+## Project Governance
+
+The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
+
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<div style="padding:10px">&nbsp;</div>

ROMFS/CMakeLists.txt

@@ -85,32 +85,10 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
-# Check if board has an rc.board_airframes file to filter airframes
-set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
-set(airframes_whitelist "")
-if(EXISTS "${board_airframes_file}")
-	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
-	file(STRINGS "${board_airframes_file}" airframes_whitelist)
-	# Remove comments and empty lines
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
-endif()
-
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-
-	# If we have an airframes whitelist, filter airframe files
-	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
-		# Extract just the filename
-		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
-		# Check if it's in the whitelist
-		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
-			continue()
-		endif()
-	endif()
-
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build
@@ -224,31 +202,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
-if(config_additional_init)
-	if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/init.d/rc.additional_init
-				${config_additional_init}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
-			COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
-			DEPENDS
-				${PX4_BOARD_DIR}/init/${config_additional_init}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${config_additional_init}"
-		)
-
-		list(APPEND extras_dependencies
-			${config_additional_init}.stamp
-			)
-	else()
-		message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
-	endif()
-endif()
-
 
 # board extras
 set(OPTIONAL_BOARD_EXTRAS)
@@ -263,33 +216,12 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
-
-			# Generate the file using configure_file at configure time to a temporary location
-			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
-
-			# Then copy it at build time with proper dependencies
-			add_custom_command(
-				OUTPUT
-					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-					rc.board_bootloader_upgrade.stamp
-				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
-				DEPENDS
-					${bootloader_upgrade_tmp}
-					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
-					romfs_copy.stamp
-				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
-			)
-
-			list(APPEND extras_dependencies
-				rc.board_bootloader_upgrade.stamp
-			)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
+
 	endif()
 endforeach()
 

ROMFS/cannode/init.d/rcS

@@ -56,17 +56,6 @@ then
 fi
 unset BOARD_RC_DEFAULTS
 
-#
-# Optional additional init file: rc.additional_init
-#
-set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
-if [ -f $BOARD_RC_ADDITIONAL_INIT ]
-then
-	echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
-	. $BOARD_RC_ADDITIONAL_INIT
-fi
-unset BOARD_RC_ADDITIONAL_INIT
-
 #
 # Start system state indicator.
 #

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

@@ -27,6 +27,7 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 
@@ -45,22 +46,3 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
 param set-default EKF2_GPS_DELAY 0
-
-# Rate controllers
-param set-default FW_RR_P 0.0500
-param set-default FW_RR_I 2.0000
-param set-default FW_RR_D 0.0000
-param set-default FW_RR_FF 0.0000
-param set-default FW_RR_IMAX 1.0000
-
-param set-default FW_PR_P 0.0800
-param set-default FW_PR_I 2.5000
-param set-default FW_PR_D 0.0000
-param set-default FW_PR_FF 0.0000
-param set-default FW_PR_IMAX 1.0000
-
-param set-default FW_YR_P 0.0500
-param set-default FW_YR_I 3.0000
-param set-default FW_YR_D 0.0000
-param set-default FW_YR_FF 0.0000
-param set-default FW_YR_IMAX 1.0000

ROMFS/px4fmu_common/init.d-posix/airframes/10045_sihsim_rover_ackermann

@@ -1,72 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-set VEHICLE_TYPE rover_ackermann
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
-
-param set-default PWM_MAIN_FUNC1 201 # Steering
-param set-default PWM_MAIN_FUNC2 101 # Throttle
-param set-default SIH_MASS 20
-param set-default SIH_IXX 0.4333
-param set-default SIH_IYY 1.6833
-param set-default SIH_IZZ 2.0833
-param set-default SIH_IXZ 0
-param set-default SIH_KDV 50
-param set-default SIH_KDW 10
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 3
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.2
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.001
-param set-default RO_SPEED_P 0.001
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -46,6 +46,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -30,6 +30,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -38,6 +38,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -35,6 +35,8 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -35,6 +35,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2
+
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -43,6 +43,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -48,6 +48,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

