Updted tests mostly for the spec overview

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

.github/workflows/build_all_targets.yml

@@ -268,4 +268,5 @@ jobs:
           files: |
             artifacts/*.px4
             artifacts/*.deb
+            artifacts/**/*.sbom.spdx.json
           name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/checks.yml

@@ -46,6 +46,8 @@ jobs:
           fetch-depth: 0
 
       - name: Building [${{ matrix.check }}]
+        env:
+          PX4_SBOM_DISABLE: 1
         run: |
           cd "$GITHUB_WORKSPACE"
           git config --global --add safe.directory "$GITHUB_WORKSPACE"

.github/workflows/mavros_mission_tests.yml

@@ -36,8 +36,8 @@ jobs:
             px4io/px4-dev-ros-melodic:2021-09-08 \
             bash -c '
               git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
+              PX4_SBOM_DISABLE=1 make px4_sitl_default
+              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
               ./test/rostest_px4_run.sh \
                 mavros_posix_test_mission.test \
                 mission:=MC_mission_box \

.github/workflows/mavros_offboard_tests.yml

@@ -36,8 +36,8 @@ jobs:
             px4io/px4-dev-ros-melodic:2021-09-08 \
             bash -c '
               git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
+              PX4_SBOM_DISABLE=1 make px4_sitl_default
+              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
               ./test/rostest_px4_run.sh \
                 mavros_posix_tests_offboard_posctl.test \
                 vehicle:=iris

.github/workflows/ros_integration_tests.yml

@@ -110,6 +110,8 @@ jobs:
       run: ccache -s
 
     - name: Build PX4
+      env:
+        PX4_SBOM_DISABLE: 1
       run: make px4_sitl_default
     - name: ccache post-run px4/firmware
       run: ccache -s

.github/workflows/sbom_license_check.yml

@@ -0,0 +1,42 @@
+name: SBOM License Check
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+      - 'stable'
+    paths:
+      - '.gitmodules'
+      - 'Tools/ci/license-overrides.yaml'
+      - 'Tools/ci/generate_sbom.py'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - '.gitmodules'
+      - 'Tools/ci/license-overrides.yaml'
+      - 'Tools/ci/generate_sbom.py'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  verify-licenses:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+          submodules: false
+
+      - name: Install PyYAML
+        run: pip install pyyaml --break-system-packages
+
+      - name: Verify submodule licenses
+        run: python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .

.github/workflows/sbom_monthly_audit.yml

@@ -0,0 +1,132 @@
+name: SBOM Monthly Audit
+
+on:
+  schedule:
+    # First Monday of each month at 09:00 UTC
+    - cron: '0 9 1-7 * 1'
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to audit (leave empty for current)'
+        required: false
+        type: string
+
+permissions:
+  contents: read
+  issues: write
+
+jobs:
+  audit:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.branch || github.ref }}
+          fetch-depth: 1
+          submodules: recursive
+
+      - name: Install PyYAML
+        run: pip install pyyaml --break-system-packages
+
+      - name: Run license verification
+        id: verify
+        continue-on-error: true
+        run: |
+          python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir . 2>&1 | tee /tmp/sbom-verify.txt
+          echo "exit_code=$?" >> "$GITHUB_OUTPUT"
+
+      - name: Check for issues
+        id: check
+        run: |
+          if grep -q "NOASSERTION" /tmp/sbom-verify.txt; then
+            echo "has_issues=true" >> "$GITHUB_OUTPUT"
+            # Extract NOASSERTION lines
+            grep "NOASSERTION" /tmp/sbom-verify.txt | grep -v "skipped" > /tmp/sbom-issues.txt || true
+            # Extract copyleft lines
+            sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
+          else
+            echo "has_issues=false" >> "$GITHUB_OUTPUT"
+          fi
+
+      - name: Create issue if problems found
+        if: steps.check.outputs.has_issues == 'true'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const fs = require('fs');
+
+            const fullOutput = fs.readFileSync('/tmp/sbom-verify.txt', 'utf8');
+            let issueLines = '';
+            try {
+              issueLines = fs.readFileSync('/tmp/sbom-issues.txt', 'utf8');
+            } catch (e) {
+              issueLines = 'No specific NOASSERTION lines captured.';
+            }
+            let copyleftLines = '';
+            try {
+              copyleftLines = fs.readFileSync('/tmp/sbom-copyleft.txt', 'utf8');
+            } catch (e) {
+              copyleftLines = '';
+            }
+
+            const date = new Date().toISOString().split('T')[0];
+            const branch = '${{ inputs.branch || github.ref_name }}';
+
+            // Check for existing open issue to avoid duplicates
+            const existing = await github.rest.issues.listForRepo({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              labels: 'sbom-audit',
+              state: 'open',
+            });
+
+            if (existing.data.length > 0) {
+              // Update existing issue with new findings
+              await github.rest.issues.createComment({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: existing.data[0].number,
+                body: `## Monthly audit update (${date})\n\nIssues still present:\n\n\`\`\`\n${issueLines}\n\`\`\`\n${copyleftLines ? `\n### Copyleft warnings\n\`\`\`\n${copyleftLines}\n\`\`\`` : ''}`,
+              });
+              return;
+            }
+
+            await github.rest.issues.create({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              title: `chore(sbom): license audit found NOASSERTION entries on ${branch} (${date})`,
+              labels: ['sbom-audit'],
+              assignees: ['mrpollo'],
+              body: [
+                `## SBOM Monthly Audit -- ${branch} -- ${date}`,
+                '',
+                'The automated SBOM license audit found submodules with unresolved licenses.',
+                '',
+                '### NOASSERTION entries',
+                '',
+                '```',
+                issueLines,
+                '```',
+                '',
+                copyleftLines ? `### Copyleft warnings\n\n\`\`\`\n${copyleftLines}\n\`\`\`\n` : '',
+                '### How to fix',
+                '',
+                '1. Check the submodule repo for a LICENSE file',
+                '2. Add an override to `Tools/ci/license-overrides.yaml`',
+                '3. Run `python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .` to confirm',
+                '',
+                '### Full output',
+                '',
+                '<details>',
+                '<summary>Click to expand</summary>',
+                '',
+                '```',
+                fullOutput,
+                '```',
+                '',
+                '</details>',
+                '',
+                'cc @mrpollo',
+              ].join('\n'),
+            });

.github/workflows/sitl_tests.yml

@@ -71,6 +71,7 @@ jobs:
       - name: Build PX4
         env:
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          PX4_SBOM_DISABLE: 1
         run: make px4_sitl_default
 
       - name: Cache Post-Run [px4_sitl_default]

