use tmux, with 3+ vehiles I see sporadic 100ms IMU dropouts

* gz: correct gimbal yaw

* uxrce_dds: add publisher /fmu/out/gimbal_device_attitude_status

* chore: use explicit ENU_to_NED rotation

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

* format

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

Tools/simulation/README_gz_multi_vehicle.md

@@ -0,0 +1,174 @@
+# Multi-Vehicle Gazebo Simulation Script
+
+## Overview
+
+`gz_multi_vehicle.sh` is a script to easily launch multiple PX4 gz_x500 drones in Gazebo simulation with configurable positioning. All drone instances run in a tmux grid layout within your current terminal, making it easy to monitor all vehicles simultaneously.
+
+**Platform**: Ubuntu Linux only
+
+## Prerequisites
+
+1. PX4 SITL must be built:
+   ```bash
+   make px4_sitl
+   ```
+
+2. Gazebo (gz) must be installed (Harmonic, Ionic, or Jetty)
+
+3. **Required**: terminator and tmux:
+   ```bash
+   sudo apt install terminator tmux
+   ```
+
+## Usage
+
+```bash
+./Tools/simulation/gz_multi_vehicle.sh [num_vehicles] [spacing]
+```
+
+### Parameters
+
+- `num_vehicles` (optional, default: 2, max: 10): Number of drones to spawn
+- `spacing` (optional, default: 0.5): Distance between drones in meters along the Y-axis
+
+### Examples
+
+Launch 3 drones with default 0.5m spacing:
+```bash
+./Tools/simulation/gz_multi_vehicle.sh 3
+```
+
+Launch 5 drones with 1.0m spacing:
+```bash
+./Tools/simulation/gz_multi_vehicle.sh 5 1.0
+```
+
+Launch 2 drones (default configuration):
+```bash
+./Tools/simulation/gz_multi_vehicle.sh
+```
+
+## What the Script Does
+
+1. **Validates** that PX4 SITL is built, terminator and tmux are installed
+2. **Prepares** working directories for all vehicle instances
+3. **Creates a tmux session** with a grid layout in your current terminal
+4. **Launches all vehicles** in separate tmux panes:
+   - **Instance 0** (first pane):
+     - Starts Gazebo server and GUI
+     - Spawns x500_0 at position (0, 0, 0)
+     - MAV_SYS_ID = 1
+   - **Instances 1+** (additional panes):
+     - Connect to running Gazebo instance
+     - Spawn x500_N at position (0, N×spacing, 0)
+     - MAV_SYS_ID = N+1
+     - Wait appropriately for Gazebo to be ready
+
+All vehicles are displayed in a tiled grid layout within the current terminal window, allowing you to see all outputs simultaneously.
+
+## Vehicle Configuration
+
+Each vehicle gets:
+- **Unique instance number**: 0, 1, 2, ...
+- **Unique MAV_SYS_ID**: instance + 1 (1, 2, 3, ...)
+- **Unique model name**: x500_0, x500_1, x500_2, ...
+- **Unique position**: Spaced along Y-axis
+- **Unique ROS 2 namespace** (if using ROS 2): px4_1, px4_2, px4_3, ...
+- **Dedicated tmux pane**: Each instance displays its output in a separate pane in the grid
+
+## Using with QGroundControl
+
+QGroundControl should automatically detect and connect to all vehicles. You can switch between them in the vehicle dropdown menu.
+
+## Using with ROS 2
+
+To use the vehicles with ROS 2:
+
+1. Start the MicroXRCE-DDS Agent (all vehicles connect to the same agent):
+   ```bash
+   MicroXRCEAgent udp4 -p 8888
