Improve intro, I hope

- Adds MSPv1 rx parsing to fetch VTX config
 - Allows to inspect and change VTX channel through CLI
 - Forward MSP_RC for stick commands osd
 - Forward MSP_STATUS for arming status for PIT and LP mode

.github/workflows/build_all_targets.yml

@@ -54,7 +54,13 @@ jobs:
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+        run: |
+          echo "branchname=${{
+            github.event_name == 'pull_request' &&
+            format('pr-{0}', github.event.pull_request.number) ||
+            github.head_ref ||
+            github.ref_name
+          }}" >> $GITHUB_OUTPUT
 
       - name: Debug Matrix Output
         if: runner.debug == '1'

MAINTAINERS.md

@@ -7,33 +7,34 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 
 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
-| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
-| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
-| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
-| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
+| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
+| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| 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 | <padr@kth.se>
+| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
 
 
 **Documentation Maintainers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
 
 **Release Managers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
 
 **Retired Maintainers**
 

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

@@ -110,25 +110,36 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
 	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
 
-	POSE_ARG=""
-	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pos_x=${pos_x:-0}
-		pos_y=${pos_y:-0}
-		pos_z=${pos_z:-0}
+	sdf_pose_str=""
 
-		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
-		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
+	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
+		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
+		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
+
+		pose_x=${pose_x:-0}
+		pose_y=${pose_y:-0}
+		pose_z=${pose_z:-0}
+		pose_roll=${pose_roll:-0}
+		pose_pitch=${pose_pitch:-0}
+		pose_yaw=${pose_yaw:-0}
+
+		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
+		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
 	fi
 
-	echo "INFO  [init] Spawning model"
+	echo "INFO  [init] Spawning Gazebo model"
+
+	# include the actual SDF in this one, containing the pose if given
+	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
 
 	# Spawn model
 	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
 			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
 
 	# Wait for model to spawn
 	sleep 1

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -295,10 +295,15 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
-then
-	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
+	# Override, as variable is set (empty or not)
+	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
+		# Override namespace if environment variable is non-empty
+		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	else
+		# Clear namespace if variable is empty
+		uxrce_dds_ns=""
+	fi
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -39,7 +39,7 @@ set VEHICLE_TYPE none
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
+# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
 set PARAM_DEFAULTS_VER 1
 
 #

Tools/docker_run.sh

@@ -2,19 +2,7 @@
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4_fmu.* ]]; then
-		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
-	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
-		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
-	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
@@ -27,17 +15,9 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
 fi
 
-# docker hygiene
-
-#Delete all stopped containers (including data-only containers)
-# docker container prune
-
-#Delete all 'untagged/dangling' (<none>) images
-# docker image prune
-
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/msg/generate_msg_docs.py

@@ -2,6 +2,7 @@
 
 """
 Generate docs from .msg files
+Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 """
 
 import os
@@ -9,6 +10,99 @@ import argparse
 import sys
 
 
+import yaml
+
+def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
+    """
+    Generates human readable version of dds_topics.yaml.
+    Default output is to docs/en/middleware/dds_topics.md
+    """
+
+    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
+    output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
+
+    try:
+        with open(dds_file_path, 'r') as file:
+            data = yaml.safe_load(file)
+
+        # Get messages and topics that are not published by default
+        # Start by getting all that are published.
+        all_messages_in_source = set()
+        all_message_types =set()
+        all_topics =set()
+        for message in data["publications"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        for message in data["subscriptions"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        if data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+            for message in data["subscriptions_multi"]:
+                all_message_types.add(message['type'].split("::")[-1])
+                all_topics.add(message['topic'].split('/')[-1])
+        for message in allMessageFiles:
+            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
+        messagesNotExported = all_messages_in_source - all_message_types
+
+        # write out the dds file
+        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
+
+::: info
+This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
+:::
+
+
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+
+This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
+
+## Publications
+
+Topic | Type| Rate Limit
+--- | --- | ---
+"""
+
+        for message in data["publications"]:
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
+
+        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
+
+        for message in data["subscriptions"]:
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
+
+        dds_markdown += "\n## Subscriptions Multi\n\n"
+
+        if not data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+        else:
+            print("Warning - we now have subscription_multi data - check format")
+            dds_markdown += "Topic | Type\n--- | ---\n"
+            for message in data["subscriptions_multi"]:
+                dds_markdown += f"{message['topic']} | {message['type']}\n"
+
+        if messagesNotExported:
+            # Print the topics that are not exported to DDS
+            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
+            dds_markdown += "\n\n::: details See messages\n"
+            for item in  messagesNotExported:
+                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
+            dds_markdown += "\n:::\n" # End of details block
+
+        #print(dds_markdown)
+        with open(output_file_path, 'w') as content_file:
+                content_file.write(dds_markdown)
+
+    except yaml.YAMLError as exc:
+        print(f"Error parsing YAML: {exc}")
+    except FileNotFoundError:
+        print(f"Error: {dds_file_path} not found.")
+
+
 def get_msgs_list(msgdir):
     """
     Makes a list of relative paths of .msg files in the given directory
@@ -30,6 +124,7 @@ def get_msgs_list(msgdir):
 
 
 if __name__ == "__main__":
+
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
     args = parser.parse_args()
@@ -132,3 +227,5 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
     index_file = os.path.join(output_dir, 'index.md')
     with open(index_file, 'w') as content_file:
             content_file.write(index_text)
+
+    generate_dds_yaml_doc(msg_files)

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -132,6 +132,7 @@ ENTRY(_stext)
  */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)
 
 SECTIONS
 {

boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt

@@ -48,6 +48,7 @@ else()
 		i2c.cpp
 		init.c
 		led.c
+		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c

boards/3dr/ctrl-zero-h7-oem-revg/src/mtd.cpp

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi2,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
+		},
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs = 1,
+	.entries  = {
+		&fmum_fram
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/ark/fpv/nuttx-config/include/board_dma_map.h

@@ -34,75 +34,25 @@
 #pragma once
 
 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
-
-//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
-//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
-
-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
-// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
-// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
-// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
-
-// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
-// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
-// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
-// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
-
-// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
-// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
-// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
+// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
+// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
-
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
-// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
-// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
-// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
-
-// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
-// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
-// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
-// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
-
-//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
+// available
 
 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       // 1 BDMA:11 SPI J11
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11

boards/ark/fpv/nuttx-config/nsh/defconfig

@@ -260,8 +260,6 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -272,6 +270,7 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

boards/nxp/tropic-community/default.px4board

@@ -15,15 +15,19 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -47,8 +51,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/nxp/tropic-community/nuttx-config/nsh/defconfig

@@ -30,7 +30,7 @@ CONFIG_ARM_MPU=y
 CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_LOOPSPERMSEC=114325
+CONFIG_BOARD_LOOPSPERMSEC=115000
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
@@ -73,6 +73,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_DTCM_HEAP=y
 CONFIG_IMXRT_EDMA=y
 CONFIG_IMXRT_EDMA_EDBG=y
 CONFIG_IMXRT_EDMA_ELINK=y
@@ -140,6 +141,7 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
+CONFIG_MM_REGIONS=2
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y

boards/nxp/tropic-community/nuttx-config/scripts/script.ld

@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/arm/imxrt/teensy-4.x/scripts/flash.ld
+ * boards/nxp/tropic-community/nuttx-config/scripts/script.ld
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -67,6 +67,7 @@ SECTIONS
         _sitcmfuncs = ABSOLUTE(.);
         FILL(0xFF)
         . = 0x40 ;
+        *(.ram_vectors)
         INCLUDE "itcm_static_functions.ld"
         INCLUDE "itcm_functions_includes.ld"
         . = ALIGN(8);
@@ -75,19 +76,6 @@ SECTIONS
 
     _fitcmfuncs = LOADADDR(.itcmfunc);
 
-    /* The RAM vector table (if present) should lie at the beginning of SRAM */
-
-    .ram_vectors (COPY) : {
-        *(.ram_vectors)
-    } > dtcm
-
-
-    /* Workaround for ethernet issue, by placing g_desc_pool into DTCM,
-       which effectively puts it into a no-cache region */
-    .dtcm : {
-        *(.bss.g_desc_pool)
-    } > dtcm
-
     .text :
     {
         _stext = ABSOLUTE(.);

docs/_link_checker_sc/ignore_errors.json

@@ -956,5 +956,59 @@
     "type": "PageNotLinkedInternally",
     "fileRelativeToRoot": "en\\config\\_autotune.md",
     "hideReason": "Page is intended to be an orphan"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\computer_vision\\path_planning_interface.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface.html",
+      "text": "PX4 v1.14 docs"
+    },
+    "hideReason": "Intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\dev_log\\log_encryption.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.15/en/dev_log/log_encryption.html",
+      "text": "Log Encryption (PX4 v1.15)"
+    },
+    "hideReason": "Intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\releases\\1.16.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/releases/main.html",
+      "text": "See the latest version"
+    },
+    "hideReason": "intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\releases\\main.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/releases/main.html",
+      "text": "See the latest version"
+    },
+    "hideReason": "intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\robotics\\index.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.12/en/robotics/dronekit.html",
+      "text": "PX4 v1.12 > DroneKit"
+    },
+    "hideReason": "Intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\ros2\\user_guide.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/ros/ros2_comm.html",
+      "text": "PX4 v1.13 Docs"
+    },
+    "hideReason": "intended"
   }
 ]

docs/en/SUMMARY.md

@@ -456,6 +456,7 @@
       - [Vehicles](sim_gazebo_gz/vehicles.md)
         - [Advanced Lift Drag Tool](sim_gazebo_gz/tools_avl_automation.md)
       - [Worlds](sim_gazebo_gz/worlds.md)
+      - [Plugins](sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
     - [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
@@ -721,13 +722,15 @@
         - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
         - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](middleware/mavlink.md)
+    - [MAVLink Messaging](mavlink/index.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)
       - [Receiving Messages](mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](mavlink/custom_messages.md)
-      - [Standard Modes Protocol](mavlink/standard_modes.md)
+      - [Protocols/Microservices](mavlink/protocols.md)
+        - [Standard Modes Protocol](mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
+      - [UORB Bridged to ROS 2](middleware/dds_topics.md)
   - [Modules & Commands](modules/modules_main.md)
     - [Autotune](modules/modules_autotune.md)
     - [Commands](modules/modules_command.md)
@@ -853,6 +856,7 @@
   - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
   - [main (alpha)](releases/main.md)
+  - [1.16 (release candidate)](releases/1.16.md)
   - [1.15 (stable)](releases/1.15.md)
   - [1.14](releases/1.14.md)
   - [1.13](releases/1.13.md)

docs/en/_sidebar.md

@@ -457,6 +457,7 @@
       - [Vehicles](/sim_gazebo_gz/vehicles.md)
         - [Advanced Lift Drag Tool](/sim_gazebo_gz/tools_avl_automation.md)
       - [Worlds](/sim_gazebo_gz/worlds.md)
+      - [Plugins](/sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](/sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](/sim_gazebo_gz/multi_vehicle_simulation.md)
     - [Gazebo Classic Simulation](/sim_gazebo_classic/index.md)
@@ -489,12 +490,17 @@
       - [Versioned](/msg_docs/versioned_messages.md)
         - [ActuatorMotors](/msg_docs/ActuatorMotors.md)
         - [ActuatorServos](/msg_docs/ActuatorServos.md)
+        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [ArmingCheckReply](/msg_docs/ArmingCheckReply.md)
         - [ArmingCheckRequest](/msg_docs/ArmingCheckRequest.md)
         - [BatteryStatus](/msg_docs/BatteryStatus.md)
         - [ConfigOverrides](/msg_docs/ConfigOverrides.md)
+        - [FixedWingLateralSetpoint](/msg_docs/FixedWingLateralSetpoint.md)
+        - [FixedWingLongitudinalSetpoint](/msg_docs/FixedWingLongitudinalSetpoint.md)
         - [GotoSetpoint](/msg_docs/GotoSetpoint.md)
         - [HomePosition](/msg_docs/HomePosition.md)
+        - [LateralControlConfiguration](/msg_docs/LateralControlConfiguration.md)
+        - [LongitudinalControlConfiguration](/msg_docs/LongitudinalControlConfiguration.md)
         - [ManualControlSetpoint](/msg_docs/ManualControlSetpoint.md)
         - [ModeCompleted](/msg_docs/ModeCompleted.md)
         - [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
@@ -523,10 +529,8 @@
         - [ActuatorTest](/msg_docs/ActuatorTest.md)
         - [AdcReport](/msg_docs/AdcReport.md)
         - [Airspeed](/msg_docs/Airspeed.md)
-        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [AirspeedWind](/msg_docs/AirspeedWind.md)
         - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
-        - [Buffer128](/msg_docs/Buffer128.md)
         - [ButtonEvent](/msg_docs/ButtonEvent.md)
         - [CameraCapture](/msg_docs/CameraCapture.md)
         - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -565,6 +569,9 @@
         - [FailsafeFlags](/msg_docs/FailsafeFlags.md)
         - [FailureDetectorStatus](/msg_docs/FailureDetectorStatus.md)
         - [FigureEightStatus](/msg_docs/FigureEightStatus.md)
+        - [FixedWingLateralGuidanceStatus](/msg_docs/FixedWingLateralGuidanceStatus.md)
+        - [FixedWingLateralStatus](/msg_docs/FixedWingLateralStatus.md)
+        - [FixedWingRunwayControl](/msg_docs/FixedWingRunwayControl.md)
         - [FlightPhaseEstimation](/msg_docs/FlightPhaseEstimation.md)
         - [FollowTarget](/msg_docs/FollowTarget.md)
         - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
@@ -617,7 +624,6 @@
         - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
         - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
         - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
-        - [NpfgStatus](/msg_docs/NpfgStatus.md)
         - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
         - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
         - [OnboardComputerStatus](/msg_docs/OnboardComputerStatus.md)
@@ -653,13 +659,12 @@
         - [RcParameterMap](/msg_docs/RcParameterMap.md)
         - [RoverAttitudeSetpoint](/msg_docs/RoverAttitudeSetpoint.md)
         - [RoverAttitudeStatus](/msg_docs/RoverAttitudeStatus.md)
-        - [RoverMecanumGuidanceStatus](/msg_docs/RoverMecanumGuidanceStatus.md)
-        - [RoverMecanumSetpoint](/msg_docs/RoverMecanumSetpoint.md)
-        - [RoverMecanumStatus](/msg_docs/RoverMecanumStatus.md)
+        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
+        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
         - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
         - [Rpm](/msg_docs/Rpm.md)
         - [RtlStatus](/msg_docs/RtlStatus.md)
@@ -691,6 +696,7 @@
         - [TelemetryStatus](/msg_docs/TelemetryStatus.md)
         - [TiltrotorExtraControls](/msg_docs/TiltrotorExtraControls.md)
         - [TimesyncStatus](/msg_docs/TimesyncStatus.md)
+        - [TrajectorySetpoint6dof](/msg_docs/TrajectorySetpoint6dof.md)
         - [TransponderReport](/msg_docs/TransponderReport.md)
         - [TuneControl](/msg_docs/TuneControl.md)
         - [UavcanParameterRequest](/msg_docs/UavcanParameterRequest.md)
@@ -714,14 +720,18 @@
         - [WheelEncoders](/msg_docs/WheelEncoders.md)
         - [Wind](/msg_docs/Wind.md)
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
+        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
+        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](/middleware/mavlink.md)
+    - [MAVLink Messaging](/mavlink/index.md)
       - [Adding Messages](/mavlink/adding_messages.md)
       - [Streaming Messages](/mavlink/streaming_messages.md)
       - [Receiving Messages](/mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](/mavlink/custom_messages.md)
-      - [Standard Modes Protocol](/mavlink/standard_modes.md)
+      - [Protocols/Microservices](/mavlink/protocols.md)
+        - [Standard Modes Protocol](/mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
+      - [UORB Bridged to ROS 2](/middleware/dds_topics.md)
   - [Modules & Commands](/modules/modules_main.md)
     - [Autotune](/modules/modules_autotune.md)
     - [Commands](/modules/modules_command.md)
@@ -847,6 +857,7 @@
   - [Licenses](/contribute/licenses.md)
 - [Releases](/releases/index.md)
   - [main (alpha)](/releases/main.md)
+  - [1.16 (release candidate)](/releases/1.16.md)
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)

docs/en/computer_vision/collision_prevention.md

@@ -212,7 +212,7 @@ The steps are:
      type: px4_msgs::msg::ObstacleDistance
    ```
 
-   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
+   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
    In the **Script Editor** tab, add following scripts in the appropriate sections:

docs/en/debug/plotting_realtime_uorb_data.md

@@ -94,13 +94,13 @@ Exporting the messages allows ROS 2 and the uXRCE-DDS agent to be independent of
 
 While `px4_msgs` has messages for all uORB topics in PX4, not all messages in `px4_msgs` are available to ROS 2/PlotJuggler by default.
 The set that are available must be built into the client running on PX4.
-These are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+These are defined in [dds_topics.yaml](../middleware/dds_topics.md).
 
 The instructions below explain the changes needed to monitor topics that are not available by default.
 
 ### Missing Topics
 
-If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) to include the topic and rebuild PX4.
+If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](../middleware/dds_topics.md) ([source](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) to include the topic and rebuild PX4.
 
 If working with real hardware you will need to build and [install](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) custom firmware after changing the YAML file.
 
@@ -120,7 +120,7 @@ cd ~/ros2_ws/ && colcon build
 
 ### Custom Topics
 
-After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and export the new message into your ROS 2 workspace.
+After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](../middleware/dds_topics.md), and export the new message into your ROS 2 workspace.
 
 ## See also
 

docs/en/debug/system_wide_replay.md

@@ -126,8 +126,7 @@ In EKF2 mode, the replay will automatically create the ORB publisher rules descr
 
 To perform an EKF2 replay:
 
-- Record the original log.
-  Optionally set `SDLOG_MODE` to `1` to log from boot.
+- Record the original log with `SDLOG_MODE` set to `1` to log from boot.
 