.github/workflows/tag_px4_msgs_from_px4_release_tag.yml

@@ -0,0 +1,135 @@
+name: Tag px4_msgs from PX4 release tags
+
+on:
+  push:
+    tags:
+      - 'v*.*.*'
+  workflow_dispatch:
+    inputs:
+      tag_name:
+        description: 'PX4 tag to propagate (example: v1.17.0)'
+        required: true
+        type: string
+
+permissions:
+  contents: read
+
+jobs:
+  tag_px4_msgs:
+    if: github.repository == 'PX4/PX4-Autopilot'
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    env:
+      TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
+    steps:
+      - name: Checkout PX4 repo
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          fetch-tags: true
+
+      - name: Setup git credentials
+        run: |
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+
+      - name: Resolve release branch from tag
+        id: tag_info
+        shell: bash
+        run: |
+          set -euo pipefail
+
+          if [[ ! "${TAG_NAME}" =~ ^v([0-9]+)\.([0-9]+)\.([0-9]+)$ ]]; then
+            echo "Tag format is not stable vX.Y.Z, skipping: ${TAG_NAME}"
+            echo "should_run=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+
+          echo "should_run=true" >> "$GITHUB_OUTPUT"
+
+          major="${BASH_REMATCH[1]}"
+          minor="${BASH_REMATCH[2]}"
+          release_branch="release/${major}.${minor}"
+
+          git show-ref --verify --quiet "refs/heads/${release_branch}" || {
+            echo "PX4 branch ${release_branch} not found"
+            exit 1
+          }
+
+          tag_date="$(git for-each-ref --format='%(creatordate:iso8601)' "refs/tags/${TAG_NAME}")"
+          if [[ -z "${tag_date}" ]]; then
+            echo "Unable to resolve tag date for ${TAG_NAME}"
+            exit 1
+          fi
+
+          echo "release_branch=${release_branch}" >> "$GITHUB_OUTPUT"
+          echo "tag_date=${tag_date}" >> "$GITHUB_OUTPUT"
+
+      - name: Clone px4_msgs repo
+        if: steps.tag_info.outputs.should_run == 'true'
+        run: |
+          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
+
+      - name: Checkout matching px4_msgs release branch
+        if: steps.tag_info.outputs.should_run == 'true'
+        shell: bash
+        run: |
+          set -euo pipefail
+          cd px4_msgs
+
+          release_branch="${{ steps.tag_info.outputs.release_branch }}"
+          if git show-ref --verify --quiet "refs/remotes/origin/${release_branch}"; then
+            git checkout -B "${release_branch}" "origin/${release_branch}"
+          else
+            echo "px4_msgs branch ${release_branch} does not exist"
+            exit 1
+          fi
+
+      - name: Verify msg and srv trees are identical
+        if: steps.tag_info.outputs.should_run == 'true'
+        shell: bash
+        run: |
+          set -euo pipefail
+
+          release_branch="${{ steps.tag_info.outputs.release_branch }}"
+          git checkout "${release_branch}"
+
+          # Use the same synchronization logic as sync_to_px4_msgs.yml,
+          # then verify there are no changes in px4_msgs.
+          rm -f px4_msgs/msg/*.msg
+          rm -f px4_msgs/msg/versioned/*.msg
+          rm -f px4_msgs/srv/*.srv
+          rm -f px4_msgs/srv/versioned/*.srv
+          cp msg/*.msg px4_msgs/msg/
+          cp msg/versioned/*.msg px4_msgs/msg/ || true
+          cp srv/*.srv px4_msgs/srv/
+          cp srv/versioned/*.srv px4_msgs/srv/ || true
+
+          if ! git -C px4_msgs diff --exit-code -- msg srv; then
+            echo "Message/service definitions differ between PX4 ${release_branch} and px4_msgs ${release_branch}"
+            exit 1
+          fi
+
+      - name: Create and push tag in px4_msgs
+        if: steps.tag_info.outputs.should_run == 'true'
+        shell: bash
+        run: |
+          set -euo pipefail
+          cd px4_msgs
+
+          target="$(git rev-parse HEAD)"
+          existing_target="$(git rev-parse "refs/tags/${TAG_NAME}^{}" 2>/dev/null || true)"
+
+          if [[ -n "${existing_target}" ]]; then
+            if [[ "${existing_target}" == "${target}" ]]; then
+              echo "Tag ${TAG_NAME} already exists on ${target}; nothing to do"
+              exit 0
+            fi
+            echo "Tag ${TAG_NAME} already exists on ${existing_target}, expected ${target}"
+            exit 1
+          fi
+
+          GIT_COMMITTER_DATE="${{ steps.tag_info.outputs.tag_date }}" \
+            git tag -a "${TAG_NAME}" "${target}" \
+              -m "PX4 msgs and srvs definitions matching PX4 stable release ${TAG_NAME#v}"
+
+          git push origin "refs/tags/${TAG_NAME}"

.gitignore

@@ -112,3 +112,6 @@ keys/
 
 # metadata
 _emscripten_sdk/
+
+# virtual Python environment
+.venv

CMakeLists.txt

@@ -240,8 +240,15 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
+if(CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN)
+	set(PX4_DEBUG_OPT_LEVEL -Og)
+	message(STATUS "fortified toolchain support enabled: PX4_DEBUG_OPT_LEVEL=${PX4_DEBUG_OPT_LEVEL}")
+else()
+	set(PX4_DEBUG_OPT_LEVEL -O0)
+endif()
+
 if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL -O0)
+	set(MAX_CUSTOM_OPT_LEVEL ${PX4_DEBUG_OPT_LEVEL})
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
 elseif(CMAKE_BUILD_TYPE MATCHES "Release")
@@ -484,6 +491,7 @@ include(bloaty)
 
 include(metadata)
 include(package)
+include(sbom)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements

Kconfig

@@ -67,6 +67,16 @@ menu "Toolchain"
         help
             Enables Cmake Release for -O3 optimization
 
+    config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
+        bool "Fortified toolchain support"
+        default n
+        help
+            Enable compatibility with toolchains that define
+            _FORTIFY_SOURCE.
+
+            This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
+            disabled unless the fortified toolchain requires optimization.
+
     config BOARD_ROMFSROOT
         string "ROMFSROOT"
         default "px4fmu_common"

Makefile

@@ -162,6 +162,12 @@ else
 
 endif
 
+# Prefer the interpreter from an active Python virtual environment.
+# Otherwise leave PYTHON_EXECUTABLE unset and let CMake resolve Python.
+ifneq ($(strip $(VIRTUAL_ENV)),)
+	PYTHON_EXECUTABLE ?= $(VIRTUAL_ENV)/bin/python
+endif
+
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
@@ -548,7 +554,8 @@ validate_module_configs:
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
+	-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -18,6 +18,7 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
 param set SIH_VEHICLE_TYPE 4
+param set-default MAV_TYPE 13
 
 # Symmetric hexacopter X clockwise motor numbering
 param set-default CA_ROTOR_COUNT 6

ROMFS/px4fmu_common/init.d/rcS

@@ -633,7 +633,7 @@ else
 	#
 	# Start the VTX services.
 	#
-	if ! param compare VTX_SER_CFG 0
+	if ! param compare -s VTX_SER_CFG 0
 	then
 		set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
 		if [ -f ${RC_VTXTABLE} ]

Tools/HIL/test_airframes.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 
 # exit when any command fails
 set -e

Tools/astyle/fix_code_style.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [[ $# -eq 0 ]] ; then
   exit 0

Tools/auterion/remote_update_fmu.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Flash PX4 to a device running AuterionOS in the local network
 if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
 	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"

Tools/ci/build_all_runner.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # This script is meant to be used by the build_all.yml workflow in a github runner
 # Please only modify if you know what you are doing
 set -e

Tools/ci/check_msg_versioning.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 # Copy a git diff between two commits if msg versioning is added
 