+   ```
+
+2. List topics to see all vehicles:
+   ```bash
+   ros2 topic list
+   ```
+
+You should see topics namespaced by vehicle:
+- `/px4_1/fmu/in/...`
+- `/px4_1/fmu/out/...`
+- `/px4_2/fmu/in/...`
+- `/px4_2/fmu/out/...`
+- etc.
+
+## Stopping the Simulation
+
+To stop all vehicles:
+
+1. **Exit tmux session**: Press `Ctrl+B` then `D` to detach (vehicles keep running) or `Ctrl+C` in each pane to stop
+2. **Kill the tmux session**:
+   ```bash
+   tmux kill-session -t px4_multi_<timestamp>
+   ```
+   Or kill all PX4 multi-vehicle sessions:
+   ```bash
+   tmux list-sessions | grep px4_multi | cut -d: -f1 | xargs -I {} tmux kill-session -t {}
+   ```
+3. **Kill all PX4 processes**:
+   ```bash
+   pkill -x px4
+   ```
+
+## Tmux Navigation
+
+Useful tmux commands while in the session:
+- **Navigate panes**: `Ctrl+B` then arrow keys
+- **Zoom pane**: `Ctrl+B` then `Z` (toggle fullscreen for current pane)
+- **Scroll in pane**: `Ctrl+B` then `[`, then use arrow keys or Page Up/Down (press `q` to exit scroll mode)
+- **Detach from session**: `Ctrl+B` then `D`
+- **Reattach to session**: `tmux attach-session -t px4_multi_<timestamp>`
+
+## Troubleshooting
+
+### Vehicles not spawning
+- Check the tmux pane for the specific vehicle - all output is displayed there
+- Ensure Gazebo is installed: `gz sim --versions`
+- Make sure the first vehicle (instance 0) has fully started Gazebo before others spawn
+- Zoom into the first pane (`Ctrl+B` then `Z`) to see full output
+
+### Gazebo GUI not appearing
+- Check the first pane (instance 0) for Gazebo startup messages
+- Try setting display: `export DISPLAY=:0`
+
+### Missing terminator or tmux
+- Install required tools:
+  ```bash
+  sudo apt install terminator tmux
+  ```
+
+### Port conflicts
+- The script automatically handles MAVLink ports (14540 + instance)
+- UXRCE-DDS uses unique keys for namespacing
+
+## Monitoring Output
+
+All vehicles are displayed in a grid layout using tmux panes. Each pane shows the output for one vehicle instance. You can:
+- View all vehicles simultaneously in the grid
+- Zoom into any pane for detailed viewing (`Ctrl+B` then `Z`)
+- Scroll through output history in any pane (`Ctrl+B` then `[`)
+- Navigate between panes using arrow keys (`Ctrl+B` then arrow key)
+
+## Architecture Details
+
+The script uses tmux for terminal multiplexing and implements the multi-vehicle pattern described in the PX4 docs:
+- **Tmux session**: Creates a single tmux session with multiple panes in a tiled grid layout
+- **Instance 0**: Launches Gazebo server (no PX4_GZ_STANDALONE)
+- **Instances 1+**: Connect to running Gazebo server (PX4_GZ_STANDALONE=1)
+- **Positioning**: Each instance uses PX4_GZ_MODEL_POSE for spawn location
+- **Identifiers**: Automatic MAV_SYS_ID and UXRCE_DDS_KEY assignment based on instance number
+- **Synchronization**: Sequential startup with delays to ensure Gazebo is ready
+
+## References
+
+- [PX4 Multi-Vehicle Gazebo Docs](https://docs.px4.io/main/en/sim_gazebo_gz/multi_vehicle_simulation.html)
+- [PX4 ROS 2 Multi-Vehicle](https://docs.px4.io/main/en/ros2/multi_vehicle.html)