 - In addition to the `replay` environment variable, set `replay_mode` to `ekf2`:
 

docs/en/dev_log/log_encryption.md

@@ -12,7 +12,7 @@ To use it you will need to build firmware with this feature enabled and then upl
 :::
 
 ::: tip
-Log encryption was has been improved in PX4 main (v1.16+) to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
+Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
 
 In earlier versions the encrypted symmetric key was stored in a separate file.
 For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).

docs/en/flight_controller/kakuteh7-wing.md

@@ -1,4 +1,6 @@
-# Holybro Kakute H7 V2
+# Holybro Kakute H743-Wing 
+
+<Badge type="tip" text="PX4 v1.16" />
 
 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -33,9 +35,7 @@ The board can be bought from one of the following shops (for example):
 | Buz-, Buz+       | Piezo buzzer                      |                            |
 | M1 to M14        | Motor signal outputs              |                            |
 
-<a id="bootloader"></a>
-
-## PX4 Bootloader Update
+## PX4 Bootloader Update {#bootloader}
 
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
@@ -52,7 +52,7 @@ make holybro_kakuteh7-wing_default
 ## Installing PX4 Firmware
 
 ::: info
-KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
+KakuteH7-wing is supported in PX4 v1.16 or newer.
 Prior to that release you will need to manually build and install the firmware.
 :::
 

docs/en/flight_modes_rover/ackermann.md

@@ -135,7 +135,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):
 
 | QGC mission item    | Command                                                      | Description                                       |
 | ------------------- | ------------------------------------------------------------ | ------------------------------------------------- |

docs/en/flight_modes_rover/differential.md

@@ -114,7 +114,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):
 
 | QGC mission item    | Command                                                                        | Description                                                      |
 | ------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------- |

docs/en/flight_modes_rover/mecanum.md

@@ -139,7 +139,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):
 
 | QGC mission item    | Command                                                                        | Description                                                      |
 | ------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------- |

docs/en/frames_rover/ackermann.md

@@ -1,6 +1,6 @@
 # Ackermann Rovers
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
 This kind of steering is used on most commercial vehicles, including cars, trucks etc.

docs/en/frames_rover/differential.md

@@ -1,6 +1,6 @@
 # Differential Rovers
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
 Forward motion is achieved by driving both wheels at the same speed in the same direction.

docs/en/frames_rover/mecanum.md

@@ -1,6 +1,6 @@
 # Mecanum Rovers
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
 Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.

docs/en/mavlink/index.md

@@ -0,0 +1,89 @@
+# MAVLink Messaging
+
+[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
+
+PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
+
+This topic provides a brief overview of fundamental MAVLink concepts, such as messages, commands, and microservices.
+It also links instructions for how you can add PX4 support for:
+
+- [Adding Standard Messages](../mavlink/adding_messages.md)
+- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
+- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
+- [Custom MAVLink Messages](../mavlink/custom_messages.md)
+- [Protocols/Microservices](../mavlink/protocols.md)
+
+::: info
+We do not yet cover _command_ handling and sending, or how to implement your own microservices.
+:::
+
+## MAVLink Overview
+
+MAVLink is a lightweight protocol that was designed for efficiently sending messages over unreliable low-bandwidth radio links.
+
+_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
+They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
+Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
+
+[Microservices](../mavlink/protocols.md) are "meta protocols" built on top of MAVLink messages.
+They are used to communicate information that cannot be sent in a single message.
+
+For example, the [Command Protocol](https://mavlink.io/en/services/command.html) is a service for sending commands that may need acknowledgement and retransmission (quality of service).
+Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
+The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
+The command is automatically resent a number of times if no acknowledgment is received.
+Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
+
+Others services include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html), [Parameter Protocol](https://mavlink.io/en/services/parameter.html), and [Mission Protocol](https://mavlink.io/en/services/mission.html).
+For more information on what PX4 supports see [Microservices](../mavlink/protocols.md).
+
+MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
+The MAVLink toolchain includes code generators that create programming-language-specific libraries from these definitions for sending and receiving messages.
+Note that most generated libraries do not create code to implement microservices.
+
+The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
+
+- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
+  The definitions move to `common.xml` if accepted following testing.
+- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
+  These are supported by many flight stacks, ground stations, and MAVLink peripherals.
+  Flight stacks that use these definitions are more likely to interoperate.
+- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
+  They are present on the vast majority of flight stacks and implemented in the same way.
+- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
+
+The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
+
+The protocol relies on each end of the communication having a shared definition of what messages are being sent.
+What this means is that in order to communicate both ends of the communication must use libraries generated from the same XML definition.
+
+<!--
+The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
+In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
+Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
+The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
+The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
+-->
+
+## PX4 and MAVLink
+
+PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
+In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
+
+::: info
+To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
+During development you can use definitions in `development.xml`.
+You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
+:::
+
+PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
+This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
+
+The build toolchain generates the MAVLink 2 C header files at build time.
+The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
+
+- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
+  You can change this to any other definition file, but the file must include `common.xml`.
+- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
+
+The files are generated into the build directory: `/build/<build target>/mavlink/`.

docs/en/mavlink/protocols.md

@@ -0,0 +1,51 @@
+# MAVLink Microservices (Protocols)
+
+MAVLink "microservices" are a protocols that use multiple messages exchanged between components to communicate more complicated information.
+For example, the [Command Protocol](https://mavlink.io/en/services/command.html) provides an efficient mechanism for packaging a command in a (particular) message and receiving acknowledgement of the command in another message.
+
+MAVLink microservices are documented the [MAVLink Guide](https://mavlink.io/en/services/) (this is not exhaustive: not all messages are grouped into protocols and not all protocols are documented).
+
+This section lists the services known to be supported/not supported by PX4 in this version.
+
+## Supported Microservices
+
+These services are known to be supported in some form:
+
+- [Battery Protocol](https://mavlink.io/en/services/battery.html)
+  - [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) and [BATTERY_INFO](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) are streamed.
+- Camera Protocols
+  - [Camera Protocol v2](https://mavlink.io/en/services/camera.html)
+    - [Camera Definition](https://mavlink.io/en/services/camera_def.html)
+- [Command Protocol](https://mavlink.io/en/services/command.html)
+- [Component Metadata Protocol](https://mavlink.io/en/services/component_information.html)
+- [Events Interface](https://mavlink.io/en/services/events.html)
+- [File Transfer Protocol (FTP)](https://mavlink.io/en/services/ftp.html)
+- Gimbal Protocols
+  - [Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)
+    - Can be enabled by [Gimbal Configuration](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
+    - PX4 an act as a MAVLink Gimbal for one FC-connected Gimbal
+- [Heartbeat/Connection Protocol](https://mavlink.io/en/services/heartbeat.html)
+- [High Latency Protocol](https://mavlink.io/en/services/high_latency.html) — PX4 streams [HIGH_LATENCY2](https://mavlink.io/en/messages/common.html#HIGH_LATENCY2)
+- [Image Transmission Protocol](https://mavlink.io/en/services/image_transmission.html)
+- [Landing Target Protocol](https://mavlink.io/en/services/landing_target.html)
+- [Manual Control (Joystick) Protocol](https://mavlink.io/en/services/manual_control.html)
+- [MAVLink Id Assignment (sysid, compid)](https://mavlink.io/en/services/mavlink_id_assignment.html)
+- [Mission Protocol](https://mavlink.io/en/services/mission.html)
+- [Offboard Control Protocol](https://mavlink.io/en/services/offboard_control.html)
+- [Remote ID](../peripherals/remote_id.md) ([Open Drone ID Protocol](https://mavlink.io/en/services/opendroneid.html))
+- [Parameter Protocol](https://mavlink.io/en/services/parameter.html)
+- [Parameter Protocol Extended](https://mavlink.io/en/services/parameter_ext.html) — Allows setting string parameters. Used for setting string parameters set in camera definition files.
+- [Payload Protocol](https://mavlink.io/en/services/payload.html)
+- [Ping Protocol](https://mavlink.io/en/services/ping.html)
+- [Standard Modes Protocol](../mavlink/standard_modes.md)
+- [Terrain Protocol](https://mavlink.io/en/services/terrain.html)
+- [Time Synchronization](https://mavlink.io/en/services/timesync.html)
+- [Traffic Management (UTM/ADS-B)](https://mavlink.io/en/services/traffic_management.html)
+- [Arm Authorization Protocol](https://mavlink.io/en/services/arm_authorization.html)
+
+## Unsupported
+
+These services are not supported/used by PX4:
+
+- [Illuminator Protocol](https://mavlink.io/en/services/illuminator.html)
+- [Tunnel Protocol](https://mavlink.io/en/services/tunnel.html)

docs/en/middleware/dds_topics.md

@@ -0,0 +1,276 @@
+# dds_topics.yaml — PX4 Topics Exposed to ROS 2
+
+::: info
+This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
+:::
+
+
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+
+This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
+
+## Publications
+
+Topic | Type| Rate Limit
+--- | --- | ---
+`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | 
+`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
+`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
+`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
+`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0
+`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
+`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
+`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
+`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | 
+`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
+`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | 
+`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
+`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
+`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 
+`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
+`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | 
+`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
+`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
+`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
+`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 
+`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
+`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
+`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | 
+`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0
+
+## Subscriptions
+
+Topic | Type
+--- | ---
+/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
+/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
+/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
+/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
+/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
+/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
+/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
+/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
+/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
+/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
+/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
+/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
+/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
+/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
+/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
+/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
+/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
+/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
+/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
+/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
+/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
+/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
+/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
+/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
+/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
+/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
+/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
+/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
+/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)
+/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
+/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
+
+## Subscriptions Multi
+
+None
+
+## Not Exported
+
+These messages are not listed in the yaml file.
+They are not build into the module, and hence are neither published or subscribed.
+
+::: details See messages
+
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [Event](../msg_docs/Event.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [Ping](../msg_docs/Ping.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [Wind](../msg_docs/Wind.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [LandingGear](../msg_docs/LandingGear.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [TransponderReport](../msg_docs/TransponderReport.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [Mission](../msg_docs/Mission.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+:::

docs/en/middleware/mavlink.md

@@ -1,87 +1 @@
-# MAVLink Messaging
-
-[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
-
-PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
-
-This topic provides a brief overview of fundamental MAVLink concepts, such as messages, commands, and microservices.
-It also links instructions for how you can add PX4 support for:
-
-- [Adding Standard Messages](../mavlink/adding_messages.md)
-- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
-- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
-- [Custom MAVLink Messages](../mavlink/custom_messages.md)
-
-::: info
-We do not yet cover _command_ handling and sending, or how to implement your own microservices.
-:::
-
-## MAVLink Overview
-
-MAVLink is a lightweight protocol that was designed for efficiently sending messages over unreliable low-bandwidth radio links.
-
-_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
-They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
-Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
-
-The [Command Protocol](https://mavlink.io/en/services/command.html) is a higher level protocol for sending commands that may need acknowledgement.
-Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
-The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
-The command is resent automatically if no acknowledgment is received.
-Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
-
-[Microservices](https://mavlink.io/en/services/) are other higher level protocols built on top of MAVLink messages.
-They are used to communicate information that cannot be sent in a single message, and to deliver features such as reliable communication.
-The command protocol described above is one such service.
-Others include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html) and [Mission Protocol](https://mavlink.io/en/services/mission.html).
-
-MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
-The MAVLink toolchain includes code generators that create programming-language-specific libraries from these definitions for sending and receiving messages.
-Note that most generated libraries do not create code to implement microservices.
-
-The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
-
-- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
-  The definitions move to `common.xml` if accepted following testing.
-- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
-  These are supported by many flight stacks, ground stations, and MAVLink peripherals.
-  Flight stacks that use these definitions are more likely to interoperate.
-- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
-  They are present on the vast majority of flight stacks and implemented in the same way.
-- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
-
-The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
-
-The protocol relies on each end of the communication having a shared definition of what messages are being sent.
-What this means is that in order to communicate both ends of the communication must use libraries generated from the same XML definition.
-
-<!--
-The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
-In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
-Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
-The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
-The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
--->
-
-## PX4 and MAVLink
-
-PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
-In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
-
-::: info
-To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
-During development you can use definitions in `development.xml`.
-You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
-:::
-
-PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
-This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
-
-The build toolchain generates the MAVLink 2 C header files at build time.
-The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
-
-- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
-  You can change this to any other definition file, but the file must include `common.xml`.
-- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
-
-The files are generated into the build directory: `/build/<build target>/mavlink/`.
+<Redirect to="../mavlink/" />

docs/en/middleware/uorb.md

@@ -1,11 +1,35 @@
 # uORB Messaging
 
+The Micro Object Request Broker (uORB) is PX4s low-latency asynchronous `publish()` / `subscribe()` messaging API for inter-thread/inter-process communication.
+It allows the different modules of the system to communicate effectively, while still being loosely coupled, and hence easily replaced.
+
 ## Introduction
 
-The uORB is an asynchronous `publish()` / `subscribe()` messaging API used for inter-thread/inter-process communication.
+PX4 modules communicate using uORB _topics_.
+A topic represents a communication channel for sending _messages_ between a publisher module and one or more subscriber modules.
+A module that is interested in receiving messages can subscribe to a topic and use it to check for, and read, new messages.
+A module that wants to send messages to a particular topic (and hence all subscribers) must _advertise_ that it is going to do so, and can then _publish_ messages when it has new data.
+
+A topic behaves like a queue to which publishers write, and from which subscribers read.
+By default he queue can only buffer a single message, which may be overwritten if the publisher writes new message data before subscribers can read it.
+The [queue size may be increased](#uorb-buffer-length-orb-queue-length) in the rare cases when subscribers really need to receive every message.
+
+A message is a discrete sample of data that can be published/subscribed via a topic.
+The message fields, the constants that can be used with those fields, and the topic(s) to which the message can be published/subscribed are defined in a uORB message definition file.
+
+By default a single topic is automatically created for each message definition file, which is created by `underscore_snake_casing` the (CamelCase) message definition file name.
+For example, topic `battery_status` is automatically created for the `BatteryStatus.msg`.
+This is generally what you want if the message is always about the same kind of data (batteries in this case) and so all the subscribers will be interested in the same messages.
+
+Sometimes the same message structure can be used to represent data from different kinds of sources, which will have different sets of interested publishers and subscribers.
+In this case the topics need to be explicitly declared.
+For example the [VehicleGlobalPosition.msg](../msg_docs/VehicleGlobalPosition.md) can be used for sending messages about global position from an estimator, GNSS, or an external source: the fields are the same, but the source and subscribers of the data may be different.
+
+uORB also provides a mechanism to publish multiple independent instances of the same topic.
+This is useful, for example, if the system has several sensors of the same type.
 
 uORB is implemented in the [`uorb` module](../modules/modules_communication.md#uorb).
-It is started automatically (with `uorb start`) early in the PX4 boot sequence, as many applications depend on it.
+The module is started automatically (with `uorb start`) early in the PX4 boot sequence, as many applications depend on it.
 Unit tests can be started with `uorb_tests`.
 
 This document explains how to add uORB message definitions and their corresponding topic(s), how to use reference a topic in code, and how to view topics as they change in PX4.
@@ -42,31 +66,31 @@ In code you refer to the topic using its id, which in this example would be: `OR
 
 ## Message Definitions
 
-The message definition should start with a descriptive _comment_ that outlines its purpose (a comment starts with the `#` symbol and goes to the end of the line).
+Every message should start with a [message description](#message-description) that outlines its purpose (a comment starts with the `#` symbol and goes to the end of the line).
 The message will then define one or more fields, which are defined with a _type_, such as `bool`, `uint8`, and `float32`, followed by a _name_.
 By convention, each field is followed by a descriptive _comment_, which is any text from the `#` symbol to the end of the line.
 
-::: warning
-All message definitions **must** include the `uint64_t timestamp` field, and this should be filled in when publishing the associated topic(s).
-This field is needed in order for the logger to be able to record UORB topics.
-:::
-
 ::: info
 All _versioned_ messages definitions must include the `uint32 MESSAGE_VERSION` field.
 For more information, refer to the [Message Versioning](#message-versioning) section.
 :::
 
+::: warning
+All message definitions **must** include the `uint64_t timestamp` field, and this should be filled in when publishing the associated topic(s).
+This field is needed in order for the logger to be able to record UORB topics.
+:::
+
 For example the [VelocityLimits](../msg_docs/VelocityLimits.md) message definition shown below has a descriptive comment, followed by a number of fields, which each have a comment.
 
 ```text
 # Velocity and yaw rate limits for a multicopter position slow mode only
 
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
 # absolute speeds, NAN means use default limit
-float32 horizontal_velocity # [m/s]
-float32 vertical_velocity # [m/s]
-float32 yaw_rate # [rad/s]
+float32 horizontal_velocity # [m/s] Horizontal velocity.
+float32 vertical_velocity # [m/s] Vertical velocity.
+float32 yaw_rate # [rad/s] Yaw rate.
 ```
 
 By default this message definition will be compiled to a single topic with an id `velocity_limits`, a direct conversion from the CamelCase name to a snake_case version.
@@ -74,16 +98,202 @@ By default this message definition will be compiled to a single topic with an id
 This is the simplest form of a message.
 See the existing [`msg`](../msg_docs/index.md) files for other examples of how messages are defined.
 
-### Multi-Topic Messages
+#### Message Description
 
-Sometimes it is useful to use the same message definition for multiple topics.
-This can be specified at the end of the message using a line prefixed with `# TOPICS `, followed by space-separated topic ids.
-For example, the [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) message definition is used to define the topic ids as shown:
+Every message should start with a [comment](#comments) block that describes the message (one or more of lines that all start with `#`).
+The first comment line is mandatory and provides the short description.
+This may be followed by an empty comment line and then a optional long description.
 
 ```text
-# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
+# Short description
+#
+# Long(er) description for the message
+# that can be multiline
 ```
 
+The short description should provide a succinct explanation for the purpose of the message.
+Minimally it may just mirror the message name.
+For example, [`BatteryStatus`](../msg_docs/BatteryStatus.md) has the short description `Battery status`.
+
+The long description should provide any additional context required to understand what how the message is used.
+It might explain who are the publishers and who are the expected consumers, such as MAVLink or the logging system.
+It might also cover whether the message is only used for a particular frame type or mode.
+
+Both short and long descriptions may be multi-line.
+The long description may also include empty comment lines (the short description cannot, because the first empty comment delineates the short and long description).
+A terminating full stop can be omitted from single line comments and from the final line.
+
+The block ends at the first non-comment line, such as an empty line, field, or constant.
+Any subsequent comment lines are considered "internal comments".
+
+### Comments
+
+Comments are text provided for explanation or documentation purposes.
+Any text after a `#` character is a comment (with the exception of lines that [start with `# TOPIC`](#multi-topic-message)).
+
+PX4 uses structured comments for message, field, and constant descriptions.
+Other comments are internal.
+
+### Fields
+
+Messages define one or more fields, which are the variables that are written and read by publishers and subscribers, respectively.
+
+A typical field might look like this:
+
+```sh
+float64 lat # [deg] Latitude (WGS84).
+```
+
+Each field has a _type_ followed by a _name_, and should also have a _comment_
+The format is as shown:
+
+```sh
+<type> <name> # [metadata] <description>
+```
+
+- `type`:
+  - A primitive data type: `bool`, `char`, `uint8`, `uint32`, `uint64`, `int8`, `int16`, `int32`, `float32` and `float64`.
+  - Another UORB message name, when creating complex types using [nested messages](#nested-messages).
+- `name`
+  - Any message-unique string.
+    By convention use lower case `underline_snake_case`.
+
+The comment must all be on the same line as the field, and should consist of optional metadata and a description:
+
+- `metadata` (Optional)
+  - Information about the field units and allowed values:
+    - `[<unit>]`
+      - The unit of measurement inside square brackets (note, no `@` delineator indicates a unit).
+        For example `[m]` or `[deg]`.
+        Typical units include: `m`, `deg`, `m/s`, `rad`, `rad/s`, and so on.
+    - `[@enum <enum_name>]`
+      - The `enum_name` gives the prefix of constant values in the message that can be assigned to the field.
+        Note that in UORB "enums" are a naming convention: they are not explicitly declared.
+        Multiple enum names indicate a possible error in the field design.
+    - `[@range <lower_value>, <upper_value>]`
+      - The allowed range of the field, specified as a `lower_value` and/or an `upper_value`.
+        Either value can be omitted to indicate an unbounded upper or lower value.
+        For example `[@range 0, 3]`, `[@range 5.3, ]`, `[@range , 3]`.
+    - `[@invalid <value> <description>]`
+      - The `value` to set the field to indicate that the field doesn't contain valid data.
+        The `description` is optional, and might be used to indicate the conditions under which data is invalid.
+- `description`
+  - A concise description of the purpose of the field and allowed values, and including any important information that can't be inferred from the name!
+    Use a capital first letter, and omit the full stop if the description is a single sentence.
+    Multiple sentences may also omit the final full stop.
+
+#### Array Fields
+
+A array field defines multiple variables in an array, where all values have the same type.
+The number of elements are given using square brackets after the type.
+Array fields are otherwise defined (and documented) in the same way as other fields.
+
+For example:
+
+```sh
+int32[12] raw_data # ADC channel raw value, accept negative value.
+```
+
+#### Mandatory Fields
+
+All message definitions **must** include following fields:
+
+- `uint64_t timestamp`
+  - This should be filled in when publishing the associated topic(s).
+    It is needed in order for the logger to be able to record UORB topics.
+  - The comment should be `# [us] Time since system start`.
+
+### Constants
+
+Constants specify a mapping between a name and a value.
+
+These are mainly used to predefine useful values that you might need to use for a particular field, such as a state or flag values.
+Often these are grouped together as [enums](#enums).
+There are also a small number of [metadata constants](#metadata-constants) that are used by the build infrastructure.
+
+For example, here are a number of constants for indicating battery warnings.
+
+```sh
+uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_LOW = 1 # Low voltage warning
+```
+
+Constants are specified as a field assigned with a value.
+The field part has a _type_, which must match the type of the field they are to be used with, followed by a _name_.
+They should also have a _comment_ with a description.
+By convention they are defined immediately below the field with which they can used.
+
+The format is as shown:
+
+```sh
+<type> <name> = <value> # <description>
+```
+
+- `type`:
+  - Must match the `type` of the field with which it is to be used.
+- `name`
+  - The name of the constant.
+    This must be message-unique and is by convention `ALL_UPPER_CASE_UNDERLINE_SNAKE_CASE`
+  - Constant names that can be used with a field should share the same prefix and should indicate the value's purpose.
+
+The comment must all be on the same line as the field.
+Note that this is much like the field description (but there is no metadata):
+
+- `description`
+  - A terse description of the purpose of the constant.
+    Use a capital first letter, and omit the full stop if the description is a single sentence.
+    Multiple sentences may also omit the final full stop.
+
+#### Enums
+
+Enums are groups/sets of enumerated constants that can be used as values for a particular field.
+
+UORB does not define a formal syntax for enums.
+Instead we use a prefix naming convention to indicate all the constants that are part of the same enum.
+The constants in the enum should be declared immediately after the field in which they are used, and for parsing convenience, the prefix is listed in the field using `@enum` metadata.
+
+For example, here is the definition of the `warning` field and some of the `WARNING` enum values that can be used with it:
+
+```sh
+uint8 warning # [@enum WARNING] Current battery warning
+uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_LOW = 1 # Low voltage warning
+uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
+...
+```
+
+#### Metadata Constants
+
+A number of constants provide information that is used by the PX4 build system to configure how the message may be used, such as the version and length of the message.
+If relevant, these should appear near the top of the file, immediately after the [Message Description](#message-description).
+
+The allowed constants are:
+
+- `ORB_QUEUE_LENGTH` - Sets the [uORB Buffer Length](#uorb-buffer-length-orb-queue-length), which is used in rare cases where a subscriber needs all values that are set for a field, rather than just the most recent sample.
+- `MESSAGE_VERSION` - Sets the version number of a versioned message.
+  This is used as part of the infrastructure to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
+  For more information see [Message Versioning](#message-versioning)
+
+#### Multi-Topic Messages (`# TOPICS`) {#multi-topic-messages}
+
+By default a single topic is automatically created for each message definition file, which is created by `underscore_snake_casing` the (CamelCase) message definition file name.
+For example, topic `battery_status` is automatically created for the `BatteryStatus.msg`.
+This is generally what you want if the message is always about the same kind of data (batteries in this case) and so all the subscribers will be interested in the same messages.
+
+Sometimes it is useful to use the same message definition for multiple topics.
+In this case the topics need to be explicitly declared.
+You can do this by adding one or more lines to the end of the message prefixed with `# TOPICS`, followed by space-separated topic ids.
+
+For example, the [VehicleGlobalPosition.msg](../msg_docs/VehicleGlobalPosition.md) message definition is used to define the topic ids as shown:
+
+```text
+# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
+# TOPICS estimator_global_position
+# TOPICS aux_global_position
+```
+
+Note that multiple topics are useful in this case because the likely subscribers for the different sources of global position are likely to be different.
+
 ### Nested Messages
 