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

@@ -44,6 +44,8 @@ param set-default FW_T_SINK_MIN 3
 
 param set-default FW_W_EN 1
 
+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
@@ -51,6 +53,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default COM_PREARM_MODE 2
 
 param set-default CA_ROTOR_COUNT 1

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

@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_PITCH_MIN -5
-param set-default VT_F_TRANS_THR 1
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_ARSPDSIM 1
+
 param set-default FW_LND_ANG 8
 
 param set-default FW_PR_FF 0.08
@@ -46,6 +48,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 
 param set-default CA_SV_CS_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -15,6 +15,7 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
@@ -30,16 +31,14 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.43
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -1,68 +1,51 @@
 #!/bin/sh
-# @name Gazebo - Zero Turn Lawnmower
+# @name Gazebo lawnmower
 # @type Rover
 # @class Rover
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default NAV_ACC_RAD 0.5
-
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 1.5
-param set-default RO_DECEL_LIM 5
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 2.7
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.2
-param set-default RO_YAW_RATE_P 1.0
-param set-default RO_YAW_RATE_LIM 60
-param set-default RO_YAW_ACCEL_LIM 50
-param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.0
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2.1
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-defatul RO_SPEED_RED 1.0
-
 # Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
 # "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 87
-param set-default SIM_GZ_WH_MAX1 113
-param set-default SIM_GZ_WH_DIS1 100
-param set-default SIM_GZ_WH_FAIL1 100
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100
 
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 87
-param set-default SIM_GZ_WH_MAX2 113
-param set-default SIM_GZ_WH_DIS2 100
-param set-default SIM_GZ_WH_FAIL2 100
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#param set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Ackermann Rover
+# @name Rover Ackermann
 # @type Rover
 # @class Rover
 
@@ -14,34 +14,30 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 
 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.5
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 1.5
+param set-default RA_ACC_RAD_MAX 3
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360
 
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 130
-param set-default RO_YAW_ACCEL_LIM 800
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1
 
-# Attitude Control Parameters
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+
+# Rover Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -50,8 +46,8 @@ param set-default PP_LOOKAHD_MIN 1
 
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 70
-param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Mecanum Rover
+# @name Aion Robotics R1 Rover
 # @type Rover
 # @class Rover
 
@@ -7,15 +7,16 @@
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.6
-param set-default RM_YAW_STK_GAIN 0.6
+param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -29,22 +30,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.75
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 0.5
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -55,24 +48,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1
 
 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
+param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
-param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
+param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
-param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
+param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
-param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
+param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
-param set-default SIM_GZ_WH_REV 0
+param set-default SIM_GZ_WH_REV 10

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -19,6 +19,5 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3
 
 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_MAX_PITCH 45
-param set-default MNT_MIN_PITCH -135
+param set-default MNT_RANGE_PITCH 180
 param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -1,59 +0,0 @@
-#!/bin/sh
-# @name Generic Differential Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
-param set-default RD_WHEEL_TRACK 0.6
-param set-default RD_TRANS_DRV_TRN 0.785398
-param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_YAW_STK_GAIN 0.6
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 2
-param set-default RO_SPEED_LIM 1.8
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.01
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 80
-param set-default SIM_GZ_WH_MAX1 120
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 80
-param set-default SIM_GZ_WH_MAX2 120
-param set-default SIM_GZ_WH_DIS2 100

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

@@ -1,133 +0,0 @@
-#!/bin/sh
-#
-# @name BlueROV2 Heavy
-#
-# @type UUV
-#
-# @maintainer Pedro Roque <padr@kth.se>
-# @maintainer Nicola De Carli <ndc@kth.se>
-#
-
-# Source PX4 parameters and configuration
-. ${R}/etc/init.d/rc.uuv_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=underwater}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=uuv_bluerov2_heavy}
-
-param set-default SIM_GZ_EN 1
-
-# Set parameters using `param` utility for SITL
-param set-default CA_AIRFRAME 7
-param set-default CA_METHOD 0
-param set-default MAV_TYPE 12
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY -1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0.14
-param set-default CA_ROTOR0_PY 0.10
-param set-default CA_ROTOR0_PZ 0.06
-
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0.14
-param set-default CA_ROTOR1_PY -0.10
-param set-default CA_ROTOR1_PZ 0.06
-
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 1
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX -0.14
-param set-default CA_ROTOR2_PY 0.10
-param set-default CA_ROTOR2_PZ 0.06
-
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY -1
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX -0.14
-param set-default CA_ROTOR3_PY -0.10
-param set-default CA_ROTOR3_PZ 0.06
-
-param set-default CA_ROTOR4_AX 0
-param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ -1
-param set-default CA_ROTOR4_KM 0
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY 0.22
-param set-default CA_ROTOR4_PZ 0
-
-param set-default CA_ROTOR5_AX 0
-param set-default CA_ROTOR5_AY 0
-param set-default CA_ROTOR5_AZ 1
-param set-default CA_ROTOR5_KM 0
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY -0.22
-param set-default CA_ROTOR5_PZ 0
-
-param set-default CA_ROTOR6_AX 0
-param set-default CA_ROTOR6_AY 0
-param set-default CA_ROTOR6_AZ 1
-param set-default CA_ROTOR6_KM 0
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY 0.22
-param set-default CA_ROTOR6_PZ 0
-
-param set-default CA_ROTOR7_AX 0
-param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ -1
-param set-default CA_ROTOR7_KM 0
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY -0.22
-param set-default CA_ROTOR7_PZ 0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 1100
-param set-default SIM_GZ_EC_MIN2 1100
-param set-default SIM_GZ_EC_MIN3 1100
-param set-default SIM_GZ_EC_MIN4 1100
-param set-default SIM_GZ_EC_MIN5 1100
-param set-default SIM_GZ_EC_MIN6 1100
-param set-default SIM_GZ_EC_MIN7 1100
-param set-default SIM_GZ_EC_MIN8 1100
-
-param set-default SIM_GZ_EC_MAX1 1900
-param set-default SIM_GZ_EC_MAX2 1900
-param set-default SIM_GZ_EC_MAX3 1900
-param set-default SIM_GZ_EC_MAX4 1900
-param set-default SIM_GZ_EC_MAX5 1900
-param set-default SIM_GZ_EC_MAX6 1900
-param set-default SIM_GZ_EC_MAX7 1900
-param set-default SIM_GZ_EC_MAX8 1900