Tools/simulation/gz_multi_vehicle.sh

@@ -0,0 +1,205 @@
+#!/bin/bash
+# Multi-vehicle Gazebo (gz) simulation launcher for PX4
+# Spawns multiple gz_x500 drones with configurable spacing
+# Each instance runs in its own terminal window
+# Usage: ./gz_multi_vehicle.sh [num_vehicles] [spacing]
+#   num_vehicles: Number of drones to spawn (default: 2, max: 10)
+#   spacing: Distance between drones in meters (default: 0.5)
+
+set -e
+
+# Configuration
+num_vehicles=${1:-2}
+spacing=${2:-1}
+MAX_VEHICLES=10
+
+# Get script directory and PX4 root
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+PX4_DIR="$SCRIPT_DIR/../.."
+
+# Build directory
+BUILD_DIR="${PX4_DIR}/build/px4_sitl_default"
+
+# Check for required tools
+if ! command -v terminator &> /dev/null; then
+    echo "ERROR: terminator is required"
+    echo "Please install terminator:"
+    echo "  sudo apt install terminator"
+    exit 1
+fi
+
+if ! command -v tmux &> /dev/null; then
+    echo "ERROR: tmux is required for grid layout"
+    echo "Please install tmux:"
+    echo "  sudo apt install tmux"
+    exit 1
+fi
+
+echo "Using terminator with tmux grid layout"
+
+# Validate inputs
+if ! [[ "$num_vehicles" =~ ^[0-9]+$ ]] || [ "$num_vehicles" -lt 1 ]; then
+    echo "ERROR: Number of vehicles must be a positive integer"
+    echo "Usage: $0 [num_vehicles] [spacing]"
+    exit 1
+fi
+
+if [ "$num_vehicles" -gt "$MAX_VEHICLES" ]; then
+    echo "ERROR: Number of vehicles cannot exceed $MAX_VEHICLES"
+    echo "Usage: $0 [num_vehicles] [spacing]"
+    exit 1
+fi
+
+if ! [[ "$spacing" =~ ^[0-9]+\.?[0-9]*$ ]]; then
+    echo "ERROR: Spacing must be a positive number"
+    echo "Usage: $0 [num_vehicles] [spacing]"
+    exit 1
+fi
+
+# Check if PX4 is built
+if [ ! -f "${BUILD_DIR}/bin/px4" ]; then
+    echo "ERROR: PX4 SITL not built. Please run 'make px4_sitl' first"
+    exit 1
+fi
+
+echo "=================================================="
+echo "PX4 Multi-Vehicle Gazebo Launcher"
+echo "=================================================="
+echo "Number of vehicles: $num_vehicles"
+echo "Spacing: ${spacing}m"
+echo "Model: gz_x500"
+echo "PX4 Directory: $PX4_DIR"
+echo "=================================================="
+echo ""
+
+# Kill any existing PX4 instances (exact match only, won't kill this script)
+echo "Cleaning up any existing PX4 instances..."
+pkill -x px4 || true
+
+# Kill any existing Gazebo instances (use exact match to avoid killing this script)
+echo "Cleaning up any existing Gazebo instances..."
+pkill -x gz || true
+
+echo ""
+echo "Launching vehicles..."
+echo ""
+
+# Prepare all vehicle instances
+for i in $(seq 0 $((num_vehicles - 1))); do
+    # Create working directory for this instance
+    working_dir="${BUILD_DIR}/instance_${i}"
+    mkdir -p "$working_dir"
+
+    # Create symlink to gz_env.sh if it doesn't exist
+    if [ ! -f "$working_dir/gz_env.sh" ]; then
+        ln -sf "${BUILD_DIR}/rootfs/gz_env.sh" "$working_dir/gz_env.sh"
+    fi
+
+    # Calculate Y position (spacing along Y-axis)
+    y_pos=$(echo "$i * $spacing" | bc -l)
+    mav_sys_id=$((i + 1))
+
+    echo "----------------------------------------"
+    echo "Preparing Vehicle $i"
+    echo "  Working directory: $working_dir"
+    echo "  Position: (0, $y_pos, 0)"
+    echo "  MAV_SYS_ID: $mav_sys_id"
+    echo "  Model name: x500_${i}"
+    echo "----------------------------------------"
+done
+
+echo ""
+
+# Create tmux session with grid layout
+SESSION_NAME="px4_multi_$(date +%s)"
+
+echo "Creating tmux session with $num_vehicles panes in grid layout..."
+
+# Start tmux session with first pane
+working_dir_0="${BUILD_DIR}/instance_0"
+tmux new-session -d -s "$SESSION_NAME" -c "$working_dir_0"
+