 Message definitions can be nested within other messages to create complex data structures.
@@ -92,15 +302,34 @@ To nest a message, simply include the nested message type in the parent message
 
 ```text
 # Global position setpoint triplet in WGS84 coordinates.
+#
 # This are the three next waypoints (or just the next two or one).
 
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
 
 PositionSetpoint previous
 PositionSetpoint current
 PositionSetpoint next
 ```
 
+### uORB Buffer Length (ORB_QUEUE_LENGTH)
+
+uORB messages have a single-message buffer by default, which may be overwritten if the message publication rate is too high.
+In most cases this does not matter: either we are only interested in the latest sample of a topic, such as a sensor value or a setpoint, or losing a few samples is not a particular problem.
+For relatively few cases, such as vehicle commands, it is important that we don't drop topics.
+
+In order to reduce the chance that messages will be dropped we can use named constant `ORB_QUEUE_LENGTH` to create a buffer of the specified length.
+For example, to create a four-message queue, add the following line to your message definition:
+
+```sh
+uint8 ORB_QUEUE_LENGTH = 4
+```
+
+As long as subscribers are able to read messages out of the buffer quickly enough than it isn't ever fully filled to the queue length (by publishers), they will be able to get all messages that are sent.
+Messages will still be lost they are published when the queue is filled.
+
+Note that the queue length value must be a power of 2 (so 2, 4, 8, ...).
+
 ### Message/Field Deprecation {#deprecation}
 
 As there are external tools using uORB messages from log files, such as [Flight Review](https://github.com/PX4/flight_review), certain aspects need to be considered when updating existing messages:
@@ -114,11 +343,11 @@ As there are external tools using uORB messages from log files, such as [Flight
     This is to ensure that removed fields (or messages) are not re-added in future.
   - In case of a semantic change (e.g. the unit changes from degrees to radians), the field must be renamed as well and the previous one marked as deprecated as above.
 
-## Message Versioning
+## Message Versioning (MESSAGE_VERSION) {#message-versioning}
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
+<Badge type="tip" text="PX4 v1.16" />
 
-Optional message versioning was introduced in the `main` branch (planned for PX4 v1.16+) to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
+Optional message versioning was introduced PX4 v1.16 to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
 Versioned messages are designed to remain more stable over time compared to their non-versioned counterparts, as they are intended to be used across multiple releases of PX4 and external systems, ensuring greater compatibility over longer periods.
 
 Versioned messages include an additional field `uint32 MESSAGE_VERSION = x`, where `x` corresponds to the current version of the message.

docs/en/middleware/uxrce_dds.md

@@ -38,7 +38,7 @@ The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is gen
 The agent has no dependency on client code.
 It can be built standalone or in a ROS 2 workspace, or installed as a snap package on Ubuntu.
 
-When PX4 is built, a code generator uses the uORB message definitions in the source tree ([PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg)) to compile support for the subset of uORB topics in [PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client).
+When PX4 is built, a code generator uses the uORB message definitions in the source tree ([PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg)) to compile support for the subset of uORB topics in [/src/modules/uxrce_dds_client/dds_topics.yaml](../middleware/dds_topics.md) into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client).
 
 PX4 main or release builds automatically export the set of uORB messages definitions in the build to an associated branch in [PX4/px4_msgs](https://github.com/PX4/px4_msgs).
 
@@ -320,13 +320,11 @@ ROS_DOMAIN_ID=3 PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone make px4_sitl gz_
 
 ## Supported uORB Messages
 
-The set of [PX4 uORB topics](../msg_docs/index.md) that are exposed through the client are set in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+The set of [PX4 uORB topics](../msg_docs/index.md) that are exposed through the client are set in [dds_topics.yaml](../middleware/dds_topics.md).
 
 The topics are release specific (support is compiled into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) at build time).
 While most releases should support a very similar set of messages, to be certain you would need to check the yaml file for your particular release.
 
-<!-- Jublish the set we use?: https://github.com/PX4/px4_msgs/issues/22 -->
-
 Note that ROS 2/DDS needs to have the _same_ message definitions that were used to create the uXRCE-DDS client module in the PX4 Firmware in order to interpret the messages.
 The message definitions are stored in the ROS 2 interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs), and they are automatically synchronized by CI on the `main` and release branches.
 Note that all the messages from PX4 source code are present in the repository, but only those listed in `dds_topics.yaml` will be available as ROS 2 topics.
@@ -343,20 +341,20 @@ Therefore,
   ```
 
   ::: info
-  Technically, [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
+  Technically, [dds_topics.yaml](../middleware/dds_topics.md) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
   For more information see [DDS Topics YAML](#dds-topics-yaml) below.
   :::
 
 ## Customizing the Namespace
 
-Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) or at runtime (which is useful for multi vehicle operations):
+Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)) or at runtime (which is useful for multi vehicle operations):
 
 - One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
   This technique can be used both in simulation and real vehicles.
 - A custom namespace can be provided for simulations (only) by setting the environment variable `PX4_UXRCE_DDS_NS` before starting the simulation.
 
 ::: info
-Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#dds-ros-2-services).
+Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](../middleware/dds_topics.md) and all [service servers](#dds-ros-2-services).
 Therefore, commands like:
 
 ```sh
@@ -413,7 +411,7 @@ Deadline, lifespan, and lease durations are also all set to "default".
 
 ## DDS Topics YAML
 
-The PX4 yaml file [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) defines the set of PX4 uORB topics that are built into firmware and published.
+The PX4 [dds_topics.yaml](../middleware/dds_topics.md) file defines the set of PX4 uORB topics that are built into firmware and published.
 More precisely, it completely defines the relationship/pairing between PX4 uORB and ROS 2 messages.
 
 The file is structured as follows:
@@ -423,16 +421,17 @@ publications:
 
   - topic: /fmu/out/collision_constraints
     type: px4_msgs::msg::CollisionConstraints
+    rate_limit: 50.  # Limit max publication rate to 50 Hz
 
   ...
 
   - topic: /fmu/out/vehicle_odometry
     type: px4_msgs::msg::VehicleOdometry
-    rate_limit: 150.
+    # Use default publication rate limit of 100 Hz
 
   - topic: /fmu/out/vehicle_status
     type: px4_msgs::msg::VehicleStatus
-    rate_limit: 50.
+    rate_limit: 5.
 
   - topic: /fmu/out/vehicle_trajectory_waypoint_desired
     type: px4_msgs::msg::VehicleTrajectoryWaypoint
@@ -541,7 +540,7 @@ Take a look at the [client startup section](#starting-the-client) to learn how t
 
 #### New file for setting which topics are published
 
-The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topic.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml)
+The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topics.yaml](../middleware/dds_topics.md) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml)
 
 See [Supported uORB Messages](#supported-uorb-messages) and [DDS Topics YAML](#dds-topics-yaml) sections for more information.
 

docs/en/releases/1.16.md

@@ -0,0 +1,196 @@
+# PX4-Autopilot v1.16.0 Release Notes
+
+<Badge type="info" text="Candidate Release" />
+
+<script setup>
+import { useData } from 'vitepress'
+const { site } = useData();
+</script>
+
+<div v-if="site.title !== 'PX4 Guide (main)'">
+  <div class="custom-block danger">
+    <p class="custom-block-title">This page is on a release branch, and hence possibly out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+  </div>
+</div>
+
+This document covers all changes in PX4 v1.16.0 since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)).
+
+::: info
+These notes include only changes merged in 2023 and later — commits before 2023 are not listed.
+:::
+
+## Read Before Upgrading
+
+Please continue reading for [upgrade instructions](#upgrade-guide).
+
+## Major Changes
+
+- **Rover support rework**
+  - New dedicated firmware build for rovers (airframe IDs 50000–52000)
+  - Separate modules for Ackermann, differential and mecanum rovers, each with manual, acro, stabilized, position and auto modes
+  - Shared pure-pursuit guidance library for all rover modules
+  - Legacy rover position control module deprecated in favor of the new modules
+
+## Upgrade Guide
+
+- [PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648): Added setting default for EKF2_EV_CTRL to 15 for VOXL 2 boards
+- [PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517): Change default ethernet IP
+- [PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602): remove serial port default from sf45 module
+
+## Other changes
+
+### Hardware Support
+
+- **[New Hardware]** [PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830): Boards: ARK FPV FC
+- **[New Hardware]** [PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414): board: add cuav 7-nano
+- **[New Hardware]** [PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1
+- **[New Hardware]** [PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018): boards: bluerobotics: navigator: Add initial support
+- **[New Hardware]** [PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147): boards: add new board micoair743-v2
+- **[New Hardware]** [PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218): boards: add new board micoair h743
+- **[New Hardware]** [PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512): boards: Add FMUv6s target
+- **[New Hardware]** [PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927): manifest: Add Skynode S baseboard
+- **[New Hardware]** [PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257): Add Tropic VMU board support (Baseboard for Teensy 4.1)
+- **[New Hardware]** [PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697): boards: add new board X-MAV AP-H743v2
+- **[New Hardware]** [PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551): 3DR boards: Support for 3DR Control Zero H7 OEM Rev G
+- **[New Hardware]** [PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623): new board support ZeroOne x6
+
+### Common
+
+- [Optical flow scaling factor - SENS_FLOW_SCALE](../sensor/optical_flow.md#scale-factor). ([PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936)).
+- [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers
+
+- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
+  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
+  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
+- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
+  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
+- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
+  This makes log decryption much easier, as there is no need to download or identify a separate key file.
+  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
+- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
+  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
+  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
+  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
+- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
+- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
+  This typically reduces false warnings due to magnetometer inconsistencies.
+  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
+
+### Control
+
+- [PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863): [Sponsored by ARK] Bidirectional DShot
+- [PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196): Make control allocation and actuator effectiveness a non-module-specific library
+- [PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator
+
+- Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
+- Collision prevention now works in manual (acceleration-based) flight mode (`MPC_POS_MODE`) ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
+
+### Estimation
+
+- [PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854): EKF2: ellipsoidal earth navigation
+- [PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263): EKF2: Terrain state
+- [PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init
+- [PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436): ekf2: Optical flow enabled by default
+
+- Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
+
+### Sensors
+
+- [PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656): Implemented AUAV absolute/differential pressure sensor support
+- [PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639): Implemented temperature sensor support for INA228 / INA238
+- [PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B
+- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Mag cal: automatically disable internal mags if external ones are available
+- [PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064): BMP581: Add Bosch BMP581 barometer
+- [PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914): Murata SCH16T IMU driver
+- [PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023): ST IIS2MDC Magnetometer driver
+- [PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121): Include distance sensor in dds topics
+- [PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925): drivers: magnetometer: mmc5983ma: Add SPI support
+- [PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909): drivers/magnetometer/ak09916: Add support to AK09915
+- [PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362): Add Bosch BMM350 magnetometer
+
+- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Compass calibration now disables internal compass when external unit present, reducing false warnings
+
+### Simulation
+
+- **SIH**:
+  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
+    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
+  - SIH now supports the standard VTOL airframe
+    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
+- **Gazebo**:
+  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
+    The default installer scripts (used for CI) and documentation have been updated.
+    This is required because Garden end-of-life is Nov 2024.
+    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
+  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
+  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
+  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
+  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
+  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
+  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
+  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform
+
+### uXRCE-DDS / ROS2
+
+- **[Feature]** [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
+- [PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582): dds_topics: add vtol_vehicle_status
+- [PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583): dds_topics: add home_position
+
+### MAVLink
+
+- TBD
+
+### Multi-Rotor
+
+- [PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173): [Multirotor] add yaw torque low pass filter
+- [PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943): Add gz model for quadtailsitter
+
+- [PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358): Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD)
+- [PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507): Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE).
+
+### VTOL
+
+- TBD
+
+### Fixed-wing
+
+- [PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167): Fixedwing: fix wheel controller
+- [PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520): FixedWing: allow position control without valid global position
+
+- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
+
+### Rover
+
+This release contains a major rework for the rover support in PX4:
+
+- Complete restructure of the [rover related documentation](../frames_rover/index.md).
+- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
+- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
+  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
+- New module dedicated to [differential rovers](../frames_rover/differential.md):
+  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
+- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
+  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
+- Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers
+- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
+  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
+  - Generic Differential Rover `50000`.
+  - Generic Ackermann Rover `51000`.
+  - Axial SCX10 2 Trail Honcho `51001`.
+  - Generic Mecanum Rover `52000`.
+- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
+- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
+- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
+
+### Infrastructure
+
+- [PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011): standard_modes: add vehicle-type specific standard modes
+- [PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020): ci: build all upload to releases
+- [PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container
+- [PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937): ci: workflow for ubuntu 24
+- [PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869): ci: add test for Ubuntu 22.04
+- [PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574): ci: try runs-on Dronecode Infra
+- [PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550): ci: replace build workflows

docs/en/releases/index.md

@@ -2,7 +2,8 @@
 
 A list of PX4 release notes, they contain a list of the changes that went into each release, explaining the included features, bug fixes, deprecations and updates in detail.
 
-- [main](../releases/main.md) (changes since v1.15)
+- [main](../releases/main.md) (changes since v1.16)
+- [v1.16](../releases/1.16.md)
 - [v1.15](../releases/1.15.md)
 - [v1.14](../releases/1.14.md)
 - [v1.13](../releases/1.13.md)

docs/en/releases/main.md

@@ -9,15 +9,15 @@ const { site } = useData();
 
 <div v-if="site.title !== 'PX4 Guide (main)'">
   <div class="custom-block danger">
-    <p class="custom-block-title">This page is on a release bramch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+    <p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
   </div>
 </div>
 
-This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)).
+This contains changes to PX4 `main` branch since the last major release ([PX v1.16](../releases/1.16.md)).
 
 ::: warning
-The PX4 v1.15 release is in beta testing, pending release.
-Update these notes with features that are going to be in `main` but not the PX4 v1.15 release.
+PX4 v1.16 is in candidate-release testing, pending release.
+Update these notes with features that are going to be in `main` but not the PX4 v1.16 release.
 :::
 
 ## Read Before Upgrading
@@ -40,22 +40,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Common
 
-- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
-  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
-  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
-- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
-  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
-- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
-  This makes log decryption much easier, as there is no need to download or identify a separate key file.
-  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
-- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
-  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
-  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
-  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
-- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
-- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
-  This typically reduces false warnings due to magnetometer inconsistencies.
-  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
+- TBD
 
 ### Control
 
@@ -71,26 +56,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Simulation
 
-- [SIH]:
-  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
-    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
-  - SIH now supports the standard VTOL airframe
-    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
-- [Gazebo]:
-  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
-    The default installer scripts (used for CI) and documentation have been updated.
-    This is required because Garden end-of-life is Nov 2024.
-    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
-  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
-  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
-  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
-  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
-  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
-  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
-  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
-  - [Moving platform simulation](../sim_gazebo_gz/worlds#moving-platform) ([PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471))
+- TBD
 
 ### Ethernet
 
@@ -98,7 +64,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### uXRCE-DDS / ROS2
 
-- **[Feature]** <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically ([PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
+- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
 
 ### MAVLink
 
@@ -106,8 +72,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Multi-Rotor
 
-- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
-- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)
+- TBD
 
 ### VTOL
 
@@ -115,29 +80,11 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Fixed-wing
 
-- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
+- TBD
 
 ### Rover
 
-This release contains a major rework for the rover support in PX4:
-
-- Complete restructure of the [rover related documentation](../frames_rover/index.md).
-- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
-- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
-  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
-- New module dedicated to [differential rovers](../frames_rover/differential.md):
-  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
-- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
-  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
-- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
-  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
-  - Generic Differential Rover `50000`.
-  - Generic Ackermann Rover `51000`.
-  - Axial SCX10 2 Trail Honcho `51001`.
-  - Generic Mecanum Rover `52000`.
-- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
-- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
-- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
+- TBD
 
 ### ROS 2
 

docs/en/ros2/px4_ros2_control_interface.md

@@ -341,6 +341,7 @@ The used types also define the compatibility with different vehicle types.
 The following sections provide a list of supported setpoint types:
 
 - [GotoSetpointType](#go-to-setpoint-gotosetpointtype): Smooth position and (optionally) heading control
+- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
 - [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
 
 :::tip
@@ -355,7 +356,7 @@ You can add your own setpoint types by adding a class that inherits from `px4_ro
 This setpoint type is currently only supported for multicopters.
 :::
 
-Smoothly control position and (optionally) heading setpoints with the [px4_ros2::GotoSetpointType](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
+Smoothly control position and (optionally) heading setpoints with the [`px4_ros2::GotoSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
 The setpoint type is streamed to FMU based position and heading smoothers formulated with time-optimal, maximum-jerk trajectories, with velocity and acceleration constraints.
 