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/ci/generate_sbom.py

@@ -0,0 +1,603 @@
+#!/usr/bin/env python3
+"""Generate SPDX 2.3 JSON SBOM for a PX4 firmware build.
+
+Produces one SBOM per board target containing:
+- PX4 firmware as the primary package
+- Git submodules as CONTAINS dependencies
+- Python build requirements as BUILD_DEPENDENCY_OF packages
+- Board-specific modules as CONTAINS packages
+
+Requires PyYAML (pyyaml) for loading license overrides.
+"""
+import argparse
+import configparser
+import json
+import re
+import subprocess
+import uuid
+from datetime import datetime, timezone
+from pathlib import Path
+
+import yaml
+
+# Ordered most-specific first: all keywords must appear for a match.
+LICENSE_PATTERNS = [
+    # Copyleft licenses first (more specific keywords prevent false matches)
+    ("GPL-3.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 3"]),
+    ("GPL-2.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 2"]),
+    ("LGPL-3.0-only",   ["GNU LESSER GENERAL PUBLIC LICENSE", "Version 3"]),
+    ("LGPL-2.1-only",   ["GNU Lesser General Public License", "Version 2.1"]),
+    ("AGPL-3.0-only",   ["GNU AFFERO GENERAL PUBLIC LICENSE", "Version 3"]),
+    # Permissive licenses
+    ("Apache-2.0",      ["Apache License", "Version 2.0"]),
+    ("MIT",             ["Permission is hereby granted"]),
+    ("BSD-3-Clause",    ["Redistribution and use", "Neither the name"]),
+    ("BSD-2-Clause",    ["Redistribution and use", "THIS SOFTWARE IS PROVIDED"]),
+    ("ISC",             ["Permission to use, copy, modify, and/or distribute"]),
+    ("EPL-2.0",         ["Eclipse Public License", "2.0"]),
+    ("Unlicense",       ["The Unlicense", "unlicense.org"]),
+]
+
+COPYLEFT_LICENSES = {
+    "GPL-2.0-only", "GPL-3.0-only",
+    "LGPL-2.1-only", "LGPL-3.0-only",
+    "AGPL-3.0-only",
+}
+
+def load_license_overrides(source_dir):
+    """Load license overrides and comments from YAML config file.
+
+    Returns (overrides, comments) dicts mapping submodule path to values.
+    Falls back to empty dicts if the file is missing.
+    """
+    yaml_path = source_dir / "Tools" / "ci" / "license-overrides.yaml"
+    if not yaml_path.exists():
+        return {}, {}
+
+    with open(yaml_path) as f:
+        data = yaml.safe_load(f)
+
+    overrides = {}
+    comments = {}
+    for path, entry in (data.get("overrides") or {}).items():
+        overrides[path] = entry["license"]
+        if "comment" in entry:
+            comments[path] = entry["comment"]
+
+    return overrides, comments
+
+LICENSE_FILENAMES = ["LICENSE", "LICENSE.md", "LICENSE.txt", "LICENCE", "LICENCE.md", "COPYING", "COPYING.md"]
+
+
+def detect_license(submodule_dir):
+    """Auto-detect SPDX license ID from LICENSE/COPYING file in a directory.
+
+    Reads the first 100 lines of the first license file found and matches
+    keywords against LICENSE_PATTERNS. Returns 'NOASSERTION' if no file
+    is found or no pattern matches.
+    """
+    for fname in LICENSE_FILENAMES:
+        license_file = submodule_dir / fname
+        if license_file.is_file():
+            try:
+                lines = license_file.read_text(errors="replace").splitlines()[:100]
+                text = "\n".join(lines)
+            except OSError:
+                continue
+
+            text_upper = text.upper()
+            for spdx_id_val, keywords in LICENSE_PATTERNS:
+                if all(kw.upper() in text_upper for kw in keywords):
+                    return spdx_id_val
+
+            return "NOASSERTION"
+
+    return "NOASSERTION"
+
+
+def get_submodule_license(source_dir, sub_path, license_overrides):
+    """Return the SPDX license for a submodule: override > auto-detect."""
+    if sub_path in license_overrides:
+        return license_overrides[sub_path]
+    return detect_license(source_dir / sub_path)
+
+
+def spdx_id(name: str) -> str:
+    """Convert a name to a valid SPDX identifier (letters, digits, dots, hyphens)."""
+    return re.sub(r"[^a-zA-Z0-9.\-]", "-", name)
+
+
+def parse_gitmodules(source_dir):
+    """Parse .gitmodules and return list of {name, path, url}."""
+    gitmodules_path = source_dir / ".gitmodules"
+    if not gitmodules_path.exists():
+        return []
+
+    config = configparser.ConfigParser()
+    config.read(str(gitmodules_path))
+
+    submodules = []
+    for section in config.sections():
+        if section.startswith("submodule "):
+            name = section.split('"')[1] if '"' in section else section.split(" ", 1)[1]
+            path = config.get(section, "path", fallback="")
+            url = config.get(section, "url", fallback="")
+            submodules.append({"name": name, "path": path, "url": url})
+
+    return submodules
+
+
+def get_submodule_commits(source_dir):
+    """Get commit hashes for all submodules via git ls-tree -r (works without init)."""
+    try:
+        result = subprocess.run(
+            ["git", "ls-tree", "-r", "HEAD"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        return {}
+
+    commits = {}
+    for line in result.stdout.splitlines():
+        parts = line.split()
+        if len(parts) >= 4 and parts[1] == "commit":
+            commits[parts[3]] = parts[2]
+
+    return commits
+
+
+def get_git_info(source_dir: Path) -> dict:
+    """Get PX4 git version and hash."""
+    info = {"version": "unknown", "hash": "unknown"}
+    try:
+        result = subprocess.run(
+            ["git", "describe", "--always", "--tags", "--dirty"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+        info["version"] = result.stdout.strip()
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        pass
+    try:
+        result = subprocess.run(
+            ["git", "rev-parse", "HEAD"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+        info["hash"] = result.stdout.strip()
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        pass
+    return info
+
+
+def parse_requirements(requirements_path):
+    """Parse pip requirements.txt into list of {name, version_spec}."""
+    if not requirements_path.exists():
+        return []
+
+    deps = []
+    for line in requirements_path.read_text().splitlines():
+        line = line.strip()
+        if not line or line.startswith("#") or line.startswith("-"):
+            continue
+        # Split on version specifiers
+        match = re.match(r"^([a-zA-Z0-9_\-]+)(.*)?$", line)
+        if match:
+            deps.append({
+                "name": match.group(1),
+                "version_spec": match.group(2).strip() if match.group(2) else "",
+            })
+    return deps
+
+
+def read_module_list(modules_file, source_dir):
+    """Read board-specific module list from file.
+
+    Paths may be absolute; they are converted to relative paths under src/.
+    Duplicates are removed while preserving order.
+    """
+    if not modules_file or not modules_file.exists():
+        return []
+
+    seen = set()
+    modules = []
+    source_str = str(source_dir.resolve()) + "/"
+
+    for line in modules_file.read_text().splitlines():
+        path = line.strip()
+        if not path or path.startswith("#"):
+            continue
+        # Convert absolute path to relative
+        if path.startswith(source_str):
+            path = path[len(source_str):]
+        if path not in seen:
+            seen.add(path)
+            modules.append(path)
+
+    return modules
+
+
+def make_purl(pkg_type: str, namespace: str, name: str, version: str = "") -> str:
+    """Construct a Package URL (purl)."""
+    purl = f"pkg:{pkg_type}/{namespace}/{name}"
+    if version:
+        purl += f"@{version}"
+    return purl
+
+
+def extract_git_host_org_repo(url):
+    """Extract host type, org, and repo from a git URL.
+
+    Returns (host, org, repo) where host is 'github', 'gitlab', or ''.
+    """
+    match = re.search(r"github\.com[:/]([^/]+)/([^/]+?)(?:\.git)?$", url)
+    if match:
+        return "github", match.group(1), match.group(2)
+    match = re.search(r"gitlab\.com[:/](.+?)/([^/]+?)(?:\.git)?$", url)
+    if match:
+        return "gitlab", match.group(1), match.group(2)
+    return "", "", ""
+
+
+def generate_sbom(source_dir, board, modules_file, compiler, platform=""):
+    """Generate a complete SPDX 2.3 JSON document."""
+    license_overrides, license_comments = load_license_overrides(source_dir)
+    git_info = get_git_info(source_dir)
+    timestamp = datetime.now(timezone.utc).strftime("%Y-%m-%dT%H:%M:%SZ")
+
+    # Deterministic namespace using UUID5 from git hash + board
+    ns_seed = f"{git_info['hash']}:{board}"
+    doc_namespace = f"https://spdx.org/spdxdocs/{board}-{uuid.uuid5(uuid.NAMESPACE_URL, ns_seed)}"
+
+    doc = {
+        "spdxVersion": "SPDX-2.3",
+        "dataLicense": "CC0-1.0",
+        "SPDXID": "SPDXRef-DOCUMENT",
+        "name": f"PX4 Firmware SBOM for {board}",
+        "documentNamespace": doc_namespace,
+        "creationInfo": {
+            "created": timestamp,
+            "creators": [
+                "Tool: px4-generate-sbom",
+                "Organization: Dronecode Foundation",
+            ],
+            "licenseListVersion": "3.22",
+        },
+        "packages": [],
+        "relationships": [],
+    }
+
+    # Primary package: PX4 firmware
+    primary_spdx_id = f"SPDXRef-PX4-{spdx_id(board)}"
+    doc["packages"].append({
+        "SPDXID": primary_spdx_id,
+        "name": board,
+        "versionInfo": git_info["version"],
+        "packageFileName": f"{board}.px4",
+        "supplier": "Organization: Dronecode Foundation",
+        "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
+        "filesAnalyzed": False,
+        "primaryPackagePurpose": "FIRMWARE",
+        "licenseConcluded": "BSD-3-Clause",
+        "licenseDeclared": "BSD-3-Clause",
+        "copyrightText": "Copyright (c) PX4 Development Team",
+        "externalRefs": [
+            {
+                "referenceCategory": "PACKAGE-MANAGER",
+                "referenceType": "purl",
+                "referenceLocator": make_purl(
+                    "github", "PX4", "PX4-Autopilot", git_info["version"]
+                ),
+            }
+        ],
+    })
+
+    doc["relationships"].append({
+        "spdxElementId": "SPDXRef-DOCUMENT",
+        "relationshipType": "DESCRIBES",
+        "relatedSpdxElement": primary_spdx_id,
+    })
+
+    # Git submodules (filtered to those relevant to this board's modules)