+# Create additional panes (one for each vehicle after the first)
+for i in $(seq 1 $((num_vehicles - 1))); do
+    tmux split-window -t "$SESSION_NAME:0" -c "${BUILD_DIR}/instance_${i}"
+    tmux select-layout -t "$SESSION_NAME:0" tiled
+done
+
+# Send commands to each pane
+for i in $(seq 0 $((num_vehicles - 1))); do
+    working_dir="${BUILD_DIR}/instance_${i}"
+    y_pos=$(echo "$i * $spacing" | bc -l)
+    mav_sys_id=$((i + 1))
+
+    # Send commands to pane
+    tmux send-keys -t "$SESSION_NAME:0.$i" "cd '$working_dir'" C-m
+    tmux send-keys -t "$SESSION_NAME:0.$i" "echo '========================================='" C-m
+    tmux send-keys -t "$SESSION_NAME:0.$i" "echo 'PX4 Vehicle $i (MAV_SYS_ID=$mav_sys_id)'" C-m
+    tmux send-keys -t "$SESSION_NAME:0.$i" "echo '========================================='" C-m
+
+    if [ $i -eq 0 ]; then
+        tmux send-keys -t "$SESSION_NAME:0.$i" "echo 'Mode: Primary (launching Gazebo)'" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "export PX4_SYS_AUTOSTART=4001" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "export PX4_SIM_MODEL=gz_x500" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "'$BUILD_DIR/bin/px4' -i $i -d '$BUILD_DIR/etc'" C-m
+    else
+        tmux send-keys -t "$SESSION_NAME:0.$i" "echo 'Mode: Secondary (connecting to Gazebo)'" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "echo 'Position: (0, $y_pos, 0)'" C-m
+        # For secondary instances, wait for Gazebo to start
+        if [ $i -eq 1 ]; then
+            tmux send-keys -t "$SESSION_NAME:0.$i" "echo 'Waiting for Gazebo to start...'" C-m
+            tmux send-keys -t "$SESSION_NAME:0.$i" "sleep 15" C-m
+        else
+            tmux send-keys -t "$SESSION_NAME:0.$i" "sleep $((15 + (i-1) * 2))" C-m
+        fi
+        tmux send-keys -t "$SESSION_NAME:0.$i" "export PX4_SYS_AUTOSTART=4001" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "export PX4_SIM_MODEL=gz_x500" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "export PX4_GZ_MODEL_POSE='0,$y_pos'" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "export PX4_GZ_STANDALONE=1" C-m
+        tmux send-keys -t "$SESSION_NAME:0.$i" "'$BUILD_DIR/bin/px4' -i $i -d '$BUILD_DIR/etc'" C-m
+    fi
+done
+
+echo ""
+echo "All vehicles configured in tmux session: $SESSION_NAME"
+echo "Attaching to tmux session..."
+echo ""
+echo "Tmux Commands:"
+echo "  - Detach from tmux: Ctrl+B then D"
+echo "  - Kill session: tmux kill-session -t $SESSION_NAME"
+echo "  - Navigate panes: Ctrl+B then arrow keys"
+echo "  - Zoom pane: Ctrl+B then Z (toggle)"
+echo ""
+
+# Attach to the session
+exec tmux attach-session -t "$SESSION_NAME"
+
+echo ""
+echo "=================================================="
+echo "All vehicles launched successfully!"
+echo "=================================================="
+echo ""
+echo "Vehicle Summary:"
+echo "----------------"
+for i in $(seq 0 $((num_vehicles - 1))); do
+    y_pos=$(echo "$i * $spacing" | bc -l)
+    mav_sys_id=$((i + 1))
+    echo "Vehicle $i:"
+    echo "  - MAV_SYS_ID: $mav_sys_id"
+    echo "  - Model name: x500_${i}"
+    echo "  - Position: (0, $y_pos, 0)"
+    echo "  - ROS 2 namespace: px4_${mav_sys_id}"
+    echo "  - Terminal: PX4 Vehicle $i (MAV_SYS_ID=$mav_sys_id)"
+    echo ""
+done
+
+echo "Tips:"
+echo "-----"
+echo "- Each vehicle runs in its own tmux pane in the grid"
+echo "- QGroundControl should auto-connect to all vehicles"
+echo "- For ROS 2, start MicroXRCEAgent: MicroXRCEAgent udp4 -p 8888"
+echo "- Navigate panes: Ctrl+B then arrow keys"
+echo "- Zoom pane: Ctrl+B then Z"
+echo "- To stop all: Ctrl+C in each pane or pkill -x px4"
+echo ""
+echo "=================================================="