 The most trivial use is simply inputting a 3D position into the update method:
@@ -400,6 +401,137 @@ _goto_setpoint->update(
   max_heading_rate_rad_s);
 ```
 
+#### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType)
+
+<Badge type="warning" text="Fixed wing only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+::: info
+This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode.
+:::
+
+Use the [`px4_ros2::FwLateralLongitudinalSetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1FwLateralLongitudinalSetpointType.html) to directly control the lateral and longitudinal dynamics of a fixed-wing vehicle — that is, side-to-side motion (turning/banking) and forward/vertical motion (speeding up and climbing/descending), respectively.
+This setpoint is streamed to the PX4 [_FwLateralLongitudinalControl_ module](../modules/modules_controller.md#fw-lat-lon-control), which decouples lateral and longitudinal inputs while ensuring that vehicle limits are respected.
+
+To control the vehicle, at least one lateral **and** one longitudinal setpoint must be provided:
+
+1. Of the longitudinal inputs: either `altitude` or `height_rate` must be finite to control vertical motion.
+   If both are set to `NAN`, the vehicle will maintain its current altitude.
+2. Of the lateral inputs: at least one of `course`, `airspeed_direction`, or `lateral_acceleration` must be finite.
+
+For a detailed description of the controllable parameters, please refer to message definitions ([FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) and [FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)).
+
+##### Basic Usage
+
+This type has a number of update methods, each allowing you to specify an increasing number of setpoints.
+
+The simplest method is `updateWithAltitude()`, which allows you to specify a `course` and `altitude` target setpoint:
+
+```cpp
+const float altitude_msl = 500.F;
+const float course = 0.F; // due North
+_fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl, course);
+```
+
+PX4 uses the setpoints to compute the _roll angle_, _pitch angle_ and _throttle_ setpoints that are sent to lower level controllers.
+Note that the commanded flight is expected to be relatively gentle/unaggressive when using this method.
+This is done as follows:
+
+- Lateral control output:
+
+  course setpoint (set by user) &rarr; airspeed direction (heading) setpoint &rarr; lateral acceleration setpoint &rarr; roll angle setpoint.
+
+- Longitudinal control output:
+
+  altitude setpoint (set by user) &rarr; height rate setpoint &rarr; pitch angle setpoint and throttle settings.
+
+The `updateWithHeightRate()` method allows you to set a target `course` and `height_rate` (this is useful if the speed of ascent or descent matters, or needs to be dynamically controlled):
+
+```cpp
+const float height_rate = 2.F;
+const float course = 0.F; // due North
+_fw_lateral_longitudinal_setpoint->updateWithHeightRate(height_rate, course);
+```
+
+The `updateWithAltitude()` and `updateWithHeightRate()` methods allow you to additionally control the equivalent airspeed or lateral acceleration by specifying them as the third and fourth arguments, respectively:
+
+```cpp
+const float altitude_msl = 500.F;
+const float course = 0.F; // due North
+const float equivalent_aspd = 15.F; // m/s
+const float lateral_acceleration = 2.F; // FRD, used as feedforward
+
+_fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl,
+  course,
+  equivalent_aspd,
+  lateral_acceleration);
+```
+
+The equivalent airspeed and lateral acceleration arguments are defined as `std::optional<float>`, so you can omit any of them by passing `std::nullopt`.
+
+::: tip
+If both lateral acceleration and course setpoints are provided, the lateral acceleration setpoint will be used as feedforward.
+:::
+
+##### Full Control Using the Setpoint Struct
+
+For full flexibility, you can create and pass a [`FwLateralLongitudinalSetpoint`](https://auterion.github.io/px4-ros2-interface-lib/structpx4__ros2_1_1FwLateralLongitudinalSetpoint.html) struct.
+Each field is templated with `std::optional<float>`.
+
+::: tip
+If both course and airspeed direction are set: airspeed direction takes precedence, course is not controlled.
+Lateral acceleration is treated as feedforward if either course or airspeed direction are also finite.
+If both altitude and height rate are set: height rate takes precedence, altitude is not controlled.
+:::
+
+```cpp
+px4_ros2::FwLateralLongitudinalSetpoint setpoint_s;
+
+setpoint_s.withCourse(0.F);
+// setpoint_s.withAirspeedDirection(0.2F); // uncontrolled
+setpoint_s.withLateralAcceleration(2.F); // feedforward
+//setpoint_s.withAltitude(500.F); // uncontrolled
+setpoint_s.withHeightRate(2.F);
+setpoint_s.withEquivalentAirspeed(15.F);
+
+_fw_lateral_longitudinal_setpoint->update(setpoint_s);
+```
+
+The diagram below illustrates the interaction between the `FwLateralLongitudinalSetpointType` and PX4 when all inputs are set.
+
+![FW ROS Interaction](../../assets/middleware/ros2/px4_ros2_interface_lib/fw_lat_long_ros_interaction.svg)
+
+##### Advanced Configuration (Optional)
+
+You can also pass a [`FwControlConfiguration`](https://auterion.github.io/px4-ros2-interface-lib/structpx4__ros2_1_1FwControlConfiguration.html) struct along with the setpoint to override default controller settings and constraints such as pitch limits, throttle limits, and target sink/climb rates.
+This is intended for advanced users:
+
+```cpp
+px4_ros2::FwLateralLongitudinalSetpoint setpoint_s;
+
+setpoint_s.withAirspeedDirection(0.F);
+setpoint_s.withLateralAcceleration(2.F); // feedforward
+setpoint_s.withAltitude(500.F);
+setpoint_s.withEquivalentAirspeed(15.F);
+
+px4_ros2::FwControlConfiguration config_s;
+
+config_s.withTargetClimbRate(3.F);
+config_s.withMaxAcceleration(5.F);
+config_s.withThrottleLimits(0.4F, 0.6F);
+
+_fw_lateral_longitudinal_setpoint->update(setpoint_s, config_s);
+```
+
+All configuration fields are defined as `std::optional<float>`.
+Unset values will default to the PX4 configuration.
+See [LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) and [FixedWingLongitudinalConfiguration](../msg_docs/LongitudinalControlConfiguration.md) for more information on configuration options.
+
+:::info
+For safety, PX4 automatically limits configuration values to stay within the vehicle’s constraints.
+For example, throttle overrides are clamped to remain between [`FW_THR_MIN`](../advanced_config/parameter_reference.md#FW_THR_MIN)
+and [`FW_THR_MAX`](../advanced_config/parameter_reference.md#FW_THR_MAX).
+:::
+
 #### Direct Actuator Control Setpoint (DirectActuatorsSetpointType)
 
 Actuators can be directly controlled using the [px4_ros2::DirectActuatorsSetpointType](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1DirectActuatorsSetpointType.html) setpoint type.
@@ -411,11 +543,55 @@ For example to control a quadrotor, you need to set the first 4 motors according
 If you want to control an actuator that does not control the vehicle's motion, but for example a payload servo, see [below](#controlling-an-independent-actuator-servo).
 :::
 
+### Controlling a VTOL
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+
+To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:
+
+- Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`GotoSetpointType`](#go-to-setpoint-gotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
+- Fixed-wing mode: Use the [`FwLateralLongitudinalSetpointType`](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype).
+
+As long as the VTOL remains in either multicopter or fixed-wing mode throughout the external mode, no additional handling is required.
+
+If you would like to command a VTOL transition in your external mode, you need to use the [VTOL API](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1VTOL.html). The VTOL API provides the functionality to command a transition and query the current state of the vehicle.
+
+Use this API with caution!
+Commanding transitions externally makes the user partially responsible for ensuring smooth and safe behavior, unlike onboard transitions (e.g. via RC switch) where PX4 handles the full process:
+
+1. Ensure that both the `TrajectorySetpointType` and the `FwLateralLongitudinalSetpointType` are available to your mode.
+2. Create an instance of `px4_ros2::VTOL` in the constructor of your mode.
+3. To command a transition, you can use the `toMulticopter()` or `toFixedwing()` methods on your VTOL object to set the desired state.
+4. During transition, send the following combination of setpoints:
+
+   ```cpp
+   // Assuming the instance of the px4_ros2::VTOL object is called vtol
+
+   // Send TrajectorySetpointType as follows:
+   Eigen::Vector3f acceleration_sp = vtol.computeAccelerationSetpointDuringTransition();
+   Eigen::Vector3f velocity_sp{NAN, NAN, 0.f};
+
+   _trajectory_setpoint->update(velocity_sp, acceleration_sp);
+
+   // Send FwLateralLongitudinalSetpointType with lateral input to realign vehicle as desired
+
+   float course_sp = 0.F; // North
+
+   _fw_lateral_longitudinal_setpoint->updateWithAltitude(NAN, course_sp)
+   ```
+
+   This will ensure that the transition is handled properly within PX4.
+   You can optionally pass a deceleration setpoint to `computeAccelerationSetpointDuringTransition()` to be used during back-transitions.
+
+To check the current state of the vehicle, use the `getCurrentState()` method on your `px4_ros2::VTOL` object.
+
+See [this external flight mode implementation](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/modes/vtol) for a practical example on how to use this API.
+
 ### Controlling an Independent Actuator/Servo
 
 If you want to control an independent actuator (a servo), follow these steps:
 
-1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink)
+1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink).
 2. Create an instance of [px4_ros2::PeripheralActuatorControls](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1PeripheralActuatorControls.html) in the constructor of your mode.
 3. Call the `set()` method to control the actuator(s).
    This can be done independently of any active setpoints.
@@ -427,6 +603,7 @@ You can access PX4 telemetry topics directly via the following classes:
 - [OdometryGlobalPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryGlobalPosition.html): Global position
 - [OdometryLocalPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryLocalPosition.html): Local position, velocity, acceleration, and heading
 - [OdometryAttitude](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryAttitude.html): Vehicle attitude
+- [OdometryAirspeed](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryAirspeed.html): Airspeed
 
 For example, you can query the vehicle's current position estimate as follows:
 

docs/en/ros2/px4_ros2_msg_translation_node.md

@@ -1,6 +1,6 @@
 # PX4 ROS 2 Message Translation Node
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 The message translation node allows ROS 2 applications that were compiled against different versions of the PX4 messages to interwork with newer versions of PX4, and vice versa, without having to change either the application or the PX4 side.
 
@@ -207,7 +207,7 @@ Message translations can be either _direct_ or _generic_.
 
 ### File Structure
 
-Starting from PX4 v1.16 (main), the PX4-Autopilot `msg/` and `srv/` directories are structured as follows:
+Starting from PX4 v1.16, the PX4-Autopilot `msg/` and `srv/` directories are structured as follows:
 
 ```
 PX4-Autopilot

docs/en/ros2/user_guide.md

@@ -28,13 +28,13 @@ The agent acts as a proxy for the client to publish and subscribe to topics in t
 
 The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is generated at build time and included in PX4 firmware by default.
 It includes both the "generic" micro XRCE-DDS client code, and PX4-specific translation code that it uses to publish to/from uORB topics.
-The subset of uORB messages that are generated into the client are listed in [PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+The subset of uORB messages that are generated into the client are specified in [dds_topics.yaml](../middleware/dds_topics.md).
 The generator uses the uORB message definitions in the source tree: [PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg) to create the code for sending ROS 2 messages.
 
 ROS 2 applications need to be built in a workspace that has the _same_ message definitions that were used to create the uXRCE-DDS client module in the PX4 Firmware.
 You can include these by cloning the interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs) into your ROS 2 workspace (branches in the repo correspond to the messages for different PX4 releases).
 
-Starting from PX4 v1.16 (main) in which [message versioning](../middleware/uorb.md#message-versioning) was introduced, ROS2 applications may use a different version of message definitions than those used to build PX4.
+Starting from PX4 v1.16, in which [message versioning](../middleware/uorb.md#message-versioning) was introduced, ROS2 applications may use a different version of message definitions than those used to build PX4.
 This requires the [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to be running to ensure that messages can be converted and exchanged correctly.
 
 Note that the micro XRCE-DDS _agent_ itself has no dependency on client-side code.
@@ -367,7 +367,7 @@ accelerometer_integral_dt: 4739
 
 #### (Optional) Starting the Translation Node
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="tip" />  <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 This example is built with PX4 and ROS2 versions that use the same message definitions.
 If you were to use incompatible [message versions](../middleware/uorb.md#message-versioning) you would need to install and run the [Message Translation Node](./px4_ros2_msg_translation_node.md) as well, before running the example:
@@ -394,7 +394,7 @@ To control applications, ROS 2 applications:
 - subscribe to (listen to) telemetry topics published by PX4
 - publish to topics that cause PX4 to perform some action.
 
-The topics that you can use are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and you can get more information about their data in the [uORB Message Reference](../msg_docs/index.md).
+The topics that you can use are defined in [dds_topics.yaml](../middleware/dds_topics.md), and you can get more information about their data in the [uORB Message Reference](../msg_docs/index.md).
 For example, [VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) can be used to get the vehicle global position, while [VehicleCommand](../msg_docs/VehicleCommand.md) can be used to command actions such as takeoff and land.
 
 The [ROS 2 Example applications](#ros-2-example-applications) examples below provide concrete examples of how to use these topics.
@@ -728,7 +728,7 @@ Custom topic and service namespaces can be applied at build time (changing [dds_
 - A custom namespace can be provided for simulations (only) by setting the environment variable `PX4_UXRCE_DDS_NS` before starting the simulation.
 