+    submodules = parse_gitmodules(source_dir)
+    submodule_commits = get_submodule_commits(source_dir)
+    modules = read_module_list(modules_file, source_dir)
+
+    def submodule_is_relevant(sub_path):
+        """A submodule is relevant if any board module path overlaps with it."""
+        # NuttX platform submodules are only relevant for NuttX builds
+        if sub_path.startswith("platforms/nuttx/"):
+            return platform in ("nuttx", "")
+        if not modules:
+            return True  # no module list means include all
+        # Other platform submodules are always relevant
+        if sub_path.startswith("platforms/"):
+            return True
+        for mod in modules:
+            # Module is under this submodule, or submodule is under a module
+            if mod.startswith(sub_path + "/") or sub_path.startswith(mod + "/"):
+                return True
+        return False
+
+    for sub in submodules:
+        if not submodule_is_relevant(sub["path"]):
+            continue
+        sub_path = sub["path"]
+        sub_path_id = sub_path.replace("/", "-")
+        sub_spdx_id = f"SPDXRef-Submodule-{spdx_id(sub_path_id)}"
+        commit = submodule_commits.get(sub_path, "unknown")
+        license_id = get_submodule_license(source_dir, sub_path, license_overrides)
+
+        host, org, repo = extract_git_host_org_repo(sub["url"])
+        download = sub["url"] if sub["url"] else "NOASSERTION"
+
+        # Use repo name from URL for human-readable name, fall back to last path component
+        display_name = repo if repo else sub_path.rsplit("/", 1)[-1]
+
+        pkg = {
+            "SPDXID": sub_spdx_id,
+            "name": display_name,
+            "versionInfo": commit,
+            "supplier": f"Organization: {org}" if org else "NOASSERTION",
+            "downloadLocation": download,
+            "filesAnalyzed": False,
+            "licenseConcluded": license_id,
+            "licenseDeclared": license_id,
+            "copyrightText": "NOASSERTION",
+        }
+
+        comment = license_comments.get(sub_path)
+        if comment:
+            pkg["licenseComments"] = comment
+
+        if host and org and repo:
+            pkg["externalRefs"] = [
+                {
+                    "referenceCategory": "PACKAGE-MANAGER",
+                    "referenceType": "purl",
+                    "referenceLocator": make_purl(host, org, repo, commit),
+                }
+            ]
+
+        doc["packages"].append(pkg)
+        doc["relationships"].append({
+            "spdxElementId": primary_spdx_id,
+            "relationshipType": "CONTAINS",
+            "relatedSpdxElement": sub_spdx_id,
+        })
+
+    # Python build dependencies
+    requirements_path = source_dir / "Tools" / "setup" / "requirements.txt"
+    py_deps = parse_requirements(requirements_path)
+
+    for dep in py_deps:
+        dep_name = dep["name"]
+        dep_spdx_id = f"SPDXRef-PyDep-{spdx_id(dep_name)}"
+        version_str = dep["version_spec"] if dep["version_spec"] else "NOASSERTION"
+
+        doc["packages"].append({
+            "SPDXID": dep_spdx_id,
+            "name": dep_name,
+            "versionInfo": version_str,
+            "supplier": "NOASSERTION",
+            "downloadLocation": f"https://pypi.org/project/{dep_name}/",
+            "filesAnalyzed": False,
+            "primaryPackagePurpose": "APPLICATION",
+            "licenseConcluded": "NOASSERTION",
+            "licenseDeclared": "NOASSERTION",
+            "copyrightText": "NOASSERTION",
+            "externalRefs": [
+                {
+                    "referenceCategory": "PACKAGE-MANAGER",
+                    "referenceType": "purl",
+                    "referenceLocator": f"pkg:pypi/{dep_name}",
+                }
+            ],
+        })
+        doc["relationships"].append({
+            "spdxElementId": dep_spdx_id,
+            "relationshipType": "BUILD_DEPENDENCY_OF",
+            "relatedSpdxElement": primary_spdx_id,
+        })
+
+    # Board-specific modules (already read above for submodule filtering)
+    for mod in modules:
+        mod_path_id = mod.replace("/", "-")
+        mod_spdx_id = f"SPDXRef-Module-{spdx_id(mod_path_id)}"
+
+        # Derive short name: strip leading src/ for readability
+        display_name = mod
+        if display_name.startswith("src/"):
+            display_name = display_name[4:]
+
+        doc["packages"].append({
+            "SPDXID": mod_spdx_id,
+            "name": display_name,
+            "versionInfo": git_info["version"],
+            "supplier": "Organization: Dronecode Foundation",
+            "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
+            "filesAnalyzed": False,
+            "licenseConcluded": "BSD-3-Clause",
+            "licenseDeclared": "BSD-3-Clause",
+            "copyrightText": "NOASSERTION",
+        })
+        doc["relationships"].append({
+            "spdxElementId": primary_spdx_id,
+            "relationshipType": "CONTAINS",
+            "relatedSpdxElement": mod_spdx_id,
+        })
+
+    # Compiler as a build tool
+    if compiler:
+        compiler_spdx_id = f"SPDXRef-Compiler-{spdx_id(compiler)}"
+        doc["packages"].append({
+            "SPDXID": compiler_spdx_id,
+            "name": compiler,
+            "versionInfo": "NOASSERTION",
+            "supplier": "NOASSERTION",
+            "downloadLocation": "NOASSERTION",
+            "filesAnalyzed": False,
+            "primaryPackagePurpose": "APPLICATION",
+            "licenseConcluded": "NOASSERTION",
+            "licenseDeclared": "NOASSERTION",
+            "copyrightText": "NOASSERTION",
+        })
+        doc["relationships"].append({
+            "spdxElementId": compiler_spdx_id,
+            "relationshipType": "BUILD_TOOL_OF",
+            "relatedSpdxElement": primary_spdx_id,
+        })
+
+    return doc
+
+
+def verify_licenses(source_dir):
+    """Verify license detection for all submodules. Returns exit code."""
+    license_overrides, _ = load_license_overrides(source_dir)
+    submodules = parse_gitmodules(source_dir)
+    if not submodules:
+        print("No submodules found in .gitmodules")
+        return 1
+
+    has_noassertion = False
+    print(f"{'Submodule Path':<65} {'Detected':<16} {'Override':<16} {'Final'}")
+    print("-" * 115)
+
+    for sub in submodules:
+        sub_path = sub["path"]
+        sub_dir = source_dir / sub_path
+
+        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
+        if not checked_out:
+            detected = "(not checked out)"
+            override = license_overrides.get(sub_path, "")
+            final = override if override else "NOASSERTION"
+        else:
+            detected = detect_license(sub_dir)
+            override = license_overrides.get(sub_path, "")
+            final = override if override else detected
+
+        if final == "NOASSERTION" and checked_out:
+            has_noassertion = True
+            marker = " <-- NOASSERTION"
+        elif final == "NOASSERTION" and not checked_out:
+            marker = " (skipped)"
+        else:
+            marker = ""
+
+        print(f"{sub_path:<65} {str(detected):<16} {str(override) if override else '':<16} {final}{marker}")
+
+    # Copyleft warning (informational, not a failure)
+    copyleft_found = []
+    for sub in submodules:
+        sub_path = sub["path"]
+        sub_dir = source_dir / sub_path
+        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
+        override = license_overrides.get(sub_path, "")
+        if checked_out:
+            final_lic = override if override else detect_license(sub_dir)
+        else:
+            final_lic = override if override else "NOASSERTION"
+        for cl in COPYLEFT_LICENSES:
+            if cl in final_lic:
+                copyleft_found.append((sub_path, final_lic))
+                break
+
+    print()
+    if copyleft_found:
+        print("Copyleft licenses detected (informational):")
+        for path, lic in copyleft_found:
+            print(f"  {path}: {lic}")
+        print()
+
+    if has_noassertion:
+        print("FAIL: Some submodules resolved to NOASSERTION. "
+              "Add an entry to Tools/ci/license-overrides.yaml or check the LICENSE file.")
+        return 1
+
+    print("OK: All submodules have a resolved license.")
+    return 0
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Generate SPDX 2.3 JSON SBOM for PX4 firmware"
+    )
+    parser.add_argument(
+        "--source-dir",
+        type=Path,
+        default=Path.cwd(),
+        help="PX4 source directory (default: cwd)",
+    )
+    parser.add_argument(
+        "--verify-licenses",
+        action="store_true",
+        help="Verify license detection for all submodules and exit",
+    )
+    parser.add_argument(
+        "--board",
+        default=None,
+        help="Board target name (e.g. px4_fmu-v5x_default)",
+    )
+    parser.add_argument(
+        "--modules-file",
+        type=Path,
+        default=None,
+        help="Path to config_module_list.txt",
+    )
+    parser.add_argument(
+        "--compiler",
+        default="",
+        help="Compiler identifier (e.g. arm-none-eabi-gcc)",
+    )
+    parser.add_argument(
+        "--platform",
+        default="",
+        help="PX4 platform (nuttx, posix, qurt). Filters platform-specific submodules.",
+    )
+    parser.add_argument(
+        "--output",
+        type=Path,
+        default=None,
+        help="Output SBOM file path",
+    )
+
+    args = parser.parse_args()
+
+    if args.verify_licenses:
+        raise SystemExit(verify_licenses(args.source_dir))
+
+    if not args.board:
+        parser.error("--board is required when not using --verify-licenses")
+    if not args.output:
+        parser.error("--output is required when not using --verify-licenses")
+
+    sbom = generate_sbom(
+        source_dir=args.source_dir,
+        board=args.board,
+        modules_file=args.modules_file,
+        compiler=args.compiler,
+        platform=args.platform,
+    )
+
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    with open(args.output, "w") as f:
+        json.dump(sbom, f, indent=2)
+        f.write("\n")
+
+    pkg_count = len(sbom["packages"])
+    print(f"SBOM generated: {args.output} ({pkg_count} packages)")
+
+
+if __name__ == "__main__":
+    main()