boards/ark/can-rtk-gps/nuttx-config/canbootloader/defconfig

@@ -54,8 +54,3 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_STM32_USART2=y
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_SERIAL_CONSOLE=y
-CONFIG_USART2_TXBUFSIZE=1100

boards/ark/can-rtk-gps/src/boot_config.h

@@ -128,8 +128,3 @@
  *
  */
 #define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
-
-/* Debug output option - set to 1 to enable bootloader debug messages */
-#ifndef OPT_ENABLE_DEBUG
-#  define OPT_ENABLE_DEBUG 1
-#endif

docs/en/dronecan/ark_cannode.md

@@ -83,10 +83,9 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter
 
 On the ARK CANnode, you may need to configure the following parameters:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |
+| Parameter                                                                                       | Description                   |
+| ----------------------------------------------------------------------------------------------- | ----------------------------- |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
 
 ## LED Meanings
 

docs/en/dronecan/ark_flow.md

@@ -110,10 +110,9 @@ When optical flow is the only source of horizontal position/velocity, then lower
 
 On the ARK Flow, you may need to configure the following parameters:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |
+| Parameter                                                                                       | Description                   |
+| ----------------------------------------------------------------------------------------------- | ----------------------------- |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
 
 ## LED Meanings
 

docs/en/dronecan/ark_flow_mr.md

@@ -105,10 +105,9 @@ Set the following parameters in _QGroundControl_:
 
 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:
 
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |
+| Parameter                                                                                       | Description                   |
+| ----------------------------------------------------------------------------------------------- | ----------------------------- |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
 
 ## LED Meanings
 

docs/en/dronecan/ark_gps.md

@@ -91,17 +91,9 @@ If the sensor is not centred within the vehicle you will also need to define sen
 
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
+- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
 
-### ARK GPS Configuration
-
-You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
-
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |
-
 ## LED Meanings
 
 You will see green, blue and red LEDs on the ARK GPS when it is being flashed, and a blinking green LED if it is running properly.

docs/en/dronecan/ark_rtk_gps.md

@@ -85,15 +85,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
-
-### ARK RTK GPS Configuration
-
-You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
-
-| Parameter                                                                                             | Description                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |
+- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
 
 ### Setting Up Rover and Fixed Base
 

docs/en/dronecan/index.md

@@ -96,10 +96,6 @@ If the DNA is still running and certain devices need to be manually configured,
 ::: info
 The PX4 node ID can be configured using the [UAVCAN_NODE_ID](../advanced_config/parameter_reference.md#UAVCAN_NODE_ID) parameter.
 The parameter is set to 1 by default.
-
-Devices running the [PX4 DroneCAN firmware](px4_cannode_fw.md) (such as [ARK CANnode](ark_cannode.md)) can use the
-[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter to set a static node ID.
-Set it to 0 (default) for dynamic allocation, or to a value between 1-127 to use a specific static node ID.
 :::
 
 :::warning
@@ -286,11 +282,6 @@ For example, the screenshot below shows the parameters for a CAN GPS with node i
 
 ![QGC Parameter showing selected DroneCAN node](../../assets/can/dronecan/qgc_can_parameters.png)
 
-Common CANNODE parameters that you can configure include:
-
-- [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID): Set a static node ID (1-127) or use 0 for dynamic allocation. See [PX4 DroneCAN Firmware > Static Node ID](px4_cannode_fw.md#static-node-id) for more information.
-- [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM): Enable CAN bus termination on the last node in the bus.
-
 ## Device Specific Setup
 
 Most DroneCAN nodes require no further setup, unless specifically noted in their device-specific documentation.

docs/en/dronecan/px4_cannode_fw.md

@@ -20,26 +20,6 @@ make ark_can-flow_default
 
 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
 
-## Configuration
-
-### Static Node ID
-
-By default, DroneCAN devices use [Dynamic Node Allocation (DNA)](index.md#node-id-allocation) to automatically obtain a unique node ID from the flight controller.
-However, you can configure a static node ID using the [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter.
-
-To configure a static node ID:
-
-1. Set [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) to a value between 1-127 using [QGroundControl](index.md#qgc-cannode-parameter-configuration)
-2. Reboot the device
-
-To return to dynamic allocation, set `CANNODE_NODE_ID` back to 0.
-Note that when switching back to dynamic allocation, the flight controller will typically continue to allocate the same node ID that was previously used (this is normal DNA behavior).
-
-:::warning
-When using static node IDs, you must ensure that each device on the CAN bus has a unique node ID.
-Configuring two devices with the same ID will cause communication conflicts.
-:::
-
 ## Developer Information
 
 This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.