 ::: info
-Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#px4-ros-2-service-servers).
+Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](../middleware/dds_topics.md) and all [service servers](#px4-ros-2-service-servers).
 Therefore, commands like:
 
 ```sh

docs/en/sim_gazebo_gz/index.md

@@ -392,6 +392,11 @@ As long as the world file and the model file are in the Gazebo search path (`GZ_
 However, `make px4_sitl gz_<model>_<world>` won't work with them.
 :::
 
+## Extending Gazebo with Plugins
+
+World, vehicle (model), and sensor behaviour can be customised using plugins.
+For more information see [Gazebo Plugins](../sim_gazebo_gz/plugins.md).
+
 ## Multi-Vehicle Simulation
 
 Multi-Vehicle simulation is supported on Linux hosts.

docs/en/sim_gazebo_gz/plugins.md

@@ -0,0 +1,91 @@
+# Gazebo Plugins
+
+Gazebo plugins extend the simulator with custom functionality not provided by default. They can be attached to different entity types and allow you to add new sensors, modify world physics, or interact with the simulation environment.
+
+## Plugin Types
+
+Plugins can be attached to these entity types:
+
+- **World** - Global simulation behavior
+- **Model** - Specific model functionality
+- **Sensor** - Custom sensor implementations
+- **Actor** - Dynamic entity behavior
+
+## Supported Plugins
+
+PX4 currently supports these plugins:
+
+- [OpticalFlowSystem](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/optical_flow): Provides optical flow sensor simulation using OpenCV-based flow calculation.
+- [GstCameraSystem](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/gstreamer): Streams camera feeds via UDP (RTP/H.264) or RTMP with optional NVIDIA CUDA hardware acceleration.
+- [MovingPlatformController](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/moving_platform_controller): Controls moving platforms (ships, trucks, etc.) for takeoff and landing scenarios.
+  Includes configurable velocity, heading, and random fluctuations.
+
+## Plugin Registration
+
+Plugins must be registered in the [server.config](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/server.config) file to be available in your world:
+
+```xml
+<server_config>
+  <plugins>
+    <!-- Core Gazebo systems -->
+    <plugin entity_name="*" entity_type="world" filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
+
+    <!-- Custom PX4 plugins -->
+    <plugin entity_name="*" entity_type="world" filename="libOpticalFlowSystem.so" name="custom::OpticalFlowSystem"/>
+    <plugin entity_name="*" entity_type="world" filename="libGstCameraSystem.so" name="custom::GstCameraSystem"/>
+  </plugins>
+</server_config>
+```
+
+## Creating Custom Plugins
+
+When developing new plugins:
+
+1. **Follow the plugin architecture** - Implement desired interfaces.
+
+   You can start by copying the [Template plugin](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/template_plugin) which is a simple example that only implements `ISystemPreUpdate` and `ISystemPostUpdate`.
+   The interfaces are specified in the official [Gazebo documentation](https://gazebosim.org/api/sim/9/createsystemplugins.html).
+
+2. **Register your plugin** - Add it to [server.config](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/server.config) for discovery.
+3. **Use the custom namespace** - Follow the pattern `custom::YourPluginName`.
+
+### Example Plugin Structure
+
+```cpp
+class YourCustomSystem :
+    public gz::sim::System,
+    public gz::sim::ISystemPreUpdate,
+    public gz::sim::ISystemPostUpdate
+{
+public:
+    void PreUpdate(const gz::sim::UpdateInfo &_info,
+                   gz::sim::EntityComponentManager &_ecm) final;
+    void PostUpdate(const gz::sim::UpdateInfo &_info,
+                    const gz::sim::EntityComponentManager &_ecm) final;
+};
+
+// Plugin registration
+GZ_ADD_PLUGIN(YourCustomSystem, gz::sim::System,
+              YourCustomSystem::ISystemPreUpdate,
+              YourCustomSystem::ISystemPostUpdate)
+GZ_ADD_PLUGIN_ALIAS(YourCustomSystem, "custom::YourCustomSystem")
+```
+
+## Enabling a Plugin
+
+For world plugins all you need to do is [register the plugin](#plugin-registration) (add it to the `server.config`).
+It will then be available to all worlds and vehicles.
+
+The process for adding vehicle model/sensor plugins is not documented.
+This can tracked through [PX4-Autopilot#2493](https://github.com/PX4/PX4-Autopilot/issues/24939).
+
+## Resources
+
+- **PX4 Plugins**: [Repository source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins)
+- **Official Gazebo Documentation**: [System Plugins Guide](https://gazebosim.org/api/sim/9/createsystemplugins.html)
+- **Server Configuration**: [Configuration Reference](https://gazebosim.org/api/sim/9/server_config.html)
+- **PX4 Gazebo-classic Plugins**: [PX4 Gazebo Classic Plugins](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/main/src)
+
+::: info
+Plugins for modern Gazebo are still evolving. The plugin system differs from Gazebo Classic.
+:::

docs/en/sim_gazebo_gz/worlds.md

@@ -75,7 +75,7 @@ World with walls that is designed for testing [collision prevention](../computer
 
 ## Moving Platform
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
+<Badge type="tip" text="PX4 v1.16" />
 
 [Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with:
 

docs/en/telemetry/jfi_telemetry.md

@@ -20,7 +20,7 @@ Operating in the 2.4GHz frequency band, it allows unrestricted global use withou
 
 - **Frequency Band:** 2.4GHz
 - **Speed:** Up to 11 Mbps (adjustable)
-- **Range:** Up to 500 meters (varies upon environments)
+- **Range:** Up to 1000 meters (varies upon environments)
 - **Payload Capacity:** Up to 1024 bytes
 
 ### Network Schemes

docs/ko/SUMMARY.md

@@ -459,6 +459,7 @@
       - [Vehicles](sim_gazebo_gz/vehicles.md)
         - [Advanced Lift Drag Tool](sim_gazebo_gz/tools_avl_automation.md)
       - [Worlds](sim_gazebo_gz/worlds.md)
+      - [Plugins](sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
     - [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
@@ -491,12 +492,17 @@
       - [Versioned](msg_docs/versioned_messages.md)
         - [ActuatorMotors](msg_docs/ActuatorMotors.md)
         - [ActuatorServos](msg_docs/ActuatorServos.md)
+        - [AirspeedValidated](msg_docs/AirspeedValidated.md)
         - [ArmingCheckReply](msg_docs/ArmingCheckReply.md)
         - [ArmingCheckRequest](msg_docs/ArmingCheckRequest.md)
         - [BatteryStatus](msg_docs/BatteryStatus.md)
         - [ConfigOverrides](msg_docs/ConfigOverrides.md)
+        - [FixedWingLateralSetpoint](msg_docs/FixedWingLateralSetpoint.md)
+        - [FixedWingLongitudinalSetpoint](msg_docs/FixedWingLongitudinalSetpoint.md)
         - [GotoSetpoint](msg_docs/GotoSetpoint.md)
         - [HomePosition](msg_docs/HomePosition.md)
+        - [LateralControlConfiguration](msg_docs/LateralControlConfiguration.md)
+        - [LongitudinalControlConfiguration](msg_docs/LongitudinalControlConfiguration.md)
         - [ManualControlSetpoint](msg_docs/ManualControlSetpoint.md)
         - [ModeCompleted](msg_docs/ModeCompleted.md)
         - [RegisterExtComponentReply](msg_docs/RegisterExtComponentReply.md)
@@ -525,10 +531,8 @@
         - [ActuatorTest](msg_docs/ActuatorTest.md)
         - [AdcReport](msg_docs/AdcReport.md)
         - [Airspeed](msg_docs/Airspeed.md)
-        - [AirspeedValidated](msg_docs/AirspeedValidated.md)
         - [AirspeedWind](msg_docs/AirspeedWind.md)
         - [AutotuneAttitudeControlStatus](msg_docs/AutotuneAttitudeControlStatus.md)
-        - [Buffer128](msg_docs/Buffer128.md)
         - [ButtonEvent](msg_docs/ButtonEvent.md)
         - [CameraCapture](msg_docs/CameraCapture.md)
         - [CameraStatus](msg_docs/CameraStatus.md)
@@ -567,6 +571,9 @@
         - [FailsafeFlags](msg_docs/FailsafeFlags.md)
         - [FailureDetectorStatus](msg_docs/FailureDetectorStatus.md)
         - [FigureEightStatus](msg_docs/FigureEightStatus.md)
+        - [FixedWingLateralGuidanceStatus](msg_docs/FixedWingLateralGuidanceStatus.md)
+        - [FixedWingLateralStatus](msg_docs/FixedWingLateralStatus.md)
+        - [FixedWingRunwayControl](msg_docs/FixedWingRunwayControl.md)
         - [FlightPhaseEstimation](msg_docs/FlightPhaseEstimation.md)
         - [FollowTarget](msg_docs/FollowTarget.md)
         - [FollowTargetEstimator](msg_docs/FollowTargetEstimator.md)
@@ -619,7 +626,6 @@
         - [NavigatorMissionItem](msg_docs/NavigatorMissionItem.md)
         - [NavigatorStatus](msg_docs/NavigatorStatus.md)
         - [NormalizedUnsignedSetpoint](msg_docs/NormalizedUnsignedSetpoint.md)
-        - [NpfgStatus](msg_docs/NpfgStatus.md)
         - [ObstacleDistance](msg_docs/ObstacleDistance.md)
         - [OffboardControlMode](msg_docs/OffboardControlMode.md)
         - [OnboardComputerStatus](msg_docs/OnboardComputerStatus.md)
@@ -655,13 +661,12 @@
         - [RcParameterMap](msg_docs/RcParameterMap.md)
         - [RoverAttitudeSetpoint](msg_docs/RoverAttitudeSetpoint.md)
         - [RoverAttitudeStatus](msg_docs/RoverAttitudeStatus.md)
-        - [RoverMecanumGuidanceStatus](msg_docs/RoverMecanumGuidanceStatus.md)
-        - [RoverMecanumSetpoint](msg_docs/RoverMecanumSetpoint.md)
-        - [RoverMecanumStatus](msg_docs/RoverMecanumStatus.md)
+        - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
         - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](msg_docs/RoverRateStatus.md)
         - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
+        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
         - [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
         - [Rpm](msg_docs/Rpm.md)
         - [RtlStatus](msg_docs/RtlStatus.md)
@@ -693,6 +698,7 @@
         - [TelemetryStatus](msg_docs/TelemetryStatus.md)
         - [TiltrotorExtraControls](msg_docs/TiltrotorExtraControls.md)
         - [TimesyncStatus](msg_docs/TimesyncStatus.md)
+        - [TrajectorySetpoint6dof](msg_docs/TrajectorySetpoint6dof.md)
         - [TransponderReport](msg_docs/TransponderReport.md)
         - [TuneControl](msg_docs/TuneControl.md)
         - [UavcanParameterRequest](msg_docs/UavcanParameterRequest.md)
@@ -716,13 +722,16 @@
         - [WheelEncoders](msg_docs/WheelEncoders.md)
         - [Wind](msg_docs/Wind.md)
         - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
+        - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
+        - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](middleware/mavlink.md)
+    - [MAVLink Messaging](mavlink/index.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)
       - [Receiving Messages](mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](mavlink/custom_messages.md)
-      - [Standard Modes Protocol](mavlink/standard_modes.md)
+      - [Protocols/Microservices](mavlink/protocols.md)
+        - [Standard Modes Protocol](mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
   - [모듈과 명령어](modules/modules_main.md)
     - [자동 튜닝](modules/modules_autotune.md)
@@ -852,6 +861,7 @@
 
 - [출시](releases/index.md)
   - [main (alpha)](releases/main.md)
+  - [1.16 (release candidate)](releases/1.16.md)
   - [1.15 (stable)](releases/1.15.md)
   - [1.14](releases/1.14.md)
   - [1.13](releases/1.13.md)

docs/ko/_sidebar.md

@@ -460,6 +460,7 @@
       - [Vehicles](/sim_gazebo_gz/vehicles.md)
         - [Advanced Lift Drag Tool](/sim_gazebo_gz/tools_avl_automation.md)
       - [Worlds](/sim_gazebo_gz/worlds.md)
+      - [Plugins](/sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](/sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](/sim_gazebo_gz/multi_vehicle_simulation.md)
     - [Gazebo Classic Simulation](/sim_gazebo_classic/index.md)
@@ -492,12 +493,17 @@
       - [Versioned](/msg_docs/versioned_messages.md)
         - [ActuatorMotors](/msg_docs/ActuatorMotors.md)
         - [ActuatorServos](/msg_docs/ActuatorServos.md)
+        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [ArmingCheckReply](/msg_docs/ArmingCheckReply.md)
         - [ArmingCheckRequest](/msg_docs/ArmingCheckRequest.md)
         - [BatteryStatus](/msg_docs/BatteryStatus.md)
         - [ConfigOverrides](/msg_docs/ConfigOverrides.md)
+        - [FixedWingLateralSetpoint](/msg_docs/FixedWingLateralSetpoint.md)
+        - [FixedWingLongitudinalSetpoint](/msg_docs/FixedWingLongitudinalSetpoint.md)
         - [GotoSetpoint](/msg_docs/GotoSetpoint.md)
         - [HomePosition](/msg_docs/HomePosition.md)
+        - [LateralControlConfiguration](/msg_docs/LateralControlConfiguration.md)
+        - [LongitudinalControlConfiguration](/msg_docs/LongitudinalControlConfiguration.md)
         - [ManualControlSetpoint](/msg_docs/ManualControlSetpoint.md)
         - [ModeCompleted](/msg_docs/ModeCompleted.md)
         - [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
@@ -526,10 +532,8 @@
         - [ActuatorTest](/msg_docs/ActuatorTest.md)
         - [AdcReport](/msg_docs/AdcReport.md)
         - [Airspeed](/msg_docs/Airspeed.md)
-        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [AirspeedWind](/msg_docs/AirspeedWind.md)
         - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
-        - [Buffer128](/msg_docs/Buffer128.md)
         - [ButtonEvent](/msg_docs/ButtonEvent.md)
         - [CameraCapture](/msg_docs/CameraCapture.md)
         - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -568,6 +572,9 @@
         - [FailsafeFlags](/msg_docs/FailsafeFlags.md)
         - [FailureDetectorStatus](/msg_docs/FailureDetectorStatus.md)
         - [FigureEightStatus](/msg_docs/FigureEightStatus.md)
+        - [FixedWingLateralGuidanceStatus](/msg_docs/FixedWingLateralGuidanceStatus.md)
+        - [FixedWingLateralStatus](/msg_docs/FixedWingLateralStatus.md)
+        - [FixedWingRunwayControl](/msg_docs/FixedWingRunwayControl.md)
         - [FlightPhaseEstimation](/msg_docs/FlightPhaseEstimation.md)
         - [FollowTarget](/msg_docs/FollowTarget.md)
         - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
@@ -620,7 +627,6 @@
         - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
         - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
         - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
-        - [NpfgStatus](/msg_docs/NpfgStatus.md)
         - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
         - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
         - [OnboardComputerStatus](/msg_docs/OnboardComputerStatus.md)
@@ -656,13 +662,12 @@
         - [RcParameterMap](/msg_docs/RcParameterMap.md)
         - [RoverAttitudeSetpoint](/msg_docs/RoverAttitudeSetpoint.md)
         - [RoverAttitudeStatus](/msg_docs/RoverAttitudeStatus.md)
-        - [RoverMecanumGuidanceStatus](/msg_docs/RoverMecanumGuidanceStatus.md)
-        - [RoverMecanumSetpoint](/msg_docs/RoverMecanumSetpoint.md)
-        - [RoverMecanumStatus](/msg_docs/RoverMecanumStatus.md)
+        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
+        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
         - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
         - [Rpm](/msg_docs/Rpm.md)
         - [RtlStatus](/msg_docs/RtlStatus.md)
@@ -694,6 +699,7 @@
         - [TelemetryStatus](/msg_docs/TelemetryStatus.md)
         - [TiltrotorExtraControls](/msg_docs/TiltrotorExtraControls.md)
         - [TimesyncStatus](/msg_docs/TimesyncStatus.md)
+        - [TrajectorySetpoint6dof](/msg_docs/TrajectorySetpoint6dof.md)
         - [TransponderReport](/msg_docs/TransponderReport.md)
         - [TuneControl](/msg_docs/TuneControl.md)
         - [UavcanParameterRequest](/msg_docs/UavcanParameterRequest.md)
@@ -717,13 +723,16 @@
         - [WheelEncoders](/msg_docs/WheelEncoders.md)
         - [Wind](/msg_docs/Wind.md)
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
+        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
+        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](/middleware/mavlink.md)
+    - [MAVLink Messaging](/mavlink/index.md)
       - [Adding Messages](/mavlink/adding_messages.md)
       - [Streaming Messages](/mavlink/streaming_messages.md)
       - [Receiving Messages](/mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](/mavlink/custom_messages.md)
-      - [Standard Modes Protocol](/mavlink/standard_modes.md)
+      - [Protocols/Microservices](/mavlink/protocols.md)
+        - [Standard Modes Protocol](/mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
   - [모듈과 명령어](/modules/modules_main.md)
     - [자동 튜닝](/modules/modules_autotune.md)
@@ -740,6 +749,7 @@
       - [자기 센서](/modules/modules_driver_magnetometer.md)
       - [광류 센서](/modules/modules_driver_optical_flow.md)
       - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md)
+      - [Radio Control](/modules/modules_driver_radio_control.md)
       - [Transponder](/modules/modules_driver_transponder.md)
     - [추정기](/modules/modules_estimator.md)
     - [시뮬레이션](/modules/modules_simulation.md)
@@ -852,6 +862,7 @@
 
 - [출시](/releases/index.md)
   - [main (alpha)](/releases/main.md)
+  - [1.16 (release candidate)](/releases/1.16.md)
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)

docs/ko/computer_vision/collision_prevention.md

@@ -47,7 +47,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin
 
 - Attach and configure the distance sensor on a particular port (see [sensor-specific docs](../sensor/rangefinders.md)) and enable collision prevention using [CP_DIST](#CP_DIST).
 - 방향을 설정하려면 드라이버를 수정하십시오.
- This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
+  This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
 - Modify the driver to set the _field of view_ in the distance sensor UORB topic (`distance_sensor_s.h_fov`).
 
 ## PX4 (Software) Setup
@@ -203,85 +203,85 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
 
 2. Configure PX4 to publish obstacle distance data (so that it is available to PlotJuggler):
 
- Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
+  Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
 
- ```sh
- - topic: /fmu/out/obstacle_distance_fused
-   type: px4_msgs::msg::ObstacleDistance
- ```
+  ```sh
+  - topic: /fmu/out/obstacle_distance_fused
+    type: px4_msgs::msg::ObstacleDistance
+  ```
 
- For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
+  For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
- In the **Script Editor** tab, add following scripts in the appropriate sections:
+  In the **Script Editor** tab, add following scripts in the appropriate sections:
 
- - **Global code, executed once:**
+  - **Global code, executed once:**
 
-  ```lua
-  obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
-  obs_dist_min = Timeseries.new("obstacle_distance_minimum")
-  ```
+    ```lua
+    obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
+    obs_dist_min = Timeseries.new("obstacle_distance_minimum")
+    ```
 
- - **function(tracker_time)**
+  - **function(tracker_time)**
 
-  ```lua
-  obs_dist_fused_xy:clear()
+    ```lua
+    obs_dist_fused_xy:clear()
 
-  i = 0
-  angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
-  increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
-  min_dist = 65535
+    i = 0
+    angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
+    increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
+    min_dist = 65535
 
-  -- Cache increment and angle_offset values at tracker_time to avoid repeated calls
-  local angle_offset_value = angle_offset:atTime(tracker_time)
-  local increment_value = increment:atTime(tracker_time)
+    -- Cache increment and angle_offset values at tracker_time to avoid repeated calls
+    local angle_offset_value = angle_offset:atTime(tracker_time)
+    local increment_value = increment:atTime(tracker_time)
 
-  if increment_value == nil or increment_value <= 0 then
-      print("Invalid increment value: " .. tostring(increment_value))
-      return
-  end
+    if increment_value == nil or increment_value <= 0 then
+        print("Invalid increment value: " .. tostring(increment_value))
+        return
+    end
 
-  local max_steps = math.floor(360 / increment_value)
+    local max_steps = math.floor(360 / increment_value)
 
-  while i < max_steps do
-      local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
-      local distance = TimeseriesView.find(str)
-      if distance == nil then
-          print("No distance data for: " .. str)
-          break
-      end
+    while i < max_steps do
+        local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
+        local distance = TimeseriesView.find(str)
+        if distance == nil then
+            print("No distance data for: " .. str)
+            break
+        end
 
-      local dist = distance:atTime(tracker_time)
-      if dist ~= nil and dist < 65535 then
-          -- Calculate angle and Cartesian coordinates
-          local angle = angle_offset_value + i * increment_value
-          local y = dist * math.cos(math.rad(angle))
-          local x = dist * math.sin(math.rad(angle))
+        local dist = distance:atTime(tracker_time)
+        if dist ~= nil and dist < 65535 then
+            -- Calculate angle and Cartesian coordinates
+            local angle = angle_offset_value + i * increment_value
+            local y = dist * math.cos(math.rad(angle))
+            local x = dist * math.sin(math.rad(angle))
 
-          obs_dist_fused_xy:push_back(x, y)
+            obs_dist_fused_xy:push_back(x, y)
 
-          -- Update minimum distance
-          if dist < min_dist then
-              min_dist = dist
-          end
-      end
+            -- Update minimum distance
+            if dist < min_dist then
+                min_dist = dist
+            end
+        end
 
-      i = i + 1
-  end
+        i = i + 1
+    end
 
-  -- Push minimum distance once after the loop
-  if min_dist < 65535 then
-      obs_dist_min:push_back(tracker_time, min_dist)
-  else
-      print("No valid minimum distance found")
-  end
-  ```
+    -- Push minimum distance once after the loop
+    if min_dist < 65535 then
+        obs_dist_min:push_back(tracker_time, min_dist)
+    else
+        print("No valid minimum distance found")
+    end
+    ```
 
 4. Enter a name for the script on the top right, and press **Save**.
- Once saved, the script should appear in the _Active Scripts_ section.
+  Once saved, the script should appear in the _Active Scripts_ section.
 
 5. Start streaming the data using the approach described in [Plotting uORB Topic Data in Real Time using PlotJuggler](../debug/plotting_realtime_uorb_data.md).
- You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
+  You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
 
 Note that you have to press **Save** again to re-enable the scripts after loading a new log file or otherwise clearing data.
 

docs/ko/config/safety.md

@@ -187,7 +187,24 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT
 
 ## Position (GNSS) Loss Failsafe
 
-The _Position Loss Failsafe_ is triggered if the quality of the PX4 global position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
+The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
+The sections below cover first the trigger and then the failsafe action taken by the controller.
+
+### Position Loss Failsafe Trigger
+
+There are basically two mechanisms in PX4 to trigger position failsafes:
+
+- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
+- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
+
+The relevant parameters shown below.
+
+| 매개변수                                                                                                                                                                 | 설명                                                                                                                                                                                                                             |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a id="EKF2_NOAID_TOUT"></a>[EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT)                   | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. |
+| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity.                           |
+
+### Position Loss Failsafe Action
 
 The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):
 

docs/ko/contribute/docs.md

@@ -182,11 +182,19 @@ Within the repository you created above:
 5. Open previewed pages in your local editor:
 
   First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
-  For example, on Windows command line you can enable VSCode as your default editor by entering:
+  For example, you can enable VSCode as your default editor by entering:
 