Tools/ci/inspect_sbom.py

@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+"""Inspect a PX4 SPDX SBOM file.
+
+Usage:
+    inspect_sbom.py <sbom.spdx.json>                  # full summary
+    inspect_sbom.py <sbom.spdx.json> search <term>    # search packages by name
+    inspect_sbom.py <sbom.spdx.json> ntia             # NTIA minimum elements check
+    inspect_sbom.py <sbom.spdx.json> licenses         # license summary
+    inspect_sbom.py <sbom.spdx.json> list <type>      # list packages (Submodule|PyDep|Module|all)
+"""
+
+import json
+import sys
+from collections import Counter
+from pathlib import Path
+
+
+def load(path):
+    return json.loads(Path(path).read_text())
+
+
+def pkg_type(pkg):
+    spdx_id = pkg["SPDXID"]
+    for prefix in ("Submodule", "PyDep", "Module", "Compiler", "PX4"):
+        if f"-{prefix}-" in spdx_id or spdx_id.startswith(f"SPDXRef-{prefix}"):
+            return prefix
+    return "Other"
+
+
+def summary(doc):
+    print(f"spdxVersion:  {doc['spdxVersion']}")
+    print(f"name:         {doc['name']}")
+    print(f"namespace:    {doc['documentNamespace']}")
+    print(f"created:      {doc['creationInfo']['created']}")
+    print(f"creators:     {', '.join(doc['creationInfo']['creators'])}")
+    print()
+
+    types = Counter(pkg_type(p) for p in doc["packages"])
+    print(f"Packages: {len(doc['packages'])}")
+    for t, c in types.most_common():
+        print(f"  {t}: {c}")
+    print()
+
+    rc = Counter(r["relationshipType"] for r in doc["relationships"])
+    print(f"Relationships: {len(doc['relationships'])}")
+    for t, n in rc.most_common():
+        print(f"  {t}: {n}")
+    print()
+
+    primary = doc["packages"][0]
+    print(f"Primary package:")
+    print(f"  name:    {primary['name']}")
+    print(f"  version: {primary['versionInfo']}")
+    print(f"  purpose: {primary.get('primaryPackagePurpose', 'N/A')}")
+    print(f"  license: {primary['licenseDeclared']}")
+    print()
+
+    noassert = [
+        p["name"]
+        for p in doc["packages"]
+        if pkg_type(p) == "Submodule" and p["licenseDeclared"] == "NOASSERTION"
+    ]
+    if noassert:
+        print(f"WARNING: {len(noassert)} submodules with NOASSERTION license:")
+        for n in noassert:
+            print(f"  - {n}")
+    else:
+        print("All submodule licenses mapped")
+
+    print(f"\nFile size: {Path(sys.argv[1]).stat().st_size // 1024}KB")
+
+
+def search(doc, term):
+    term = term.lower()
+    found = [p for p in doc["packages"] if term in p["name"].lower()]
+    if not found:
+        print(f"No packages matching '{term}'")
+        return
+    print(f"Found {len(found)} packages matching '{term}':\n")
+    for p in found:
+        print(json.dumps(p, indent=2))
+        print()
+
+
+def ntia_check(doc):
+    required = ["SPDXID", "name", "versionInfo", "supplier", "downloadLocation"]
+    missing = []
+    for p in doc["packages"]:
+        for f in required:
+            if f not in p or p[f] in ("", None):
+                missing.append((p["name"], f))
+
+    if missing:
+        print(f"FAIL: {len(missing)} missing fields:")
+        for name, field in missing:
+            print(f"  {name}: missing {field}")
+    else:
+        print(f"PASS: All {len(doc['packages'])} packages have required fields")
+
+    print(f"\nCreators:  {doc['creationInfo']['creators']}")
+    print(f"Timestamp: {doc['creationInfo']['created']}")
+
+    rels = [r for r in doc["relationships"] if r["relationshipType"] == "DESCRIBES"]
+    print(f"DESCRIBES relationships: {len(rels)}")
+
+    return len(missing) == 0
+
+
+def licenses(doc):
+    by_license = {}
+    for p in doc["packages"]:
+        lic = p.get("licenseDeclared", "NOASSERTION")
+        by_license.setdefault(lic, []).append(p["name"])
+
+    for lic in sorted(by_license.keys()):
+        names = by_license[lic]
+        print(f"\n{lic} ({len(names)}):")
+        for n in sorted(names):
+            print(f"  {n}")
+
+
+def list_packages(doc, filter_type):
+    filter_type = filter_type.lower()
+    for p in sorted(doc["packages"], key=lambda x: x["name"]):
+        t = pkg_type(p)
+        if filter_type != "all" and t.lower() != filter_type:
+            continue
+        lic = p.get("licenseDeclared", "?")
+        ver = p["versionInfo"][:20] if len(p["versionInfo"]) > 20 else p["versionInfo"]
+        print(f"  {t:10s}  {p['name']:50s}  {ver:20s}  {lic}")
+
+
+def main():
+    if len(sys.argv) < 2:
+        print(__doc__)
+        sys.exit(1)
+
+    doc = load(sys.argv[1])
+    cmd = sys.argv[2] if len(sys.argv) > 2 else "summary"
+
+    if cmd == "summary":
+        summary(doc)
+    elif cmd == "search":
+        if len(sys.argv) < 4:
+            print("Usage: inspect_sbom.py <file> search <term>")
+            sys.exit(1)
+        search(doc, sys.argv[3])
+    elif cmd == "ntia":
+        if not ntia_check(doc):
+            sys.exit(1)
+    elif cmd == "licenses":
+        licenses(doc)
+    elif cmd == "list":
+        filter_type = sys.argv[3] if len(sys.argv) > 3 else "all"
+        list_packages(doc, filter_type)
+    else:
+        print(f"Unknown command: {cmd}")
+        print(__doc__)
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()

Tools/ci/license-overrides.yaml

@@ -0,0 +1,56 @@
+# SPDX license overrides for submodules where auto-detection fails or is wrong.
+# Each entry maps a submodule path to its SPDX license identifier and an
+# optional comment explaining why the override exists.
+#
+# Run `python3 Tools/ci/generate_sbom.py --verify-licenses` to validate.
+
+overrides:
+  src/modules/mavlink/mavlink:
+    license: "LGPL-3.0-only AND MIT"
+    comment: "Generator is LGPL-3.0; PX4 ships only MIT-licensed generated headers."
+
+  src/lib/cdrstream/cyclonedds:
+    license: "EPL-2.0 OR BSD-3-Clause"
+    comment: >-
+      Dual-licensed. PX4 elects BSD-3-Clause.
+      No board currently enables CONFIG_LIB_CDRSTREAM.
+
+  src/lib/cdrstream/rosidl:
+    license: "Apache-2.0"
+
+  src/lib/crypto/monocypher:
+    license: "BSD-2-Clause OR CC0-1.0"
+    comment: >-
+      Dual-licensed. LICENCE.md offers BSD-2-Clause with CC0-1.0 as
+      public domain fallback.
+
+  src/lib/crypto/libtomcrypt:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+
+  src/lib/crypto/libtommath:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+
+  platforms/nuttx/NuttX/nuttx:
+    license: "Apache-2.0"
+    comment: >-
+      Composite LICENSE (6652 lines) includes BSD/MIT/ISC sub-components.
+      Primary license is Apache-2.0. NOTICE file contains FAT LFN patent warnings.
+
+  platforms/nuttx/NuttX/apps:
+    license: "Apache-2.0"
+
+  boards/modalai/voxl2/libfc-sensor-api:
+    license: "NOASSERTION"
+    comment: >-
+      No LICENSE file in repo. README describes it as public interface
+      for proprietary sensor library.
+
+  boards/modalai/voxl2/src/lib/mpa/libmodal-json:
+    license: "LGPL-3.0-only"
+    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."
+
+  boards/modalai/voxl2/src/lib/mpa/libmodal-pipe:
+    license: "LGPL-3.0-only"
+    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."