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -26,6 +26,7 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
+param set-default MAV_PROTO_VER 2
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

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

@@ -1,154 +0,0 @@
-#!/bin/sh
-#
-# @name KTH-ATMOS
-#
-# @type Free-Flyer
-# @class Spacecraft
-#
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0

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

@@ -1,166 +0,0 @@
-#!/bin/sh
-#
-# @name KTH-ATMOS
-#
-# @type Free-Flyer
-# @class Spacecraft
-#
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-param set-default SIM_GZ_EC_FUNC9 301
-param set-default SIM_GZ_EC_FUNC10 302
-param set-default SIM_GZ_EC_FUNC11 303
-param set-default SIM_GZ_EC_FUNC12 304
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-param set-default SIM_GZ_EC_MIN9 1100
-param set-default SIM_GZ_EC_MIN10 1100
-param set-default SIM_GZ_EC_MIN11 1100
-param set-default SIM_GZ_EC_MIN12 1100
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-param set-default SIM_GZ_EC_MAX9 1900
-param set-default SIM_GZ_EC_MAX10 1900
-param set-default SIM_GZ_EC_MAX11 1900
-param set-default SIM_GZ_EC_MAX12 1900
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0

ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart

@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# @name 6DoF Spacecraft Model
+#
+# @type Freeflyer with 8 thrusters
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 15
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 12
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# Set thrusters
+param set-default CA_THRUSTER0_PX -0.50
+param set-default CA_THRUSTER0_PY 0.50
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 0.237
+param set-default CA_THRUSTER0_AX 0.0
+param set-default CA_THRUSTER0_AY -1.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.50
+param set-default CA_THRUSTER1_PY 0.50
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 0.237
+param set-default CA_THRUSTER1_AX 0.0
+param set-default CA_THRUSTER1_AY -1.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX 0.50
+param set-default CA_THRUSTER2_PY -0.50
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 0.237
+param set-default CA_THRUSTER2_AX 0.0
+param set-default CA_THRUSTER2_AY 1.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX -0.50
+param set-default CA_THRUSTER3_PY -0.50
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 0.237
+param set-default CA_THRUSTER3_AX 0.0
+param set-default CA_THRUSTER3_AY 1.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX -0.50
+param set-default CA_THRUSTER4_PY 0.0
+param set-default CA_THRUSTER4_PZ -0.50
+param set-default CA_THRUSTER4_CT 0.237
+param set-default CA_THRUSTER4_AX 1.0
+param set-default CA_THRUSTER4_AY 0.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.50
+param set-default CA_THRUSTER5_PY 0.0
+param set-default CA_THRUSTER5_PZ -0.50
+param set-default CA_THRUSTER5_CT 0.237
+param set-default CA_THRUSTER5_AX -1.0
+param set-default CA_THRUSTER5_AY 0.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX 0.50
+param set-default CA_THRUSTER6_PY 0.0
+param set-default CA_THRUSTER6_PZ 0.50
+param set-default CA_THRUSTER6_CT 0.237
+param set-default CA_THRUSTER6_AX -1.0
+param set-default CA_THRUSTER6_AY 0.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.50
+param set-default CA_THRUSTER7_PY 0.0
+param set-default CA_THRUSTER7_PZ 0.50
+param set-default CA_THRUSTER7_CT 0.237
+param set-default CA_THRUSTER7_AX 1.0
+param set-default CA_THRUSTER7_AY 0.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default CA_THRUSTER8_PX 0.0
+param set-default CA_THRUSTER8_PY -0.50
+param set-default CA_THRUSTER8_PZ -0.50
+param set-default CA_THRUSTER8_CT 0.237
+param set-default CA_THRUSTER8_AX 0.0
+param set-default CA_THRUSTER8_AY 0.0
+param set-default CA_THRUSTER8_AZ 1.0
+
+param set-default CA_THRUSTER9_PX 0.0
+param set-default CA_THRUSTER9_PY 0.50
+param set-default CA_THRUSTER9_PZ -0.50
+param set-default CA_THRUSTER9_CT 0.237
+param set-default CA_THRUSTER9_AX 0.0
+param set-default CA_THRUSTER9_AY 0.0
+param set-default CA_THRUSTER9_AZ 1.0
+
+param set-default CA_THRUSTER10_PX 0.0