msg/GimbalDeviceAttitudeStatus.msg

@@ -9,6 +9,9 @@ uint16 DEVICE_FLAGS_NEUTRAL = 2
 uint16 DEVICE_FLAGS_ROLL_LOCK = 4
 uint16 DEVICE_FLAGS_PITCH_LOCK = 8
 uint16 DEVICE_FLAGS_YAW_LOCK = 16
+uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
+uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
+
 
 float32[4] q
 float32 angular_velocity_x

platforms/nuttx/src/canbootloader/uavcan/main.c

@@ -59,47 +59,6 @@
 #include <drivers/bootloaders/boot_alt_app_shared.h>
 #include <drivers/drv_watchdog.h>
 #include <lib/crc/crc.h>
-#include <stdio.h>
-
-/****************************************************************************
- * Bootloader Debug Logging
- *
- * Bootloader bypasses stdio initialization, so we use arm_lowputc directly
- * for debug output. These macros are similar to PX4_INFO/PX4_DEBUG.
- *
- * Enable by setting OPT_ENABLE_DEBUG=1 in boot_config.h or board config.
- ****************************************************************************/
-extern void arm_lowputc(char ch);
-
-static inline void bl_puts(const char *str)
-{
-	while (*str) { arm_lowputc(*str++); }
-}
-
-static inline void bl_putnum(uint32_t val)
-{
-	char buf[12];
-	snprintf(buf, sizeof(buf), "%lu", val);
-	bl_puts(buf);
-}
-
-#if OPT_ENABLE_DEBUG
-#  define BL_DEBUG(fmt, ...) \
-	do { \
-		bl_puts("[BL] " fmt); \
-		__VA_ARGS__; \
-		bl_puts("\r\n"); \
-	} while (0)
-#  define BL_DEBUG_NUM(label, val) \
-	do { \
-		bl_puts("[BL] " label ": "); \
-		bl_putnum(val); \
-		bl_puts("\r\n"); \
-	} while (0)
-#else
-#  define BL_DEBUG(fmt, ...)
-#  define BL_DEBUG_NUM(label, val)
-#endif
 
 //#define DEBUG_APPLICATION_INPLACE    1 /* Never leave defined */
 #define DEBUG_NO_FW_UPDATE           1 /* With DEBUG_APPLICATION_INPLACE
@@ -1152,40 +1111,9 @@ __EXPORT int main(int argc, char *argv[])
 	 */
 	common.crc.valid = false;
 
-	/*
-	 * Check if Node ID has been previously assigned and skip DNA if so.
-	 * IMPORTANT: Read this BEFORE invalidating!
-	 */
-	bootloader_app_shared_t shared_data;
-	bool has_node_id = false;
-
-	if (bootloader_app_shared_read(&shared_data, App) == OK) {
-		/* We have valid shared_data data from a previous app run */
-		if (shared_data.node_id > 0 && shared_data.node_id <= 127) {
-			has_node_id = true;
-			common.node_id = shared_data.node_id;
-			BL_DEBUG_NUM("Read persisted node ID", shared_data.node_id);
-
-			/* Also restore the bus speed if we have it */
-			if (shared_data.bus_speed != 0) {
-				common.bus_speed = shared_data.bus_speed;
-				BL_DEBUG_NUM("Read persisted bus speed", shared_data.bus_speed);
-			}
-
-		} else {
-			BL_DEBUG("Shared data has invalid node ID",);
-		}
-
-	} else {
-		BL_DEBUG("No valid shared data found",);
-	}
-
-	BL_DEBUG_NUM("has_node_id", has_node_id);
-
-	/* Now invalidate to prevent deja vu (after we've read the static node ID) */
+	/* Either way prevent Deja vu by invalidating the struct*/
 	bootloader_app_shared_invalidate();
 
-
 	/* Set up the Timers */
 	bl_timer_cb_t p = null_cb;
 	p.cb = uptime_process;
@@ -1265,78 +1193,34 @@ __EXPORT int main(int argc, char *argv[])
 		 * or the Node allocation runs longer the tBoot
 		 */
 
-		BL_DEBUG("Regular boot - checking for static node ID",);
+		/* Preferred Node Address */
 
-		/* Skip DNA if we already have a node ID from previously */
-		if (has_node_id) {
-			BL_DEBUG("Using persisted static node ID - skipping DNA",);
-			BL_DEBUG_NUM("Static node ID", common.node_id);
+		common.node_id = OPT_PREFERRED_NODE_ID;
+
+		if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
 