Tools/ci/package_build_artifacts.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
@@ -29,6 +29,8 @@ for build_dir_path in build/*/ ; do
   # Events
   mkdir -p artifacts/$build_dir/events/
   cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
+  # SBOM
+  cp $build_dir_path/*.sbom.spdx.json artifacts/$build_dir/ 2>/dev/null || true
   ls -la artifacts/$build_dir
   echo "----------"
 done

Tools/ci/run_fuzz_tests.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # This script runs the fuzz tests from a given binary for a certain amount of time
 set -e
 

Tools/copy_to_ros_ws.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 # Copy msgs and the message translation node into a ROS workspace directory
 
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/docker_run.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"

Tools/migrate_c_params.py

@@ -128,6 +128,9 @@ class SourceParser:
                         # start waiting for the next part - long comment.
                         if state == "wait-short-end":
                             state = "wait-long"
+                        elif state == "wait-long-end":
+                            # Preserve paragraph breaks in long description
+                            long_desc += "\n"
                     else:
                         m = self.re_comment_tag.match(comment_content)
                         if m:
@@ -208,8 +211,7 @@ class SourceParser:
                                 raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name))
                             param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc)
                         if long_desc is not None:
-                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
-                            param.fields["long_desc"] = long_desc
+                            param.fields["long_desc"] = long_desc.rstrip('\n')
                         for tag in tags:
                             if tag == "group":
                                 group = tags[tag]
@@ -407,7 +409,15 @@ def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str:
             g["definitions"][parameter.name] = p
         data["parameters"].append(g)
 
-    return yaml.dump(data, sort_keys=False)
+    # Use block scalar style for multi-line strings
+    class BlockStyleDumper(yaml.SafeDumper):
+        pass
+    def str_representer(dumper, data):
+        if '\n' in data:
+            return dumper.represent_scalar('tag:yaml.org,2002:str', data, style='|')
+        return dumper.represent_scalar('tag:yaml.org,2002:str', data)
+    BlockStyleDumper.add_representer(str, str_representer)
+    return yaml.dump(data, Dumper=BlockStyleDumper, sort_keys=False)
 
 
 def main():

Tools/module_config/generate_params.py

@@ -108,7 +108,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                 tags = '@group {:}'.format(param_group)
                 if param['type'] == 'enum':
                     param_type = 'INT32'
-                    for key in param['values']:
+                    for key in sorted(param['values'], key=float):
                         tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                 elif param['type'] == 'bitmask':
                     param_type = 'INT32'
@@ -124,6 +124,9 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                     param_type = 'INT32'
                 elif param['type'] == 'float':
                     param_type = 'FLOAT'
+                    if 'values' in param:
+                        for key in sorted(param['values'], key=float):
+                            tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                 else:
                     raise Exception("unknown param type {:}".format(param['type']))
 

Tools/run-shellcheck.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Script to run ShellCheck (a static analysis tool for shell scripts) over a
 # script directory

Tools/setup/docker-entrypoint.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color

Tools/setup/macos.sh

@@ -79,6 +79,13 @@ if [[ $INSTALL_SIM == "--sim-tools" ]]; then
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim
 	fi
+
+	# jMAVSim requires a JDK (Java 17 LTS recommended)
+	if ! brew ls --versions openjdk@17 > /dev/null; then
+		echo "[macos.sh] Installing OpenJDK 17 (required for jMAVSim)"
+		brew install openjdk@17
+		sudo ln -sfn $(brew --prefix openjdk@17)/libexec/openjdk.jdk /Library/Java/JavaVirtualMachines/openjdk-17.jdk
+	fi
 fi
 
 echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed."

Tools/simulation/gazebo-classic/setup_gazebo.bash

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #
 # Setup environment to make PX4 visible to Gazebo.
 #

Tools/simulation/gazebo-classic/sitl_multiple_run.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
 # It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'
 

Tools/simulation/sitl_multiple_run.sh

@@ -1,25 +1,28 @@
-#!/bin/bash
-# run multiple instances of the 'px4' binary, but w/o starting the simulator.
-# It assumes px4 is already built, with 'make px4_sitl_default'
+#!/usr/bin/env bash
+# Run multiple instances of the 'px4' binary, without starting an external simulator.
+# It assumes px4 is already built with the specified build target.
+#
+# Usage: ./Tools/simulation/sitl_multiple_run.sh [num_instances] [model] [build_target]
+# Examples:
+#   ./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
+#   ./Tools/simulation/sitl_multiple_run.sh 2 gazebo-classic_iris px4_sitl_default
+#   ./Tools/simulation/sitl_multiple_run.sh     # defaults: 2 instances, gazebo-classic_iris, px4_sitl_default
 
-# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
-# For example jmavsim can be run like this:
-#./Tools/simulation/jmavsim/jmavsim_run.sh -p 4561 -l
-
-sitl_num=2
-[ -n "$1" ] && sitl_num="$1"
+sitl_num=${1:-2}
+sim_model=${2:-gazebo-classic_iris}
+build_target=${3:-px4_sitl_default}
 
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/../../"
 
-build_path=${src_path}/build/px4_sitl_default
+build_path=${src_path}/build/${build_target}
 
 echo "killing running instances"
 pkill -x px4 || true
 
 sleep 1
 
-export PX4_SIM_MODEL=gazebo-classic_iris
+export PX4_SIM_MODEL=${sim_model}
 
 n=0
 while [ $n -lt $sitl_num ]; do

boards/bitcraze/crazyflie/syslink/CMakeLists.txt

@@ -42,6 +42,8 @@ px4_add_module(
 		syslink_bridge.cpp
 		syslink_memory.cpp
 		syslink.c
+	MODULE_CONFIG
+		syslink_params.yaml
 	DEPENDS
 		battery
 	)

boards/bitcraze/crazyflie/syslink/syslink_params.yaml

@@ -0,0 +1,28 @@
+module_name: syslink
+parameters:
+- group: Syslink
+  definitions:
+    SLNK_RADIO_CHAN:
+      description:
+        short: Operating channel of the NRF51
+      type: int32
+      default: 80
+      min: 0
+      max: 125
+    SLNK_RADIO_RATE:
+      description:
+        short: Operating datarate of the NRF51
+      type: int32
+      default: 2
+      min: 0
+      max: 2
+    SLNK_RADIO_ADDR1:
+      description:
+        short: Operating address of the NRF51 (most significant byte)
+      type: int32
+      default: 231
+    SLNK_RADIO_ADDR2:
+      description:
+        short: Operating address of the NRF51 (least significant 4 bytes)
+      type: int32
+      default: -404232217

boards/corvon/743v1/src/hw_config.h

@@ -104,7 +104,7 @@
 #define OSC_FREQ                       8
 
 #define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED  // RED
 #define BOARD_LED_ON                   0
 #define BOARD_LED_OFF                  1
 

boards/corvon/743v1/src/init.c

@@ -169,6 +169,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	drv_led_start();
 	led_off(LED_RED);
 	led_off(LED_BLUE);
+	led_off(LED_GREEN);
 
 	if (board_hardfault_init(2, true) != 0) {
 		led_on(LED_BLUE);

boards/corvon/743v1/src/led.c

@@ -63,12 +63,23 @@ extern void led_toggle(int led);
 __END_DECLS
 
 #  define xlat(p) (p)
+// index: 0=BLUE, 1=RED, 2=SAFETY, 3=GREEN
 static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nLED_BLUE,    // LED_BLUE (0)
+	GPIO_nLED_RED,     // LED_RED (1)
+	0,                 // LED_SAFETY (2) - no independent safety LED, use 0 placeholder
+	GPIO_nLED_GREEN,   // LED_GREEN (3)
 };
 
+#ifndef arraySize
+#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
+#endif
+
+static inline bool valid_led_index(int led)
+{
+	return (led >= 0) && ((size_t)led < arraySize(g_ledmap));
+}
+
 __EXPORT void led_init(void)
 {
 	/* Configure LED GPIOs for output */
@@ -81,6 +92,10 @@ __EXPORT void led_init(void)
 
 static void phy_set_led(int led, bool state)
 {
+	if (!valid_led_index(led)) {
+		return;
+	}
+
 	/* Drive Low to switch on */
 	if (g_ledmap[led] != 0) {
 		stm32_gpiowrite(g_ledmap[led], !state);
@@ -89,6 +104,10 @@ static void phy_set_led(int led, bool state)
 
 static bool phy_get_led(int led)
 {
+	if (!valid_led_index(led)) {
+		return false;
+	}
+
 	/* If Low it is on */
 	if (g_ledmap[led] != 0) {
 		return !stm32_gpioread(g_ledmap[led]);

boards/cuav/7-nano/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/7-nano/pwm_voltage/parameters.c