-  ```sh
-  set EDITOR=code
-  ```
+  - Windows:
+
+    ```sh
+    set EDITOR=code
+    ```
+
+  - Linux:
+
+    ```sh
+    export EDITOR=code
+    ```
 
   The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).
 

docs/ko/debug/plotting_realtime_uorb_data.md

@@ -96,13 +96,13 @@ Exporting the messages allows ROS 2 and the uXRCE-DDS agent to be independent of
 
 While `px4_msgs` has messages for all uORB topics in PX4, not all messages in `px4_msgs` are available to ROS 2/PlotJuggler by default.
 The set that are available must be built into the client running on PX4.
-These are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+These are defined in [dds_topics.yaml](../middleware/dds_topics.md).
 
 The instructions below explain the changes needed to monitor topics that are not available by default.
 
 ### Missing Topics
 
-If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) to include the topic and rebuild PX4.
+If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](../middleware/dds_topics.md) ([source](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) to include the topic and rebuild PX4.
 
 If working with real hardware you will need to build and [install](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) custom firmware after changing the YAML file.
 
@@ -122,7 +122,7 @@ cd ~/ros2_ws/ && colcon build
 
 ### Custom Topics
 
-After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and export the new message into your ROS 2 workspace.
+After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](../middleware/dds_topics.md), and export the new message into your ROS 2 workspace.
 
 ## See also
 

docs/ko/debug/system_wide_replay.md

@@ -128,8 +128,7 @@ In EKF2 mode, the replay will automatically create the ORB publisher rules descr
 
 To perform an EKF2 replay:
 
-- Record the original log.
-  Optionally set `SDLOG_MODE` to `1` to log from boot.
+- Record the original log with `SDLOG_MODE` set to `1` to log from boot.
 
 - In addition to the `replay` environment variable, set `replay_mode` to `ekf2`:
 

docs/ko/dev_log/log_encryption.md

@@ -12,7 +12,7 @@ To use it you will need to build firmware with this feature enabled and then upl
 :::
 
 :::tip
-Log encryption was has been improved in PX4 main (v1.16+) to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
+Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
 
 In earlier versions the encrypted symmetric key was stored in a separate file.
 For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).

docs/ko/flight_controller/kakuteh7-wing.md

@@ -1,4 +1,6 @@
-# Holybro Kakute H7 V2
+# Holybro Kakute H743-Wing
+
+<Badge type="tip" text="PX4 v1.16" />
 
 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -31,9 +33,7 @@ The board can be bought from one of the following shops (for example):
 | Buz-, Buz+       | Piezo buzzer                      |                                                               |
 | M1 to M14        | Motor signal outputs              |                                                               |
 
-<a id="bootloader"></a>
-
-## 부트로더 업데이트
+## PX4 Bootloader Update {#bootloader}
 
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
@@ -50,7 +50,7 @@ make holybro_kakuteh7-wing_default
 ## 펌웨어 설치
 
 :::info
-KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
+KakuteH7-wing is supported in PX4 v1.16 or newer.
 Prior to that release you will need to manually build and install the firmware.
 :::
 

docs/ko/flight_modes_fw/land.md

@@ -41,11 +41,12 @@ The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/
 
 Land mode behaviour can be configured using the parameters below.
 
-| 매개변수                                                                                                                                            | 설명                                                                                           |
-| ----------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------- |
-| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
-| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG)             | The flight path angle setpoint.                                              |
-| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD)    | The airspeed setpoint.                                                       |
+| 매개변수                                                                                                                                                                       | 설명                                                                                                                                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)                            | The loiter radius that the controller tracks for the whole landing sequence.                                                                                                                                                 |
+| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG)                                        | The flight path angle setpoint.                                                                                                                                                                                              |
+| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD)                               | The airspeed setpoint.                                                                                                                                                                                                       |
+| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN. |
 
 ## See Also
 

docs/ko/flight_modes_fw/takeoff.md

@@ -43,13 +43,14 @@ Reaching the clearance altitude causes the vehicle to enter [Hold mode](../fligh
 
 Parameters that affect both catapult/hand-launch and runway takeoffs:
 
-| 매개변수                                                                                                                                                                       | 설명                                                                                                                                                                                            |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT)                         | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff.                                                                                           |
-| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD)                               | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
-| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase                                                                                                                            |
-| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)          | Maximum climb rate.                                                                                                                                                           |
-| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL)    | Flaps setpoint during takeoff                                                                                                                                                                 |
+| 매개변수                                                                                                                                                                       | 설명                                                                                                                                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT)                         | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff.                                                                                                                                          |
+| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD)                               | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator)                                                |
+| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase                                                                                                                                                                           |
+| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)          | Maximum climb rate.                                                                                                                                                                                                          |
+| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL)    | Flaps setpoint during takeoff                                                                                                                                                                                                                |
+| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |
 
 :::info
 The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
@@ -101,26 +102,25 @@ The _runway takeoff mode_ has the following phases:
 
 :::info
 For a smooth takeoff, the runway wheel controller possibly needs to be tuned.
-It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)) and an outer loop that calculates heading setpoints from course errors and can be tuned via [RWTO_NPFG_PERIOD](#RWTO_NPFG_PERIOD).
+It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)).
 :::
 
 ### Parameters (Runway Takeoff)
 
 Runway takeoff is affected by the following parameters:
 
-| 매개변수                                                                                                                                                  | 설명                                                                                                                                                                                                                           |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF)                                        | Enable runway takeoff                                                                                                                                                                                                        |
-| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN)                            | Enable wheel controller                                                                                                                                                                                                      |
-| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR)             | Max throttle during runway takeoff                                                                                                                                                                                           |
-| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME)       | Throttle ramp up time                                                                                                                                                                                                        |
-| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD)    | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
-| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME)          | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation.                                                                                                          |
-| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD)          | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN.    |
-| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE)                                        | Enable wheel controller nudging while on the runway                                                                                                                                                                          |
-| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN)             | The wingspan of the vehicle. Used to prevent wingstrikes.                                                                                                                                    |
-| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT)       | The height of the wings above ground (ground clearance). Used to prevent wingstrikes.                                                                                     |
-| <a id="RWTO_NPFG_PERIOD"></a>[RWTO_NPFG_PERIOD](../advanced_config/parameter_reference.md#RWTO_NPFG_PERIOD) | L1 period while steering on runway. Increase for less aggressive response to course errors.                                                                                                  |
+| 매개변수                                                                                                                                               | 설명                                                                                                                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF)                                     | Enable runway takeoff                                                                                                                                                                                                        |
+| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN)                         | Enable wheel controller                                                                                                                                                                                                      |
+| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR)          | Max throttle during runway takeoff                                                                                                                                                                                           |
+| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME)    | Throttle ramp up time                                                                                                                                                                                                        |
+| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
+| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME)       | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation.                                                                                                          |
+| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD)       | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN.    |
+| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE)                                     | Enable wheel controller nudging while on the runway                                                                                                                                                                          |
+| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN)          | The wingspan of the vehicle. Used to prevent wingstrikes.                                                                                                                                    |
+| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT)    | The height of the wings above ground (ground clearance). Used to prevent wingstrikes.                                                                                     |
 
 ## See Also
 

docs/ko/flight_modes_rover/ackermann.md

@@ -137,7 +137,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):
 
 | QGC mission item                      | 통신                                                                                                                             | 설명                                                                |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |

docs/ko/flight_modes_rover/differential.md

@@ -115,7 +115,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):
 
 | QGC mission item                      | 통신                                                                                                                             | 설명                                                                                               |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------ |

docs/ko/flight_modes_rover/mecanum.md

@@ -140,7 +140,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):
 
 | QGC mission item                      | 통신                                                                                                                             | 설명                                                                                               |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------ |

docs/ko/frames_plane/reptile_dragon_2.md

@@ -325,7 +325,7 @@ Access to this cable can be accomplished by simply removing the rear hatch and u
 
 ## Firmware Build
 
-You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it depends on PX4 modules [crsf_rc](../modules/modules_driver.md#crsf-rc) and [msp_osd](../modules/modules_driver.md#msp-osd) that are not included by default.
+You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it depends on PX4 modules [crsf_rc](../modules/modules_driver_radio_control.md#crsf-rc) and [msp_osd](../modules/modules_driver.md#msp-osd) that are not included by default.
 
 These require some custom configuration to enable.
 

docs/ko/frames_rover/ackermann.md

@@ -1,6 +1,6 @@
 # Ackermann Rovers
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
 This kind of steering is used on most commercial vehicles, including cars, trucks etc.

docs/ko/frames_rover/differential.md

@@ -1,6 +1,6 @@
 # Differential Rovers
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
 Forward motion is achieved by driving both wheels at the same speed in the same direction.

docs/ko/frames_rover/mecanum.md

@@ -1,6 +1,6 @@
 # Mecanum Rovers
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
 
 A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
 Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.

docs/ko/mavlink/index.md

@@ -0,0 +1,89 @@
+# MAVLink 메시징
+
+[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
+
+PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
+
+This topic provides a brief overview of fundamental MAVLink concepts, such as messages, commands, and microservices.
+It also links instructions for how you can add PX4 support for:
+
+- [Adding Standard Messages](../mavlink/adding_messages.md)
+- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
+- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
+- [Custom MAVLink Messages](../mavlink/custom_messages.md)
+- [Protocols/Microservices](../mavlink/protocols.md)
+
+:::info
+We do not yet cover _command_ handling and sending, or how to implement your own microservices.
+:::
+
+## MAVLink Overview
+
+MAVLink is a lightweight protocol that was designed for efficiently sending messages over unreliable low-bandwidth radio links.
+
+_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
+They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
+Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
+
+[Microservices](../mavlink/protocols.md) are "meta protocols" built on top of MAVLink messages.
+They are used to communicate information that cannot be sent in a single message.
+
+For example, the [Command Protocol](https://mavlink.io/en/services/command.html) is a service for sending commands that may need acknowledgement and retransmission (quality of service).
+Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
+The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
+The command is automatically resent a number of times if no acknowledgment is received.
+Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
+
+Others services include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html), [Parameter Protocol](https://mavlink.io/en/services/parameter.html), and [Mission Protocol](https://mavlink.io/en/services/mission.html).
+For more information on what PX4 supports see [Microservices](../mavlink/protocols.md).
+
+MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
+The MAVLink toolchain includes code generators that create programming-language-specific libraries from these definitions for sending and receiving messages.
+Note that most generated libraries do not create code to implement microservices.
+
+The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
+
+- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
+  The definitions move to `common.xml` if accepted following testing.
+- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
+  These are supported by many flight stacks, ground stations, and MAVLink peripherals.
+  Flight stacks that use these definitions are more likely to interoperate.
+- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
+  They are present on the vast majority of flight stacks and implemented in the same way.
+- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
+
+The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
+
+The protocol relies on each end of the communication having a shared definition of what messages are being sent.
+What this means is that in order to communicate both ends of the communication must use libraries generated from the same XML definition.
+
+<!--
+The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
+In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
+Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
+The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
+The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
+-->
+
+## PX4 and MAVLink
+
+PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
+In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
+
+:::info
+To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
+During development you can use definitions in `development.xml`.
+You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
+:::
+
+PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
+This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
+
+The build toolchain generates the MAVLink 2 C header files at build time.
+The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
+
+- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
+  You can change this to any other definition file, but the file must include `common.xml`.
+- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
+
+The files are generated into the build directory: `/build/<build target>/mavlink/`.

docs/ko/mavlink/protocols.md

@@ -0,0 +1,51 @@
+# MAVLink Microservices (Protocols)
+
+MAVLink "microservices" are a protocols that use multiple messages exchanged between components to communicate more complicated information.
+For example, the [Command Protocol](https://mavlink.io/en/services/command.html) provides an efficient mechanism for packaging a command in a (particular) message and receiving acknowledgement of the command in another message.
+
+MAVLink microservices are documented the [MAVLink Guide](https://mavlink.io/en/services/) (this is not exhaustive: not all messages are grouped into protocols and not all protocols are documented).
+
+This section lists the services known to be supported/not supported by PX4 in this version.
+
+## Supported Microservices
+
+These services are known to be supported in some form:
+
+- [Battery Protocol](https://mavlink.io/en/services/battery.html)
+  - [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) and [BATTERY_INFO](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) are streamed.
+- Camera Protocols
+  - [Camera Protocol v2](https://mavlink.io/en/services/camera.html)
+    - [Camera Definition](https://mavlink.io/en/services/camera_def.html)
+- [Command Protocol](https://mavlink.io/en/services/command.html)
+- [Component Metadata Protocol](https://mavlink.io/en/services/component_information.html)
+- [Events Interface](https://mavlink.io/en/services/events.html)
+- [File Transfer Protocol (FTP)](https://mavlink.io/en/services/ftp.html)
+- Gimbal Protocols
+  - [Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)
+    - Can be enabled by [Gimbal Configuration](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
+    - PX4 an act as a MAVLink Gimbal for one FC-connected Gimbal
+- [Heartbeat/Connection Protocol](https://mavlink.io/en/services/heartbeat.html)
+- [High Latency Protocol](https://mavlink.io/en/services/high_latency.html) — PX4 streams [HIGH_LATENCY2](https://mavlink.io/en/messages/common.html#HIGH_LATENCY2)
+- [Image Transmission Protocol](https://mavlink.io/en/services/image_transmission.html)
+- [Landing Target Protocol](https://mavlink.io/en/services/landing_target.html)
+- [Manual Control (Joystick) Protocol](https://mavlink.io/en/services/manual_control.html)
+- [MAVLink Id Assignment (sysid, compid)](https://mavlink.io/en/services/mavlink_id_assignment.html)
+- [Mission Protocol](https://mavlink.io/en/services/mission.html)
+- [Offboard Control Protocol](https://mavlink.io/en/services/offboard_control.html)
+- [Remote ID](../peripherals/remote_id.md) ([Open Drone ID Protocol](https://mavlink.io/en/services/opendroneid.html))
+- [Parameter Protocol](https://mavlink.io/en/services/parameter.html)
+- [Parameter Protocol Extended](https://mavlink.io/en/services/parameter_ext.html) — Allows setting string parameters. Used for setting string parameters set in camera definition files.
+- [Payload Protocol](https://mavlink.io/en/services/payload.html)
+- [Ping Protocol](https://mavlink.io/en/services/ping.html)
+- [Standard Modes Protocol](../mavlink/standard_modes.md)
+- [Terrain Protocol](https://mavlink.io/en/services/terrain.html)
+- [Time Synchronization](https://mavlink.io/en/services/timesync.html)
+- [Traffic Management (UTM/ADS-B)](https://mavlink.io/en/services/traffic_management.html)
+- [Arm Authorization Protocol](https://mavlink.io/en/services/arm_authorization.html)
+
+## 미지원
+
+These services are not supported/used by PX4:
+
+- [Illuminator Protocol](https://mavlink.io/en/services/illuminator.html)
+- [Tunnel Protocol](https://mavlink.io/en/services/tunnel.html)

docs/ko/middleware/mavlink.md

@@ -1,87 +1 @@
-# MAVLink 메시징
-
-[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
-
-PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
-
-This topic provides a brief overview of fundamental MAVLink concepts, such as messages, commands, and microservices.
-It also links instructions for how you can add PX4 support for:
-
-- [Adding Standard Messages](../mavlink/adding_messages.md)
-- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
-- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
-- [Custom MAVLink Messages](../mavlink/custom_messages.md)
-
-:::info
-We do not yet cover _command_ handling and sending, or how to implement your own microservices.
-:::
-
-## MAVLink Overview
-
-MAVLink is a lightweight protocol that was designed for efficiently sending messages over unreliable low-bandwidth radio links.
-
-_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
-They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
-Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
-
-The [Command Protocol](https://mavlink.io/en/services/command.html) is a higher level protocol for sending commands that may need acknowledgement.
-Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
-The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
-The command is resent automatically if no acknowledgment is received.
-Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
-
-[Microservices](https://mavlink.io/en/services/) are other higher level protocols built on top of MAVLink messages.
-They are used to communicate information that cannot be sent in a single message, and to deliver features such as reliable communication.
-The command protocol described above is one such service.
-Others include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html) and [Mission Protocol](https://mavlink.io/en/services/mission.html).
-
-MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
-The MAVLink toolchain includes code generators that create programming-language-specific libraries from these definitions for sending and receiving messages.
-Note that most generated libraries do not create code to implement microservices.
-
-The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
-
-- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
-  The definitions move to `common.xml` if accepted following testing.
-- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
-  These are supported by many flight stacks, ground stations, and MAVLink peripherals.
-  Flight stacks that use these definitions are more likely to interoperate.
-- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
-  They are present on the vast majority of flight stacks and implemented in the same way.
-- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
-
-The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
-
-The protocol relies on each end of the communication having a shared definition of what messages are being sent.
-What this means is that in order to communicate both ends of the communication must use libraries generated from the same XML definition.
-
-<!--
-The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
-In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
-Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
-The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
-The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
--->
-
-## PX4 and MAVLink
-
-PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
-In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
-
-:::info
-To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
-During development you can use definitions in `development.xml`.
-You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
-:::
-
-PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
-This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
-
-The build toolchain generates the MAVLink 2 C header files at build time.
-The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
-
-- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
-  You can change this to any other definition file, but the file must include `common.xml`.
-- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
-
-The files are generated into the build directory: `/build/<build target>/mavlink/`.
+<Redirect to="../mavlink/" />

docs/ko/middleware/uorb.md

@@ -61,12 +61,12 @@ For example the [VelocityLimits](../msg_docs/VelocityLimits.md) message definiti
 ```text
 # Velocity and yaw rate limits for a multicopter position slow mode only
 
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
 # absolute speeds, NAN means use default limit
-float32 horizontal_velocity # [m/s]
-float32 vertical_velocity # [m/s]
-float32 yaw_rate # [rad/s]
+float32 horizontal_velocity # [m/s] Horizontal velocity.
+float32 vertical_velocity # [m/s] Vertical velocity.
+float32 yaw_rate # [rad/s] Yaw rate.
 ```
 
 By default this message definition will be compiled to a single topic with an id `velocity_limits`, a direct conversion from the CamelCase name to a snake_case version.
@@ -92,15 +92,34 @@ To nest a message, simply include the nested message type in the parent message
 
 ```text
 # Global position setpoint triplet in WGS84 coordinates.
+#
 # This are the three next waypoints (or just the next two or one).
 
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
 PositionSetpoint previous
 PositionSetpoint current
 PositionSetpoint next
 ```
 
+### uORB Buffer Length (ORB_QUEUE_LENGTH)
+
+uORB messages have a single-message buffer by default, which may be overwritten if the message publication rate is too high.
+In most cases this does not matter: either we are only interested in the latest sample of a topic, such as a sensor value or a setpoint, or losing a few samples is not a particular problem.
+For relatively few cases, such as vehicle commands, it is important that we don't drop topics.
+
+In order to reduce the chance that messages will be dropped we can use named constant `ORB_QUEUE_LENGTH` to create a buffer of the specified length.
+For example, to create a four-message queue, add the following line to your message definition:
+
+```sh
+uint8 ORB_QUEUE_LENGTH = 4
+```
+
+As long as subscribers are able to read messages out of the buffer quickly enough than it isn't ever fully filled to the queue length (by publishers), they will be able to get all messages that are sent.
+Messages will still be lost they are published when the queue is filled.
+
+Note that the queue length value must be a power of 2 (so 2, 4, 8, ...).
+
 ### Message/Field Deprecation {#deprecation}
 
 As there are external tools using uORB messages from log files, such as [Flight Review](https://github.com/PX4/flight_review), certain aspects need to be considered when updating existing messages:
@@ -116,9 +135,9 @@ As there are external tools using uORB messages from log files, such as [Flight
 
 ## Message Versioning
 
-<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
+<Badge type="tip" text="PX4 v1.16" />
 
-Optional message versioning was introduced in the `main` branch (planned for PX4 v1.16+) to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
+Optional message versioning was introduced PX4 v1.16 to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
 Versioned messages are designed to remain more stable over time compared to their non-versioned counterparts, as they are intended to be used across multiple releases of PX4 and external systems, ensuring greater compatibility over longer periods.
 
 Versioned messages include an additional field `uint32 MESSAGE_VERSION = x`, where `x` corresponds to the current version of the message.

docs/ko/middleware/uxrce_dds.md

@@ -430,14 +430,17 @@ publications:
 
   - topic: /fmu/out/collision_constraints
     type: px4_msgs::msg::CollisionConstraints
+    rate_limit: 50.  # Limit max publication rate to 50 Hz
 
   ...
 
   - topic: /fmu/out/vehicle_odometry
     type: px4_msgs::msg::VehicleOdometry
+    # Use default publication rate limit of 100 Hz
 
   - topic: /fmu/out/vehicle_status
     type: px4_msgs::msg::VehicleStatus
+    rate_limit: 5.
 
   - topic: /fmu/out/vehicle_trajectory_waypoint_desired
     type: px4_msgs::msg::VehicleTrajectoryWaypoint
@@ -472,6 +475,8 @@ Each (`topic`,`type`) pairs defines:
   - `/fmu/out/` for topics that are _published_ by PX4.
   - `/fmu/in/` for topics that are _subscribed_ by PX4.
 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
+5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
+  If left unspecified, the maximum publication rate limit is set to 100 Hz.
 
 `subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
 Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.

docs/ko/modules/modules_controller.md

@@ -91,18 +91,18 @@ fw_att_control <command> [arguments...]
    status        print status info
 ```
 
-## fw_pos_control
+## fw_lat_lon_control
 
-Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_pos_control)
+Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
 
 ### 설명
 
-fw_pos_control is the fixed-wing position controller.
+fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
 
-### Usage {#fw_pos_control_usage}
+### Usage {#fw_lat_lon_control_usage}
 
 ```
-fw_pos_control <command> [arguments...]
+fw_lat_lon_control <command> [arguments...]
  Commands:
    start
      [vtol]      VTOL mode
@@ -112,6 +112,28 @@ fw_pos_control <command> [arguments...]
    status        print status info
 ```
 
+## fw_mode_manager
+
+Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
+
+### 설명
+
+This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
+It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
+lateral-longitudinal controller and and controllers below that (attitude, rate).
+
+### Usage {#fw_mode_manager_usage}
+
+```
+fw_mode_manager <command> [arguments...]
+ Commands:
+   start
+
+   stop
+
+   status        print status info
+```
+
 ## fw_rate_control
 
 Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)

docs/ko/modules/modules_driver.md

@@ -293,7 +293,9 @@ dshot <command> [arguments...]
    start
 
    telemetry     Enable Telemetry on a UART
-     <device>    UART device
+     -d <val>    UART device
+                 values: <device>
+     [-x]        Swap RX/TX pins
 
    reverse       Reverse motor direction
      [-m <val>]  Motor index (1-based, default=all)

docs/ko/modules/modules_system.md

@@ -318,6 +318,7 @@ i2c_launcher <command> [arguments...]
  Commands:
    start
      -b <val>    Bus number
+     -t <val>    battery index for calibration values (1 or 3)
 
    stop
 

docs/ko/msg_docs/AirspeedValidated.md

@@ -1,21 +1,27 @@
 # AirspeedValidated (UORB message)
 
-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedValidated.msg)
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
 
 ```c
+uint32 MESSAGE_VERSION = 1
+
 uint64 timestamp				# time since system start (microseconds)
 
-float32 indicated_airspeed_m_s			# indicated airspeed in m/s (IAS), set to NAN if invalid
-float32 calibrated_airspeed_m_s     		# calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
-float32 true_airspeed_m_s			# true filtered airspeed in m/s (TAS), set to NAN if invalid
+float32 indicated_airspeed_m_s			# [m/s] Indicated airspeed (IAS), set to NAN if invalid
+float32 calibrated_airspeed_m_s     		# [m/s] Calibrated airspeed (CAS), set to NAN if invalid
+float32 true_airspeed_m_s			# [m/s] True airspeed (TAS), set to NAN if invalid
 
+int8 airspeed_source				# Source of currently published airspeed values
+int8 DISABLED = -1
+int8 GROUND_MINUS_WIND = 0
+int8 SENSOR_1 = 1
+int8 SENSOR_2 = 2
+int8 SENSOR_3 = 3
+int8 SYNTHETIC = 4
+
+# debug states
 float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
-float32 true_ground_minus_wind_m_s 		# TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
-
-bool airspeed_sensor_measurement_valid 		# True if data from at least one airspeed sensor is declared valid.
-
-int8 selected_airspeed_index 			# 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
-
+float32 calibraded_airspeed_synth_m_s		# synthetic airspeed in m/s, set to NAN if invalid
 float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
 float32 throttle_filtered			# filtered fixed-wing throttle [-]
 float32 pitch_filtered				# filtered pitch [rad]

docs/ko/msg_docs/AirspeedValidatedV0.md

@@ -0,0 +1,25 @@
+# AirspeedValidatedV0 (UORB message)
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg)
+
+```c
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp				# time since system start (microseconds)
+
+float32 indicated_airspeed_m_s			# indicated airspeed in m/s (IAS), set to NAN if invalid
+float32 calibrated_airspeed_m_s     		# calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
+float32 true_airspeed_m_s			# true filtered airspeed in m/s (TAS), set to NAN if invalid
+
+float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
+float32 true_ground_minus_wind_m_s 		# TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
+
+bool airspeed_sensor_measurement_valid 		# True if data from at least one airspeed sensor is declared valid.
+
+int8 selected_airspeed_index 			# 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
+
+float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
+float32 throttle_filtered			# filtered fixed-wing throttle [-]
+float32 pitch_filtered				# filtered pitch [rad]
+
+```

docs/ko/msg_docs/CellularStatus.md

@@ -1,35 +1,49 @@
 # CellularStatus (UORB message)
 
+Cellular status
+
+This is currently used only for logging cell status from MAVLink.
+
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg)
 
 ```c
-uint64 timestamp	# time since system start (microseconds)
+# Cellular status
+#
+# This is currently used only for logging cell status from MAVLink.
 