 			/*
-			 * We have a saved node ID.
-			 * Only do autobaud if we don't have the bus speed.
-			 */
-			if (common.bus_speed == 0) {
-				BL_DEBUG("Bus speed unknown - performing autobaud only",);
-
-				bootloader.bus_speed = CAN_UNDEFINED;
-
-				if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
-					goto boot;
-				}
-
-				common.bus_speed = can_speed2freq(bootloader.bus_speed);
-				BL_DEBUG_NUM("Autobaud completed - bus speed", common.bus_speed);
-
-			} else {
-				BL_DEBUG("Using both persisted node ID and bus speed",);
-				BL_DEBUG_NUM("Node ID", common.node_id);
-				BL_DEBUG_NUM("Bus speed", common.bus_speed);
-
-				/* We have both node ID and bus speed from shared data */
-				bootloader.bus_speed = can_freq2speed(common.bus_speed);
-				can_init(bootloader.bus_speed, CAN_Mode_Normal);
-			}
-
-			bootloader.uptime = 0;
-			common.crc.valid = true;
-
-		} else {
-			/* No node ID, do full DNA */
-			BL_DEBUG("No persisted node ID - performing full DNA",);
-
-			/* Preferred Node Address */
-			common.node_id = OPT_PREFERRED_NODE_ID;
-
-			if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) {
-
-				/*
-				 * It is OK that node ID is set to the preferred Node ID because
-				 *  common.crc.valid is not true yet
-				 */
-				BL_DEBUG("DNA failed or timed out",);
-
-				goto boot;
-			}
-
-			BL_DEBUG("DNA completed successfully",);
-			BL_DEBUG_NUM("Allocated node ID", common.node_id);
-
-			/* We have autobauded and got a Node ID. So reset uptime
-			 * and save the speed and node_id in both the common and
-			 * and bootloader data sets
+			 * It is OK that node ID is set to the preferred Node ID because
+			 *  common.crc.valid is not true yet
 			 */
 
-			bootloader.uptime = 0;
-			common.bus_speed = can_speed2freq(bootloader.bus_speed);
-
-			/*
-			 * Mark CRC to say this is from
-			 * auto baud and Node Allocation
-			 */
-			common.crc.valid = true;
+			goto boot;
 		}
 
+		/* We have autobauded and got a Node ID. So reset uptime
+		 * and save the speed and node_id in both the common and
+		 * and bootloader data sets
+		 */
+
+		bootloader.uptime = 0;
+		common.bus_speed = can_speed2freq(bootloader.bus_speed);
+
+		/*
+		 * Mark CRC to say this is from
+		 * auto baud and Node Allocation
+		 */
+		common.crc.valid = true;
+
 		/* Auto bauding may have taken a long time, so restart the tboot time*/
 
 		if (bootloader.app_valid && !bootloader.wait_for_getnodeinfo) {
@@ -1346,8 +1230,6 @@ __EXPORT int main(int argc, char *argv[])
 
 	}
 
-	BL_DEBUG_NUM("Configuring UAVCAN with node ID", common.node_id);
-
 	/* Now that we have a node Id configure the uavcan library */
 	g_this_node_id = common.node_id;
 

src/drivers/uavcannode/UavcanNode.cpp

@@ -586,30 +586,11 @@ void UavcanNode::Run()
 
 	// check for parameter updates
 	if (_parameter_update_sub.updated()) {
-		PX4_INFO("params updated");
 		// clear update
 		parameter_update_s pupdate;
 		_parameter_update_sub.copy(&pupdate);
 
 		// update parameters from storage
-		int32_t cannode_node_id = 0;
-		param_get(param_find("CANNODE_NODE_ID"), &cannode_node_id);
-
-		if (_node.getNodeID().get() != (uint8_t)cannode_node_id) {
-			if (cannode_node_id > 0 && cannode_node_id <= uavcan::NodeID::Max) {
-				// Write new static node ID
-				PX4_INFO("Param changed - writing static node ID %ld to bootloader", cannode_node_id);
-				bootloader_app_shared_t shared_write = {};
-				shared_write.node_id = cannode_node_id;
-				shared_write.bus_speed = 0;  // Force autobaud on next boot (distinguishes from FW update request)
-				bootloader_app_shared_write(&shared_write, App);
-
-			} else if (cannode_node_id == 0) {
-				// User set to 0 to force DNA on next boot
-				PX4_INFO("CANNODE_NODE_ID set to 0 - invalidating shared memory to force DNA on next boot");
-				bootloader_app_shared_invalidate();
-			}
-		}
 	}
 
 	_node.spinOnce();
@@ -843,33 +824,6 @@ extern "C" int uavcannode_start(int argc, char *argv[])
 		}
 	}
 