+param set-default CA_THRUSTER10_PY 0.50
+param set-default CA_THRUSTER10_PZ 0.50
+param set-default CA_THRUSTER10_CT 0.237
+param set-default CA_THRUSTER10_AX 0.0
+param set-default CA_THRUSTER10_AY 0.0
+param set-default CA_THRUSTER10_AZ -1.0
+
+param set-default CA_THRUSTER11_PX 0.0
+param set-default CA_THRUSTER11_PY -0.50
+param set-default CA_THRUSTER11_PZ 0.50
+param set-default CA_THRUSTER11_CT 0.237
+param set-default CA_THRUSTER11_AX 0.0
+param set-default CA_THRUSTER11_AY 0.0
+param set-default CA_THRUSTER11_AZ -1.0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+param set-default PWM_MAIN_FUNC9 109
+param set-default PWM_MAIN_FUNC10 110
+param set-default PWM_MAIN_FUNC11 111
+param set-default PWM_MAIN_FUNC12 112
+
+# PWM Simulation
+param set PWM_SIM_PWM_MAX 10000
+param set PWM_SIM_PWM_MIN 0
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d

@@ -0,0 +1,147 @@
+#!/bin/sh
+#
+# @name 3DoF Spacecraft Model
+#
+# @type 2D Freeflyer with 8 thrusters - Planar motion
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 8
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_THRUSTER0_PX -0.12
+param set-default CA_THRUSTER0_PY -0.12
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 1.4
+param set-default CA_THRUSTER0_AX 1.0
+param set-default CA_THRUSTER0_AY 0.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.12
+param set-default CA_THRUSTER1_PY -0.12
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 1.4
+param set-default CA_THRUSTER1_AX -1.0
+param set-default CA_THRUSTER1_AY 0.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX -0.12
+param set-default CA_THRUSTER2_PY 0.12
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 1.4
+param set-default CA_THRUSTER2_AX 1.0
+param set-default CA_THRUSTER2_AY 0.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX 0.12
+param set-default CA_THRUSTER3_PY 0.12
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 1.4
+param set-default CA_THRUSTER3_AX -1.0
+param set-default CA_THRUSTER3_AY 0.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX 0.12
+param set-default CA_THRUSTER4_PY -0.12
+param set-default CA_THRUSTER4_PZ 0.0
+param set-default CA_THRUSTER4_CT 1.4
+param set-default CA_THRUSTER4_AX 0.0
+param set-default CA_THRUSTER4_AY 1.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.12
+param set-default CA_THRUSTER5_PY 0.12
+param set-default CA_THRUSTER5_PZ 0.0
+param set-default CA_THRUSTER5_CT 1.4
+param set-default CA_THRUSTER5_AX 0.0
+param set-default CA_THRUSTER5_AY -1.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX -0.12
+param set-default CA_THRUSTER6_PY -0.12
+param set-default CA_THRUSTER6_PZ 0.0
+param set-default CA_THRUSTER6_CT 1.4
+param set-default CA_THRUSTER6_AX 0.0
+param set-default CA_THRUSTER6_AY 1.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.12
+param set-default CA_THRUSTER7_PY 0.12
+param set-default CA_THRUSTER7_PZ 0.0
+param set-default CA_THRUSTER7_CT 1.4
+param set-default CA_THRUSTER7_AX 0.0
+param set-default CA_THRUSTER7_AY -1.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default SIM_GZ_TH_FUNC1 101
+param set-default SIM_GZ_TH_FUNC2 102
+param set-default SIM_GZ_TH_FUNC3 103
+param set-default SIM_GZ_TH_FUNC4 104
+param set-default SIM_GZ_TH_FUNC5 105
+param set-default SIM_GZ_TH_FUNC6 106
+param set-default SIM_GZ_TH_FUNC7 107
+param set-default SIM_GZ_TH_FUNC8 108
+
+param set-default SIM_GZ_TH_MIN1 0
+param set-default SIM_GZ_TH_MIN2 0
+param set-default SIM_GZ_TH_MIN3 0
+param set-default SIM_GZ_TH_MIN4 0
+param set-default SIM_GZ_TH_MIN5 0
+param set-default SIM_GZ_TH_MIN6 0
+param set-default SIM_GZ_TH_MIN7 0
+param set-default SIM_GZ_TH_MIN8 0
+
+param set-default SIM_GZ_TH_MAX1 10000
+param set-default SIM_GZ_TH_MAX2 10000
+param set-default SIM_GZ_TH_MAX3 10000
+param set-default SIM_GZ_TH_MAX4 10000
+param set-default SIM_GZ_TH_MAX5 10000
+param set-default SIM_GZ_TH_MAX6 10000
+param set-default SIM_GZ_TH_MAX7 10000
+param set-default SIM_GZ_TH_MAX8 10000
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -62,6 +62,8 @@ px4_add_romfs_files(
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
 	1045_gazebo-classic_quadtailsitter
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat
 