-uint8 CELLULAR_STATUS_FLAG_UNKNOWN=0 # State unknown or not reportable
-uint8 CELLULAR_STATUS_FLAG_FAILED=1 # velocity setpoint
-uint8 CELLULAR_STATUS_FLAG_INITIALIZING=2 # Modem is being initialized
-uint8 CELLULAR_STATUS_FLAG_LOCKED=3	# Modem is locked
-uint8 CELLULAR_STATUS_FLAG_DISABLED=4	# Modem is not enabled and is powered down
-uint8 CELLULAR_STATUS_FLAG_DISABLING=5	# Modem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
-uint8 CELLULAR_STATUS_FLAG_ENABLING=6 	# Modem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
-uint8 CELLULAR_STATUS_FLAG_ENABLED=7  # Modem is enabled and powered on but not registered with a network provider and not available for data connections
-uint8 CELLULAR_STATUS_FLAG_SEARCHING=8  # Modem is searching for a network provider to register
-uint8 CELLULAR_STATUS_FLAG_REGISTERED=9  # Modem is registered with a network provider, and data connections and messaging may be available for use
-uint8 CELLULAR_STATUS_FLAG_DISCONNECTING=10  # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
-uint8 CELLULAR_STATUS_FLAG_CONNECTING=11  # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
-uint8 CELLULAR_STATUS_FLAG_CONNECTED=12  # One or more packet data bearers is active and connected
+uint64 timestamp # [us] Time since system start.
 
-uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
-uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection
+uint16 status # [@enum STATUS_FLAG] Status bitmap.
+uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable.
+uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable.
+uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized.
+uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked.
+uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down.
+uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state.
+uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state.
+uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections.
+uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register.
+uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use.
+uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated.
+uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered.
+uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected.
 
-uint16 status 	# Status bitmap 1: Roaming is active
-uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED
-uint8 type 	# Cellular network radio type 0: none 1: gsm 2: cdma 3: wcdma 4: lte
-uint8 quality	# Cellular network RSSI/RSRP in dBm, absolute value
-uint16 mcc	# Mobile country code. If unknown, set to: UINT16_MAX
-uint16 mnc	# Mobile network code. If unknown, set to: UINT16_MAX
-uint16 lac	# Location area code. If unknown, set to: 0
+uint8 failure_reason # [@enum FAILURE_REASON] Failure reason.
+uint8 FAILURE_REASON_NONE = 0 # No error.
+uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown.
+uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing.
+uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection.
+
+uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type.
+uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None
+uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM
+uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE
+
+uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value.
+uint16 mcc # [@invalid UINT16_MAX] Mobile country code.
+uint16 mnc # [@invalid UINT16_MAX] Mobile network code.
+uint16 lac # [@invalid 0] Location area code.
 
 ```

docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md

@@ -0,0 +1,23 @@
+# FixedWingLateralGuidanceStatus (UORB message)
+
+Fixed Wing Lateral Guidance Status message
+Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg)
+
+```c
+# Fixed Wing Lateral Guidance Status message
+# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
+
+uint64 timestamp                # time since system start (microseconds)
+
+float32 course_setpoint         # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
+float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
+float32 bearing_feas            # [@range 0,1] bearing feasibility
+float32 bearing_feas_on_track   # [@range 0,1] on-track bearing feasibility
+float32 signed_track_error      # [m] signed track error
+float32 track_error_bound       # [m] track error bound
+float32 adapted_period          # [s] adapted period (if auto-tuning enabled)
+uint8 wind_est_valid            # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
+
+```

docs/ko/msg_docs/FixedWingLateralSetpoint.md

@@ -0,0 +1,22 @@
+# FixedWingLateralSetpoint (UORB message)
+
+Fixed Wing Lateral Setpoint message
+Used by the fw_lateral_longitudinal_control module
+At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg)
+
+```c
+# Fixed Wing Lateral Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 course 				# [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
+float32 airspeed_direction    		# [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
+float32 lateral_acceleration 		# [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
+
+```

docs/ko/msg_docs/FixedWingLateralStatus.md

@@ -0,0 +1,17 @@
+# FixedWingLateralStatus (UORB message)
+
+Fixed Wing Lateral Status message
+Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralStatus.msg)
+
+```c
+# Fixed Wing Lateral Status message
+# Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
+
+uint64 timestamp                         # time since system start (microseconds)
+
+float32 lateral_acceleration_setpoint    # [m/s^2] [FRD] resultant lateral acceleration setpoint
+float32 can_run_factor 	 	         # [norm] [@range 0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint
+
+```

docs/ko/msg_docs/FixedWingLongitudinalSetpoint.md

@@ -0,0 +1,26 @@
+# FixedWingLongitudinalSetpoint (UORB message)
+
+Fixed Wing Longitudinal Setpoint message
+Used by the fw_lateral_longitudinal_control module
+If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+If both altitude and height_rate are NAN, the controller maintains the current altitude.
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg)
+
+```c
+# Fixed Wing Longitudinal Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+# If both altitude and height_rate are NAN, the controller maintains the current altitude.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 altitude  			# [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
+float32 height_rate 			# [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
+float32 equivalent_airspeed 		# [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
+float32 pitch_direct 			# [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
+float32 throttle_direct 		# [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
+
+```

docs/ko/msg_docs/FixedWingRunwayControl.md

@@ -0,0 +1,19 @@
+# FixedWingRunwayControl (UORB message)
+
+Auxiliary control fields for fixed-wing runway takeoff/landing
+
+Passes information from the FixedWingModeManager to the FixedWingAttitudeController
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg)
+
+```c
+# Auxiliary control fields for fixed-wing runway takeoff/landing
+
+# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
+
+uint64 timestamp # [us] time since system start
+
+bool wheel_steering_enabled		# Flag that enables the wheel steering.
+float32 wheel_steering_nudging_rate	# [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
+
+```

docs/ko/msg_docs/LateralControlConfiguration.md

@@ -0,0 +1,18 @@
+# LateralControlConfiguration (UORB message)
+
+Fixed Wing Lateral Control Configuration message
+Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LateralControlConfiguration.msg)
+
+```c
+# Fixed Wing Lateral Control Configuration message
+# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp          # time since system start (microseconds)
+
+float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
+
+```

docs/ko/msg_docs/LongitudinalControlConfiguration.md

@@ -0,0 +1,28 @@
+# LongitudinalControlConfiguration (UORB message)
+
+Fixed Wing Longitudinal Control Configuration message
+Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
+and configure the resultant setpoints.
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg)
+
+```c
+# Fixed Wing Longitudinal Control Configuration message
+# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
+# and configure the resultant setpoints.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 pitch_min   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
+float32 pitch_max   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
+float32 throttle_min 			# [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
+float32 throttle_max 			# [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
+float32 climb_rate_target 		# [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 sink_rate_target 		# [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 speed_weight 			# [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
+bool enforce_low_height_condition 	# [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
+bool disable_underspeed_protection 	# [boolean] if true, underspeed handling is disabled in the altitude controller
+
+```

docs/ko/msg_docs/PurePursuitStatus.md

@@ -11,6 +11,4 @@ float32 crosstrack_error     # [m] Shortest distance from the vehicle to the pat
 float32 distance_to_waypoint # [m] Distance from the vehicle to the current waypoint
 float32 bearing_to_waypoint  # [rad] Bearing towards current waypoint
 
-# TOPICS pure_pursuit_status
-
 ```

docs/ko/msg_docs/RateCtrlStatus.md

@@ -9,6 +9,5 @@ uint64 timestamp		# time since system start (microseconds)
 float32 rollspeed_integ
 float32 pitchspeed_integ
 float32 yawspeed_integ
-float32 wheel_rate_integ	# FW only and optional
 
 ```

docs/ko/msg_docs/RoverAttitudeSetpoint.md

@@ -7,6 +7,4 @@ uint64 timestamp # time since system start (microseconds)
 
 float32 yaw_setpoint # [rad] Expressed in NED frame
 
-# TOPICS rover_attitude_setpoint
-
 ```

docs/ko/msg_docs/RoverAttitudeStatus.md

@@ -8,6 +8,4 @@ uint64 timestamp # time since system start (microseconds)
 float32 measured_yaw          # [rad/s] Measured yaw rate
 float32 adjusted_yaw_setpoint # [rad/s] Yaw setpoint that is being tracked (Applied slew rates)
 
-# TOPICS rover_attitude_status
-
 ```

docs/ko/msg_docs/RoverPositionSetpoint.md

@@ -0,0 +1,15 @@
+# RoverPositionSetpoint (UORB message)
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverPositionSetpoint.msg)
+
+```c
+uint64 timestamp # time since system start (microseconds)
+
+float32[2] position_ned # 2-dimensional position setpoint in NED frame [m]
+float32[2] start_ned	# (Optional) 2-dimensional start position in NED frame used to define the line that the rover will track to position_ned [m] (Defaults to vehicle position)
+float32 cruising_speed  # (Optional) Specify rover speed [m/s] (Defaults to maximum speed)
+float32 arrival_speed   # (Optional) Specify arrival speed [m/s] (Defaults to zero)
+
+float32 yaw             # [rad] [-pi,pi] from North. Optional, NAN if not set. Mecanum only. (Defaults to vehicle yaw)
+
+```

docs/ko/msg_docs/RoverRateSetpoint.md

@@ -7,6 +7,4 @@ uint64 timestamp # time since system start (microseconds)
 
 float32 yaw_rate_setpoint # [rad/s] Expressed in NED frame
 
-# TOPICS rover_rate_setpoint
-
 ```

docs/ko/msg_docs/RoverRateStatus.md

@@ -9,6 +9,4 @@ float32 measured_yaw_rate          # [rad/s] Measured yaw rate
 float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint that is being tracked (Applied slew rates)
 float32 pid_yaw_rate_integral      # Integral of the PID for the closed loop yaw rate controller
 
-# TOPICS rover_rate_status
-
 ```

docs/ko/msg_docs/RoverSteeringSetpoint.md

@@ -5,9 +5,8 @@
 ```c
 uint64 timestamp # time since system start (microseconds)
 
-float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Only for Ackermann-steered rovers)
-float32 normalized_speed_diff     # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Only for Differential/Mecanum rovers)
+float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
 
-# TOPICS rover_steering_setpoint
+float32 normalized_speed_diff     # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Differential/Mecanum only, Positiv = Turn right, Negativ: Turn left)
 
 ```

docs/ko/msg_docs/RoverThrottleSetpoint.md

@@ -6,9 +6,7 @@
 
 uint64 timestamp        # time since system start (microseconds)
 
-float32 throttle_body_x # throttle setpoint along body X axis [-1, 1]
-float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1]
-
-# TOPICS rover_throttle_setpoint
+float32 throttle_body_x # throttle setpoint along body X axis [-1, 1] (Positiv = forwards, Negativ = backwards)
+float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1] (Mecanum only, Positiv = right, Negativ = left)
 
 ```

docs/ko/msg_docs/RoverVelocitySetpoint.md

@@ -0,0 +1,12 @@
+# RoverVelocitySetpoint (UORB message)
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg)
+
+```c
+uint64 timestamp # time since system start (microseconds)
+
+float32 speed   # [m/s] [-inf, inf] Speed setpoint (Backwards driving if negative)
+float32 bearing # [rad] [-pi,pi] from North. [invalid: NAN, speed is defined in body x direction]
+float32 yaw 	# [rad] [-pi, pi] (Mecanum only, Optional, defaults to current vehicle yaw) Vehicle yaw setpoint in NED frame
+
+```

docs/ko/msg_docs/RoverVelocityStatus.md

@@ -6,14 +6,10 @@
 uint64 timestamp # time since system start (microseconds)
 
 float32 measured_speed_body_x          # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
-float32 speed_body_x_setpoint          # [m/s] Speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
 float32 adjusted_speed_body_x_setpoint # [m/s] Post slew rate speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
-float32 measured_speed_body_y          # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
-float32 speed_body_y_setpoint          # [m/s] Speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
-float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
 float32 pid_throttle_body_x_integral   # Integral of the PID for the closed loop controller of the speed in body x direction
-float32 pid_throttle_body_y_integral   # Integral of the PID for the closed loop controller of the speed in body y direction
-
-# TOPICS rover_velocity_status
+float32 measured_speed_body_y          # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left (Mecanum only)
+float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Mecanum only)
+float32 pid_throttle_body_y_integral   # Integral of the PID for the closed loop controller of the speed in body y direction (Mecanum only)
 
 ```

docs/ko/msg_docs/TrajectorySetpoint6dof.md

@@ -0,0 +1,23 @@
+# TrajectorySetpoint6dof (UORB message)
+
+Trajectory setpoint in NED frame
+Input to position controller.
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg)
+
+```c
+# Trajectory setpoint in NED frame
+# Input to position controller.
+
+uint64 timestamp # time since system start (microseconds)
+
+# NED local world frame
+float32[3] position               # in meters
+float32[3] velocity               # in meters/second
+float32[3] acceleration           # in meters/second^2
+float32[3] jerk                   # in meters/second^3 (for logging only)
+
+float32[4] quaternion             # unit quaternion
+float32[3] angular_velocity       # angular velocity in radians/second
+
+```

docs/ko/msg_docs/VehicleAttitudeSetpoint.md

@@ -3,7 +3,7 @@
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
 
 ```c
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp		# time since system start (microseconds)
 
@@ -16,10 +16,6 @@ float32[4] q_d			# Desired quaternion for quaternion control
 # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
 float32[3] thrust_body		# Normalized thrust command in body FRD frame [-1,1]
 
-bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
-
-bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)
-
 # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
 
 ```

docs/ko/msg_docs/VehicleAttitudeSetpointV0.md

@@ -0,0 +1,25 @@
+# VehicleAttitudeSetpointV0 (UORB message)
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg)
+
+```c
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp		# time since system start (microseconds)
+
+float32 yaw_sp_move_rate	# rad/s (commanded by user)
+
+# For quaternion-based attitude control
+float32[4] q_d			# Desired quaternion for quaternion control
+
+# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
+# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
+float32[3] thrust_body		# Normalized thrust command in body FRD frame [-1,1]
+
+bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
+
+bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)
+
+# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
+
+```

docs/ko/msg_docs/VehicleCommand.md

@@ -11,127 +11,127 @@ Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
 
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp					# time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
-uint16 VEHICLE_CMD_CUSTOM_0 = 0				# test command
-uint16 VEHICLE_CMD_CUSTOM_1 = 1				# test command
-uint16 VEHICLE_CMD_CUSTOM_2 = 2				# test command
-uint16 VEHICLE_CMD_NAV_WAYPOINT = 16			# Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17		# Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18		# Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19			# Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20		# Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_LAND = 21			# Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_TAKEOFF = 22			# Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_PRECLAND = 23			# Attempt a precision landing
-uint16 VEHICLE_CMD_DO_ORBIT = 34			# Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
-uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35        		# Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z |
-uint16 VEHICLE_CMD_NAV_ROI = 80				# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
-uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81		# Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
-uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84		# Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85			# Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90		# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91		# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_DELAY = 93				# Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_LAST = 95			# NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_DELAY = 112		# Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113		# Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|
-uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114		# Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_YAW = 115			# Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_LAST = 159			# NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_GATE = 4501		# Wait until passing a threshold |2D coord mode: 0: Orthogonal to planned route | Altitude mode: 0: Ignore altitude| Empty| Empty| Lat| Lon| Alt|
-uint16 VEHICLE_CMD_DO_SET_MODE = 176			# Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_JUMP = 177			# Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178		# Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_HOME = 179			# Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180		# Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_RELAY = 181			# Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desired number of cycles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186		# Set the vehicle to Loiter mode and change the altitude to specified value |Altitude| Frame of new altitude | Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187		# Sets actuators (e.g. servos) to a desired value. |Actuator 1| Actuator 2| Actuator 3| Actuator 4| Actuator 5| Actuator 6| Index|
-uint16 VEHICLE_CMD_DO_LAND_START = 189			# Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|
-uint16 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonomous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_REPOSITION = 192			# Reposition to specific WGS84 GPS position. |Ground speed [m/s] |Bitmask |Loiter radius [m] for planes |Yaw	[deg] |Latitude	|Longitude |Altitude |
+uint16 VEHICLE_CMD_CUSTOM_0 = 0 # Test command.
+uint16 VEHICLE_CMD_CUSTOM_1 = 1 # Test command.
+uint16 VEHICLE_CMD_CUSTOM_2 = 2 # Test command.
+uint16 VEHICLE_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION. |[s] (decimal) Hold time. (ignored by fixed wing, time to stay at MISSION for rotary wing)|[m] Acceptance radius (if the sphere with this radius is hit, the MISSION counts as reached)|0 to pass through the WP, if > 0 radius [m] to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.|Desired yaw angle at MISSION (rotary wing)|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time. |Unused|Unused|[m] Radius around MISSION. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns. |Turns|Unused|Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for time. |[s] Seconds (decimal)|Unused|Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand. |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|[deg] [@range 0,360] Yaw angle in NED if yaw source available, ignored otherwise|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude AMSL|
+uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing.
+uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |[m] Radius|[m/s] Velocity|[@enum ORBIT_YAW_BEHAVIOUR] Yaw behaviour|Unused|Latitude/X|Longitude/Y|Altitude/Z|
+uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
+uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
+uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
+uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout  - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_DELAY = 93 # Delay the next navigation command a number of seconds or until a specified time. |[s] Delay (decimal, -1 to enable time-of-day fields)|[h] hour (24h format, UTC, -1 to ignore)|minute (24h format, UTC, -1 to ignore)|second (24h format, UTC)|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration.|Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_DELAY = 112 # Delay mission state machine. |[s] Delay (decimal seconds)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired altitude reached.|Descent / Ascend rate (m/s)|Unused|Unused|Unused|Unused|Unused|Finish Altitude|
+uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV point. |Distance [m]|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_YAW = 115 # Reach a certain target angle. |[deg] [@range 0,360] Target angle. 0 is north|[deg/s] Speed during yaw change|[@range -1,1] Direction: negative: counter clockwise, positive: clockwise |[ 1,0] Relative offset or absolute angle|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_GATE = 4501 # Wait until passing a threshold. |2D coord mode: 0: Orthogonal to planned route|Altitude mode: 0: Ignore altitude|Unused|Unused|Lat|Lon|Alt|
+uint16 VEHICLE_CMD_DO_SET_MODE = 176 # Set system mode. |Mode, as defined by ENUM MAV_MODE|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action only the specified number of times. |Sequence number|Repeat count|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points. |[@enum SPEED_TYPE] Speed type (0=Airspeed, 1=Ground Speed)|Speed (m/s, -1 indicates no change)|[%] Throttle ( Percent, -1 indicates no change)|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)|Unused|Unused|Unused|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number|Parameter value|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. |Relay number|Setting (1=on, 0=off, others possible depending on system hardware)|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cycles with a desired period. |Relay number|Cycle count|[s] Cycle time (decimal seconds)|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number|[us] PWM rate (1000 to 2000 typical)|Cycle count|[s] Cycle time|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately. |Flight termination activated if > 0.5|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode and change the altitude to specified value. |Altitude|Frame of new altitude|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187 # Sets actuators (e.g. servos) to a desired value. |Actuator 1|Actuator 2|Actuator 3|Actuator 4|Actuator 5|Actuator 6|Index|
+uint16 VEHICLE_CMD_DO_LAND_START = 189 # Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Unused|Unused|Unused|Unused|Latitude|Longitude|Unused|
+uint16 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonomous landing. |[m] Altitude|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_REPOSITION = 192 # Reposition to specific WGS84 GPS position. |[m/s] Ground speed|Bitmask|[m] Loiter radius for planes|[deg] Yaw|Latitude|Longitude|Altitude|
 uint16 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
-uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195		# Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 	# Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint|
-uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197		# Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_ROI = 201			# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
+uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195 # Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 # Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Pitch offset from next waypoint|Roll offset from next waypoint|Yaw offset from next waypoint|
+uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197 # Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system. |Camera ID (-1 for all)|Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw|Transmission mode: 0: video stream, >0: single images every n seconds (decimal seconds)|Recording: 0: disabled, 1: enabled compressed, 2: enabled raw|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_ROI = 201 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
 uint16 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
-uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204		# Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205			# Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value|
-uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206		# Mission command to set TRIG_DIST for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207			# Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_PARACHUTE=208			# Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_MOTOR_TEST=209			# motor test command |Instance (1, ...)| throttle type| throttle| timeout [s]| Motor count | Test order| Empty|
-uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210		# Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_GRIPPER = 211			# Command to operate a gripper
-uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214	# Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220		# Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221			# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222			# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_LAST = 240			# NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241		# Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION
-uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
-uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242	# Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
-uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243		# UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
-uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245		# Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246	# Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260			# Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty|
-uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262		# Enable the specified standard MAVLink mode |MAV_STANDARD_MODE|
-uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283	# Command to ask information about a low level gimbal
+uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204 # Mission command to configure a camera or antenna mount. |[@enum MAV_MOUNT_MODE] Mount operation mode|Stabilize roll? (1 = yes, 0 = no)|Stabilize pitch? (1 = yes, 0 = no)|stabilize yaw? (1 = yes, 0 = no)|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205 # Mission command to control a camera or antenna mount. |[deg] Pitch or lat, depending on mount mode.|[deg] Roll or lon depending on mount mode|[deg]/[m] Yaw or alt depending on mount mode|Unused|Unused|Unused|[@enum MAV_MOUNT_MODE]|
+uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206 # Mission command to set TRIG_DIST for this flight. |[m] Camera trigger distance|[ms] Shutter integration time|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207 # Mission command to enable the geofence. |enable? (0=disable, 1=enable)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute. |action [@enum PARACHUTE_ACTION] (0=disable, 1=enable, 2=release, for some systems see [@enum PARACHUTE_ACTION], not in general message set.)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # Motor test command. |Instance (@range 1, )|throttle type|throttle|timeout [s]|Motor count|Test order|Unused|
+uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight. |inverted (0=normal, 1=inverted)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper.
+uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight. |[m] Camera trigger distance|Shutter integration time (ms)|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)|q2 - quaternion param #2, x (0 in null-rotation)|q3 - quaternion param #3, y (0 in null-rotation)|q4 - quaternion param #4, z (0 in null-rotation)|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min(AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO commands in the enumeration. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-flight mode. See MAVLink spec MAV_CMD_PREFLIGHT_CALIBRATION.
+uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration.
+uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow|X axis offset (or generic dimension 1), in the sensor's raw units|Y axis offset (or generic dimension 2), in the sensor's raw units|Z axis offset (or generic dimension 3), in the sensor's raw units|Generic dimension 4, in the sensor's raw units|Generic dimension 5, in the sensor's raw units|Generic dimension 6, in the sensor's raw units|
+uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started.
+uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM|Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.|0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260 # Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight. |[m] Camera trigger distance|[ms] Shutter integration time|Camera minimum trigger interval|Number of positions|Roll|Pitch|Unused|
+uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVLink mode. |MAV_STANDARD_MODE|
+uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal.
 
-uint16 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|
-uint16 VEHICLE_CMD_ACTUATOR_TEST = 310			# Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
-uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311		# Actuator configuration command|configuration|Empty|Empty|Empty|output function|
-uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm
-uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401      	# Instructs a target system to run pre-arm checks.
-uint16 VEHICLE_CMD_INJECT_FAILURE = 420			# Inject artificial failure for testing purposes
-uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
-uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    		# Request to send a single instance of the specified message
-uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521     # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)|
-uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530		# Set camera capture mode (photo, video, etc.)
-uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531		# Set camera zoom
+uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
+uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
+uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
+uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
+uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
+uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
+uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing. |0:Spektrum|0:Spektrum DSM2, 1:Spektrum DSMX|
+uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message.
+uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities|Reserved (all remaining params)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|
+uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
+uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
-uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 	# Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
-uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 	# Gimbal configuration to set which sysid/compid is in primary and secondary control
-uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000   	# Start image capture sequence.
-uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003		# Enable or disable on-board camera triggering system
-uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500   	# Start a video capture.
-uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501    	# Stop the current video capture.
-uint16 VEHICLE_CMD_LOGGING_START = 2510			# start streaming ULog data
-uint16 VEHICLE_CMD_LOGGING_STOP = 2511			# stop streaming ULog data
-uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600		# control starting/stopping transmitting data over the high latency link
-uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000    	# Command VTOL transition
-uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001	# Request arm authorization
-uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001	# Prepare a payload deployment in the flight plan
-uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002	# Control a pre-programmed payload deployment
-uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
-uint16 VEHICLE_CMD_DO_WINCH = 42600			# Command to operate winch.
+uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
+uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
+uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
+uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system.
+uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500 # Start a video capture.
+uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501 # Stop the current video capture.
+uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
+uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
+uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
+uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
+uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
+uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
+uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
+uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
+uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
 
-uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # external reset of estimator global position when deadreckoning
+uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # External reset of estimator global position when dead reckoning.
 uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
 
-# PX4 vehicle commands (beyond 16 bit mavlink commands)
-uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
-uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
-uint32 VEHICLE_CMD_SET_NAV_STATE = 100001               # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty|
+# PX4 vehicle commands (beyond 16 bit MAVLink commands).
+uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
+uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
+uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|
 
-uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
-uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1			# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
-uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2		# Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
-uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3		# Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
-uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4			# Load neutral position and start to point to Lat,Lon,Alt |
-uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5			#
+uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
+uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
+uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization.
+uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with stabilization.
+uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt.
+uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5 #
 
-uint8 VEHICLE_ROI_NONE = 0                         	# No region of interest |
-uint8 VEHICLE_ROI_WPNEXT = 1                       	# Point toward next MISSION |
-uint8 VEHICLE_ROI_WPINDEX = 2                     	# Point toward given MISSION |
-uint8 VEHICLE_ROI_LOCATION = 3                    	# Point toward fixed location |
-uint8 VEHICLE_ROI_TARGET = 4                       	# Point toward target
+uint8 VEHICLE_ROI_NONE = 0 # No region of interest.
+uint8 VEHICLE_ROI_WPNEXT = 1 # Point toward next MISSION.
+uint8 VEHICLE_ROI_WPINDEX = 2 # Point toward given MISSION.
+uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
+uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
 uint8 VEHICLE_ROI_ENUM_END = 5
 
 uint8 PARACHUTE_ACTION_DISABLE = 0
@@ -163,13 +163,13 @@ uint8 FAILURE_TYPE_SLOW = 5
 uint8 FAILURE_TYPE_DELAYED = 6
 uint8 FAILURE_TYPE_INTERMITTENT = 7
 
-# used as param1 in DO_CHANGE_SPEED command
+# Used as param1 in DO_CHANGE_SPEED command.
 uint8 SPEED_TYPE_AIRSPEED = 0
 uint8 SPEED_TYPE_GROUNDSPEED = 1
 uint8 SPEED_TYPE_CLIMB_SPEED = 2
 uint8 SPEED_TYPE_DESCEND_SPEED = 3
 
-# used as param3 in CMD_DO_ORBIT
+# Used as param3 in CMD_DO_ORBIT.
 uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
 uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
 uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
@@ -177,29 +177,29 @@ uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
 uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
 uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
 
-# used as param1 in ARM_DISARM command
+# Used as param1 in ARM_DISARM command.
 int8 ARMING_ACTION_DISARM = 0
 int8 ARMING_ACTION_ARM = 1
 
-# param2 in VEHICLE_CMD_DO_GRIPPER
+# param2 in VEHICLE_CMD_DO_GRIPPER.
 uint8 GRIPPER_ACTION_RELEASE = 0
 uint8 GRIPPER_ACTION_GRAB = 1
 
 uint8 ORB_QUEUE_LENGTH = 8
 
-float32 param1			# Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param2			# Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param3			# Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param4			# Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float64 param5			# Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float64 param6			# Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param7			# Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
-uint32 command			# Command ID
-uint8 target_system		# System which should execute the command
-uint8 target_component		# Component which should execute the command, 0 for all components
-uint8 source_system		# System sending the command
-uint16 source_component	# Component / mode executor sending the command
-uint8 confirmation		# 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param2 # Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param3 # Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
+uint32 command # Command ID.
+uint8 target_system # System which should execute the command.
+uint8 target_component # Component which should execute the command, 0 for all components.
+uint8 source_system # System sending the command.
+uint16 source_component # Component / mode executor sending the command.
+uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command).
 bool from_external
 
 uint16 COMPONENT_MODE_EXECUTOR_START = 1000

docs/ko/msg_docs/index.md

@@ -15,10 +15,18 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [ActuatorMotors](ActuatorMotors.md) — Motor control message
 - [ActuatorServos](ActuatorServos.md) — Servo control message
+- [AirspeedValidated](AirspeedValidated.md)
 - [ArmingCheckReply](ArmingCheckReply.md)
 - [ArmingCheckRequest](ArmingCheckRequest.md)
 - [BatteryStatus](BatteryStatus.md)
 - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
+- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message
+  Used by the fw_lateral_longitudinal_control module
+  At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message
+  Used by the fw_lateral_longitudinal_control module
+  If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+  If both altitude and height_rate are NAN, the controller maintains the current altitude.
 - [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints
   Setpoints are intended as inputs to position and heading smoothers, respectively
   Setpoints do not need to be kinematically consistent
@@ -26,6 +34,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
   Unset optional setpoints are not controlled
   Unset optional constraints default to vehicle specifications
 - [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
+- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message
+  Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message
+  Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
+  and configure the resultant setpoints.
 - [ManualControlSetpoint](ManualControlSetpoint.md)
 - [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode.
   The possible values of nav_state are defined in the VehicleStatus msg.
@@ -79,8 +92,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [Airspeed](Airspeed.md)
 
-- [AirspeedValidated](AirspeedValidated.md)
-
 - [AirspeedWind](AirspeedWind.md)
 
 - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
@@ -95,7 +106,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [CanInterfaceStatus](CanInterfaceStatus.md)
 
-- [CellularStatus](CellularStatus.md)
+- [CellularStatus](CellularStatus.md) — Cellular status
 
 - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame
   setting something to NaN means that no limit is provided
@@ -164,6 +175,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [FigureEightStatus](FigureEightStatus.md)
 
+- [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message
+  Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
+
+- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message
+  Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
+
+- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing
+
 - [FlightPhaseEstimation](FlightPhaseEstimation.md)
 
 - [FollowTarget](FollowTarget.md)
@@ -270,8 +289,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
 
-- [NpfgStatus](NpfgStatus.md)
-
 - [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
 
 - [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
@@ -343,6 +360,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [RoverAttitudeStatus](RoverAttitudeStatus.md)
 
+- [RoverPositionSetpoint](RoverPositionSetpoint.md)
+
 - [RoverRateSetpoint](RoverRateSetpoint.md)
 
 - [RoverRateStatus](RoverRateStatus.md)
@@ -351,6 +370,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [RoverThrottleSetpoint](RoverThrottleSetpoint.md)
 
+- [RoverVelocitySetpoint](RoverVelocitySetpoint.md)
+
 - [RoverVelocityStatus](RoverVelocityStatus.md)
 
 - [Rpm](Rpm.md)
@@ -419,6 +440,9 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [TimesyncStatus](TimesyncStatus.md)
 
+- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame
+  Input to position controller.
+
 - [TransponderReport](TransponderReport.md)
 
 - [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM
@@ -471,4 +495,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [YawEstimatorStatus](YawEstimatorStatus.md)
 
+- [AirspeedValidatedV0](AirspeedValidatedV0.md)
+
+- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
+
 - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander

docs/ko/releases/1.16.md

@@ -0,0 +1,221 @@
+# PX4-Autopilot v1.16.0 Release Notes
+
+<Badge type="info" text="Candidate Release" />
+
+<script setup>
+import { useData } from 'vitepress'
+const { site } = useData();
+</script>
+
+<div v-if="site.title !== 'PX4 Guide (main)'">
+  <div class="custom-block danger">
+    <p class="custom-block-title">This page is on a release branch, and hence possibly out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+  </div>
+</div>
+
+This document covers all changes in PX4 v1.16.0 since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)).
+
+:::info
+These notes include only changes merged in 2023 and later — commits before 2023 are not listed.
+:::
+
+## Read Before Upgrading
+
+Please continue reading for [upgrade instructions](#upgrade-guide).
+
+## Major Changes
+
+- **Rover support rework**
+  - New dedicated firmware build for rovers (airframe IDs 50000–52000)
+  - Separate modules for Ackermann, differential and mecanum rovers, each with manual, acro, stabilized, position and auto modes
+  - Shared pure-pursuit guidance library for all rover modules
+  - Legacy rover position control module deprecated in favor of the new modules
+
+## Upgrade Guide
+
+- [PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648): Added setting default for EKF2_EV_CTRL to 15 for VOXL 2 boards
+- [PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517): Change default ethernet IP
+- [PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602): remove serial port default from sf45 module
+
+## Other changes
+
+### Hardware Support
+
+- **[New Hardware]** [PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830): Boards: ARK FPV FC
+- **[New Hardware]** [PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414): board: add cuav 7-nano
+- **[New Hardware]** [PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1
+- **[New Hardware]** [PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018): boards: bluerobotics: navigator: Add initial support
+- **[New Hardware]** [PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147): boards: add new board micoair743-v2
+- **[New Hardware]** [PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218): boards: add new board micoair h743
+- **[New Hardware]** [PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512): boards: Add FMUv6s target
+- **[New Hardware]** [PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927): manifest: Add Skynode S baseboard
+- **[New Hardware]** [PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257): Add Tropic VMU board support (Baseboard for Teensy 4.1)
+- **[New Hardware]** [PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697): boards: add new board X-MAV AP-H743v2
+- **[New Hardware]** [PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551): 3DR boards: Support for 3DR Control Zero H7 OEM Rev G
+- **[New Hardware]** [PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623): new board support ZeroOne x6
+
+### 공통
+
+- [Optical flow scaling factor - SENS_FLOW_SCALE](../sensor/optical_flow.md#scale-factor). ([PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936)).
+
+- [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers
+
+- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
+  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
+  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
+
+- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
+  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
+
+- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
+  This makes log decryption much easier, as there is no need to download or identify a separate key file.
+  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
+
+- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
+  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
+  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
+  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
+
+- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
+
+- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
+  This typically reduces false warnings due to magnetometer inconsistencies.
+  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
+
+### 제어
+
+- [PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863): [Sponsored by ARK] Bidirectional DShot
+
+- [PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196): Make control allocation and actuator effectiveness a non-module-specific library
+
+- [PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator
+
+- Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
+
+- Collision prevention now works in manual (acceleration-based) flight mode (`MPC_POS_MODE`) ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
+
+### Estimation
+
+- [PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854): EKF2: ellipsoidal earth navigation
+
+- [PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263): EKF2: Terrain state
+
+- [PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init
+
+- [PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436): ekf2: Optical flow enabled by default
+
+- Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
+
+### 센서
+
+- [PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656): Implemented AUAV absolute/differential pressure sensor support
+
+- [PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639): Implemented temperature sensor support for INA228 / INA238
+
+- [PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B
+
+- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Mag cal: automatically disable internal mags if external ones are available
+
+- [PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064): BMP581: Add Bosch BMP581 barometer
+
+- [PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914): Murata SCH16T IMU driver
+
+- [PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023): ST IIS2MDC Magnetometer driver
+
+- [PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121): Include distance sensor in dds topics
+
+- [PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925): drivers: magnetometer: mmc5983ma: Add SPI support
+
+- [PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909): drivers/magnetometer/ak09916: Add support to AK09915
+
+- [PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362): Add Bosch BMM350 magnetometer
+
+- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Compass calibration now disables internal compass when external unit present, reducing false warnings
+
+### 시뮬레이션
+
+- **SIH**:
+  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
+    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
+  - SIH now supports the standard VTOL airframe
+    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
+- **Gazebo**:
+  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
+    The default installer scripts (used for CI) and documentation have been updated.
+    This is required because Garden end-of-life is Nov 2024.
+    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
+  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
+  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
+  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
+  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
+  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
+  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
+  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform
+
+### uXRCE-DDS / ROS2
+
+- **[Feature]** [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
+- [PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582): dds_topics: add vtol_vehicle_status
+- [PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583): dds_topics: add home_position
+
+### MAVLink
+
+- TBD
+
+### Multi-Rotor
+
+- [PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173): [Multirotor] add yaw torque low pass filter
+
+- [PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943): Add gz model for quadtailsitter
+
+- [PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358): Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD)
+
+- [PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507): Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE).
+
+### 수직이착륙기(VTOL)
+
+- TBD
+
+### Fixed-wing
+
+- [PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167): Fixedwing: fix wheel controller
+
+- [PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520): FixedWing: allow position control without valid global position
+
+- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
+
+### 탐사선
+
+This release contains a major rework for the rover support in PX4:
+
+- Complete restructure of the [rover related documentation](../frames_rover/index.md).
+- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
+- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
+  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
+- New module dedicated to [differential rovers](../frames_rover/differential.md):
+  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
+- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
+  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
+- Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers
+- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
+  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
+  - Generic Differential Rover `50000`.
+  - Generic Ackermann Rover `51000`.
+  - Axial SCX10 2 Trail Honcho `51001`.
+  - Generic Mecanum Rover `52000`.
+- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
+- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
+- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
+
+### Infrastructure
+
+- [PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011): standard_modes: add vehicle-type specific standard modes
+- [PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020): ci: build all upload to releases
+- [PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container
+- [PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937): ci: workflow for ubuntu 24
+- [PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869): ci: add test for Ubuntu 22.04
+- [PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574): ci: try runs-on Dronecode Infra
+- [PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550): ci: replace build workflows