@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * Enable:  PWM output voltage 5V
- * Disable: PWM output voltage 3.3V
- *
- * @boolean
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_LEVEL_CONT, 0);

boards/cuav/7-nano/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_LEVEL_CONT:
+      description:
+        short: Control PWM output voltage
+        long: |-
+          Enable:  PWM output voltage 5V
+          Disable: PWM output voltage 3.3V
+      type: boolean
+      default: 0
+      reboot_required: true

boards/cuav/fmu-v6x/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/fmu-v6x/pwm_voltage/parameters.c

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/cuav/fmu-v6x/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/cuav/x25-evo/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/x25-evo/pwm_voltage/parameters.c

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/cuav/x25-evo/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/cuav/x25-super/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/x25-super/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/diatone/mamba-f405-mk2/default.px4board

@@ -25,7 +25,14 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_OPTICAL_FLOW is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y

boards/modalai/fc-v2/scripts/run_docker.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Run this from the px4 project top level directory
 docker run -it --rm --privileged -v `pwd`:/usr/local/workspace px4io/px4-dev-nuttx-focal:2022-08-12

boards/modalai/voxl2/cmake/install.cmake

@@ -49,6 +49,7 @@ install(PROGRAMS
 	${PX4_BOARD_DIR}/target/voxl-px4-start
 	${PX4_BOARD_DIR}/target/voxl-px4-hitl
 	${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
+	${PX4_BOARD_DIR}/scripts/voxl-configure-px4
 	DESTINATION bin
 )
 

boards/modalai/voxl2/cmake/package.cmake

@@ -47,7 +47,7 @@ set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
 set(CPACK_INSTALL_PREFIX "/usr")
 set(CPACK_SET_DESTDIR true)
 
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.1.16) | modalai-adsp(>=1.0.2)")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.2.2) | modalai-adsp(>=1.0.5)")
 set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
 set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")

boards/modalai/voxl2/debian/postinst

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # Create px4-* symlinks from px4-alias.sh

boards/modalai/voxl2/debian/prerm

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # Stop voxl-px4 service if running

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

@@ -4,11 +4,10 @@ After=sscrpcd.service
 Requires=sscrpcd.service
 
 [Service]
-Type=simple
+ExecStartPre=/bin/sleep 2
 ExecStart=/usr/bin/voxl-px4
 ExecStopPost=/usr/bin/voxl-reset-slpi
 Restart=on-failure
-RestartSec=5
 
 [Install]
 WantedBy=multi-user.target

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

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
 

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

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
 

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

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "*** Starting qurt slpi build ***"
 

boards/modalai/voxl2/scripts/clean.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Clean out the build artifacts
 # source /home/build-env.sh

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

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Push slpi image to voxl2
 adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

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

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Push slpi image to voxl2
 adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

boards/modalai/voxl2/scripts/patch-gazebo.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/src
 patch < ../../../../../boards/modalai/voxl2/gazebo-docker/patch/mavlink_interface.patch

boards/modalai/voxl2/scripts/run-docker.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Run this from the px4 project top level directory
 docker run -it --rm -v `pwd`:/usr/local/workspace rb5-flight-px4-build-docker

boards/modalai/voxl2/scripts/voxl-configure-px4

@@ -0,0 +1,270 @@
+#!/usr/bin/env bash
+################################################################################
+# Copyright 2023 ModalAI Inc.
+#
+# 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 of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# 4. The Software is used solely in conjunction with devices provided by
+#    ModalAI Inc.
+#
+# 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 HOLDER 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.
+################################################################################
+
+NAME="voxl-px4"
+SERVICE_FILE="${NAME}.service"
+CONFIG_FILE="/etc/modalai/${NAME}.conf"
+USER=$(whoami)
+
+print_usage () {
+	echo ""
+	echo "Config script for voxl-px4"
+	echo "wizard coming soon. For now, call with one of the following args:"
+	echo ""
+	echo ""
+	echo "voxl-configure-px4 disable"
+	echo "voxl-configure-px4 enable"
+	echo "voxl-configure-px4 factory_enable"
+	echo "voxl-configure-px4 d0005_v2"
+	echo "voxl-configure-px4 starling_v2"
+	echo "voxl-configure-px4 d0006_v1"
+	echo "voxl-configure-px4 sentinel_v1"
+	echo "voxl-configure-px4 d0008"
+	echo "voxl-configure-px4 fpv_revB"
+	echo "voxl-configure-px4 d0010"
+	echo "voxl-configure-px4 d0011"
+	echo "voxl-configure-px4 d0013"
+	echo "voxl-configure-px4 d0015"
+	echo "voxl-configure-px4 voxl2-mini"
+	echo ""
+	echo "show this help message:"
+	echo "voxl-configure-px4 help"
+	echo ""
+	echo "Use voxl-configure-px4 factory_enable to configure default values"
+
+}
+
+## set most parameters which don't have quotes in json
+set_param () {
+	if [ "$#" != "2" ]; then
+		echo "set_param expected 2 args"
+		exit 1
+	fi
+
+	var=$1
+	val=$2
+
+	sed -i "/$var=/c $var=$val" ${CONFIG_FILE}
+}
+
+disable_service_and_exit () {
+	echo "disabling ${NAME} systemd service"
+	systemctl disable ${SERVICE_FILE}
+	echo "stopping ${NAME} systemd service"
+	systemctl stop ${SERVICE_FILE}
+	echo "Done configuring ${NAME}"
+	exit 0
+}
+
+enable_service_and_exit () {
+	echo "enabling  ${NAME} systemd service"
+	systemctl enable  ${SERVICE_FILE}
+	echo "Done configuring ${NAME}"
+	exit 0
+}
+
+reset_config_file_to_default () {
+	echo "wiping old config file"
+	rm -rf ${CONFIG_FILE}
+
+	# create config description section on top of file
+    echo -e "#!/bin/bash\n#\n# voxl-px4 Configuration File\
+    \n#\
+    \n# AIRFRAME:\
+    \n#     Tell PX4 which AIRFRAME to use.\
+    \n#     Options include: [MULTICOPTER, FIXED_WING]\
+    \n#\
+    \n# GPS:\
+    \n#     Tell PX4 which GPS to use. If there is no GPS unit use NONE. Otherwise\
+    \n#     choose AUTODETECT and the startup script will attempt to automatically\
+    \n#     configure the GPS, magnetometer, and status LED\
+    \n#     Options include: [NONE, AUTODETECT]\
+    \n#\
+    \n# RC:\
+    \n#     Tell PX4 which RC transmitter to use. \
+    \n#     Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC)\
+    \n#     Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT]\
+    \n#\
+    \n# ESC:\
+    \n#     Tell PX4 which type of ESC to use. \
+    \n#     Options include: [VOXL_ESC, VOXL2_IO_PWM_ESC]\
+    \n#\
+    \n# POWER_MANAGER:\
+    \n#     Tell PX4 which power manager to use. \
+    \n#     Use NONE for ModalAI Mini-ESC since the ESC driver handles PM.\
+    \n#     Use EXTERNAL when not using the ModalAI APM power manager to power the board\
+    \n#       This also just disables the voxlpm driver, same as the NONE option\
+    \n#     Options include: [VOXLPM, EXTERNAL, NONE]\
+    \n#\
+    \n# AIRSPEED_SENSOR:\
+    \n#     Tell PX4 which airspeed sensor peripheral to use. \
+    \n#     Note: The sensor will be started on external I2C port on voxl2\
+    \n#     Options include: [NONE, MS4525DO]\
+    \n#\
+    \n# DISTANCE_SENSOR:\
+    \n#     Tell PX4 which distance sensor peripheral to use. \
+	\n#     Note: The sensor will be started on the RC port so it is only\
+	\n#           really possible to use it when using external RC.\
+    \n#     Options include: [NONE, LIGHTWARE_SF000]\
+    \n#\
+    \n# OSD:\
+    \n#     Tell PX4 whether to enable OSD (on-screen display). \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# DAEMON_MODE:\
+    \n#     Tell PX4 whether to enable daemon mode. \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# SENSOR_CAL:\
+    \n#     Tell PX4 where to source sensor calibration information. \
+    \n#     Options include: [ACTUAL, FAKE]\
+    \n#\
+    \n# ARTIFACT_MODE:\
+    \n#     Do not allow artifacts to be saved to disk. Will not start the logging \
+    \n#     module, will delete any current log files, and will delete the data manager file. \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# EXTRA_STEPS:\
+    \n#     Optional field that allows a user to define custom commands to be run by PX4 on boot. \
+    \n#     Must be a valid bash array as seen below \
+    \n#     Example: EXTRA_STEPS=( \"qshell gps start\" \"qshell commander mode manual\" ) \
+    \n#\
+    \n#" > $CONFIG_FILE
+
+    echo "AIRFRAME=MULTICOPTER" >> $CONFIG_FILE
+    echo "GPS=NONE" >> $CONFIG_FILE
+    echo "RC=SPEKTRUM" >> $CONFIG_FILE
+    echo "ESC=VOXL_ESC" >> $CONFIG_FILE
+	echo "POWER_MANAGER=VOXLPM" >> $CONFIG_FILE
+    echo "AIRSPEED_SENSOR=NONE" >> $CONFIG_FILE
+    echo "DISTANCE_SENSOR=NONE" >> $CONFIG_FILE
+    echo "OSD=DISABLE" >> $CONFIG_FILE
+    echo "DAEMON_MODE=ENABLE" >> $CONFIG_FILE
+    echo "SENSOR_CAL=ACTUAL" >> $CONFIG_FILE
+	echo "ARTIFACT_MODE=DISABLE" >> $CONFIG_FILE
+    echo "EXTRA_STEPS=()" >> $CONFIG_FILE
+}
+
+################################################################################
+## actual start of execution, handle optional arguments first
+################################################################################
+
+## sanity checks
+if [ "${USER}" != "root" ]; then
+	echo "Please run this script as root"
+	exit 1
+fi
+
+## convert argument to lower case for robustness
+arg=$(echo "$1" | tr '[:upper:]' '[:lower:]')
+
+## parse arguments
+case ${arg} in
+	"")
+		echo "ERROR no argument given"
+		print_usage
+		exit 1
+		;;
+	"h"|"-h"|"help"|"--help")
+		print_usage
+		exit 0
+		;;
+	"disable")
+		disable_service_and_exit
+		;;
+	"enable")
+		enable_service_and_exit
+		;;
+	"factory_enable")
+		reset_config_file_to_default
+		enable_service_and_exit
+		;;
+	"crsf_gps_apm"|"d0005_v2"|"starling_v2"|"d0006_v2"|"sentinel_v2")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC CRSF_RAW
+		enable_service_and_exit
+		;;
+	"spektrum_gps_apm"|"d0006_v1"|"sentinel_v1")
+		## First revision Sentinel with Holybro GPS and Spektrum Radio
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC SPEKTRUM
+		enable_service_and_exit
+		;;
+	"d0008"|"fpv_revb")
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		set_param OSD ENABLE
+		enable_service_and_exit
+		;;
+	"crsf_nogps_apm"|"d0010")
+		## Starling 1 with no GPS
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		enable_service_and_exit
+		;;
+	"crsf_gps_noapm"|"d0011"|"voxl2-mini")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC CRSF_RAW
+		set_param POWER_MANAGER NONE
+		enable_service_and_exit
+		;;
+	"crsf_nogps_noapm"|"d0013")
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		set_param POWER_MANAGER NONE
+		enable_service_and_exit
+		;;
+	"d0015")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param ESC VOXL2_IO_PWM_ESC
+		set_param RC CRSF_RAW
+		set_param AIRFRAME FIXED_WING
+		set_param AIRSPEED_SENSOR MS4525DO
+		set_param DISTANCE_SENSOR LIGHTWARE_SF000
+		enable_service_and_exit
+		;;
+	*)
+		echo "invalid option: $arg"
+		exit 1
+esac
+
+## should never get here
+exit 1