@@ -80,8 +82,10 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
+	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -106,19 +110,12 @@ px4_add_romfs_files(
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
 	10044_sihsim_hex
-	10045_sihsim_rover_ackermann
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	50000_gz_rover_differential
-	51000_gz_rover_ackermann
-	52000_gz_rover_mecanum
-
-	60002_gz_uuv_bluerov2_heavy
-
-	70000_gz_atmos
-	70001_gz_atmos_dual
+	71001_gazebo-classic_spacecraft_dart
+	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models
 )

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

@@ -159,19 +159,24 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi
 
 	# Set up camera to follow the model if requested
-	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then
 
 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
 
+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
 
 		# Set camera offset
-		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
-				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
-				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
 
 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -126,6 +126,15 @@ then
 	set AUTOCNF yes
 fi
 
+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -164,6 +173,7 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5
 
 param set-default IMU_GYRO_FFT_EN 1
+param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -180,9 +190,6 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3
 
-# set default IP to localhost
-param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
-
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -229,15 +236,6 @@ then
 	exit 1
 fi
 
-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -321,12 +319,7 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi
 
-uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
-
-if param greater -s ZENOH_ENABLE 0
-then
-	zenoh start
-fi
+uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
 
 if param greater -s MNT_MODE_IN -1
 then
@@ -349,7 +342,11 @@ then
 	gyro_calibration start
 fi
 
-payload_deliverer start
+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi
 
 if param compare -s ICE_EN 1
 then

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -69,6 +69,15 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		rc.rover_apps
+		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
 if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
@@ -123,9 +132,3 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
-
-if(CONFIG_DRIVERS_VTXTABLE)
-	px4_add_romfs_files(
-		rc.vtxtable
-	)
-endif()

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -14,6 +14,7 @@
 
 param set UAVCAN_ENABLE 0
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/1104_standard_ackermann_sih.hil

@@ -1,65 +0,0 @@
-#!/bin/sh
-# @name SIH Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-set VEHICLE_TYPE rover_ackermann
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
-param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
-param set-default SYS_HITL 2 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
-
-param set-default HIL_ACT_FUNC1 201 # Steering
-param set-default HIL_ACT_FUNC2 101 # Throttle
-param set-default SIH_MASS 20
-param set-default SIH_IXX 0.4333
-param set-default SIH_IYY 1.6833
-param set-default SIH_IZZ 2.0833
-param set-default SIH_IXZ 0
-param set-default SIH_KDV 50
-param set-default SIH_KDW 10
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 3
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.2
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.001
-param set-default RO_SPEED_P 0.001
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -18,8 +18,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -42,6 +40,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -16,8 +16,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -39,6 +37,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -10,6 +10,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -32,6 +32,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5