-	// Read the static node ID parameter - this always takes precedence if set
-	int32_t cannode_node_id = 0;
-	param_get(param_find("CANNODE_NODE_ID"), &cannode_node_id);
-
-	// Check if the static node ID is in range
-	if (cannode_node_id < 0 || cannode_node_id > uavcan::NodeID::Max) {
-		PX4_ERR("Invalid static node ID %ld, using dynamic allocation", cannode_node_id);
-		cannode_node_id = 0;
-	}
-
-	// Always prefer static node ID parameter if set (overrides bootloader's node_id)
-	if (cannode_node_id > 0 && cannode_node_id <= uavcan::NodeID::Max) {
-		node_id = cannode_node_id;
-		PX4_INFO("Using static node ID %ld from parameter", cannode_node_id);
-
-		bootloader_app_shared_t shared_write = {};
-		shared_write.node_id = node_id;
-		shared_write.bus_speed = 0;  // Force autobaud on next boot (distinguishes from FW update request)
-		PX4_INFO("Writing static node ID %ld to shared memory (bus_speed=0)", (int32_t)shared_write.node_id);
-		bootloader_app_shared_write(&shared_write, App);
-	} else {
-		PX4_INFO("No static node ID set (CANNODE_NODE_ID=%ld)", cannode_node_id);
-	}
-
-	// If no static node ID parameter, use what bootloader provided.
-	// Shared memory is invalidated above, so bootloader will do DNA on next boot.
-
 	if (
 #if defined(SUPPORT_ALT_CAN_BOOTLOADER)
 		board_booted_by_px4() &&

src/drivers/uavcannode/uavcannode_params.c

@@ -31,15 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * UAVCAN CAN node ID (0 for dynamic allocation).
- *
- * @min 0
- * @max 127
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_NODE_ID, 0);
-
 /**
  * UAVCAN CAN bus bitrate.
  *

src/modules/simulation/gz_bridge/GZGimbal.cpp

@@ -100,11 +100,15 @@ void GZGimbal::gimbalIMUCallback(const gz::msgs::IMU &IMU_data)
 	pthread_mutex_lock(&_node_mutex);
 
 	static const matrix::Quatf q_FLU_to_FRD = matrix::Quatf(0.0f, 1.0f, 0.0f, 0.0f);
+	static const matrix::Quatf q_ENU_to_NED = matrix::Quatf(0.0f, cosf(M_PI_4_F), cosf(M_PI_4_F), 0.0f);
+
+	// Get the gimbal orientation. Gimbal frame is FLU in Gazebo, reference frame is ENU in Gazebo
 	const matrix::Quatf q_gimbal_FLU = matrix::Quatf(IMU_data.orientation().w(),
 					   IMU_data.orientation().x(),
 					   IMU_data.orientation().y(),
 					   IMU_data.orientation().z());
-	_q_gimbal = q_FLU_to_FRD * q_gimbal_FLU * q_FLU_to_FRD.inversed();
+
+	_q_gimbal = q_ENU_to_NED * q_gimbal_FLU * q_FLU_to_FRD.inversed();
 
 	matrix::Vector3f rate = q_FLU_to_FRD.rotateVector(matrix::Vector3f(IMU_data.angular_velocity().x(),
 				IMU_data.angular_velocity().y(),
@@ -206,13 +210,11 @@ void GZGimbal::publishDeviceInfo()
 
 void GZGimbal::publishDeviceAttitude()
 {
-	// TODO handle flags
-
 	gimbal_device_attitude_status_s gimbal_att{};
 
 	gimbal_att.target_system = 0; // Broadcast
 	gimbal_att.target_component = 0; // Broadcast
-	gimbal_att.device_flags = 0;
+	gimbal_att.device_flags = gimbal_device_attitude_status_s::DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME;
 	_q_gimbal.copyTo(gimbal_att.q);
 	gimbal_att.angular_velocity_x = _gimbal_rate[0];
 	gimbal_att.angular_velocity_y = _gimbal_rate[1];

src/modules/uxrce_dds_client/dds_topics.yaml

@@ -104,6 +104,10 @@ publications:
     type: px4_msgs::msg::Wind
     rate_limit: 1.
 
+  - topic: /fmu/out/gimbal_device_attitude_status
+    type: px4_msgs::msg::GimbalDeviceAttitudeStatus
+    rate_limit: 20.
+
 # Create uORB::Publication
 subscriptions:
   - topic: /fmu/in/register_ext_component_request