boards/modalai/voxl2/slpi.px4board

@@ -37,6 +37,8 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_VOXL2_IO=y

boards/modalai/voxl2/target/voxl-px4

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 CONFIG_FILE="/etc/modalai/voxl-px4.conf"
 

boards/modalai/voxl2/target/voxl-px4-hitl

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Make sure that the SLPI DSP test signature is there otherwise px4 cannot run
 # on the DSP

boards/modalai/voxl2/target/voxl-px4-start

@@ -215,6 +215,12 @@ fi
 if [ "$POWER_MANAGER" == "VOXLPM" ]; then
     # APM power monitor
     qshell voxlpm start -X -b 2
+elif [ "$POWER_MANAGER" == "INA226" ]; then
+    /bin/echo "Starting INA226 power monitor"
+    qshell ina226 start -X -b 2
+elif [ "$POWER_MANAGER" == "INA228" ]; then
+    /bin/echo "Starting INA228 power monitor"
+    qshell ina228 start -X -b 2
 fi
 
 if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then

boards/px4/fmu-v2/default.px4board

@@ -31,6 +31,8 @@ CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_DRAG_FUSION is not set
 # CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_OPTICAL_FLOW is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y

boards/px4/sitl/sih.px4board

@@ -0,0 +1,3 @@
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=n
+CONFIG_MODULES_SIMULATION_GZ_MSGS=n
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=n

boards/svehicle/e2/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/svehicle/e2/pwm_voltage/parameters.c

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/svehicle/e2/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/x-mav/ap-h743r1/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/x-mav/ap-h743r1/pwm_voltage/parameters.c

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/x-mav/ap-h743r1/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/zeroone/x6/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/zeroone/x6/pwm_voltage/parameters.c

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * Control PWM output voltage
- *
- * @value 0 3.3V
- * @value 1 5.0V
- *
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/zeroone/x6/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

cmake/coverage.cmake

@@ -52,10 +52,10 @@ endif()
 
 # add code coverage build type
 if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
-	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0 -fprofile-arcs -fno-inline-functions"
+	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths ${PX4_DEBUG_OPT_LEVEL} -fprofile-arcs -fno-inline-functions"
 		CACHE STRING "Flags used by the C compiler during coverage builds" FORCE)
 
-	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0-fprofile-arcs -fno-inline-functions -fno-elide-constructors"
+	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths ${PX4_DEBUG_OPT_LEVEL} -fprofile-arcs -fno-inline-functions -fno-elide-constructors"
 		CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
 
 	set(CMAKE_EXE_LINKER_FLAGS_COVERAGE "-ftest-coverage -fdiagnostics-absolute-paths"
@@ -63,11 +63,11 @@ if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}"
 
 else()
 	# Add  -fprofile-abs-path for GCC v8/9 later on
-	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs -O0 -fno-default-inline -fno-inline"
+	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs ${PX4_DEBUG_OPT_LEVEL} -fno-default-inline -fno-inline"
 		CACHE STRING "Flags used by the C compiler during coverage builds" FORCE)
 
 	# Add  -fprofile-abs-path for GCC v8/9 later on
-	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs -O0 -fno-default-inline -fno-inline -fno-elide-constructors"
+	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs ${PX4_DEBUG_OPT_LEVEL} -fno-default-inline -fno-inline -fno-elide-constructors"
 		CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
 
 	set(CMAKE_EXE_LINKER_FLAGS_COVERAGE "--coverage -ftest-coverage -lgcov"

cmake/px4_add_gtest.cmake

@@ -31,6 +31,15 @@
 #
 ############################################################################
 
+# Attach only matching test binaries to `test_results` when TESTFILTER is set.
+# `ctest -R` filters execution only; without this helper the build still
+# compiles every gtest target before running the filtered subset.
+function(add_filtered_test_dependencies TESTNAME)
+	if(NOT TESTFILTER OR "${TESTNAME}" MATCHES "${TESTFILTER}")
+		add_dependencies(test_results ${TESTNAME})
+	endif()
+endfunction()
+
 #=============================================================================
 #
 #	px4_add_unit_gtest
@@ -74,7 +83,7 @@ function(px4_add_unit_gtest)
 		         WORKING_DIRECTORY ${PX4_BINARY_DIR})
 
 		# attach it to the unit test target
-		add_dependencies(test_results ${TESTNAME})
+		add_filtered_test_dependencies(${TESTNAME})
 	endif()
 endfunction()
 
@@ -133,6 +142,6 @@ function(px4_add_functional_gtest)
 		         COMMAND ${PX4_BINARY_DIR}/${TESTNAME})
 
 		# attach it to the unit test target
-		add_dependencies(test_results ${TESTNAME})
+		add_filtered_test_dependencies(${TESTNAME})
 	endif()
 endfunction()

cmake/sbom.cmake

@@ -0,0 +1,72 @@
+############################################################################
+#
+#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# SBOM - SPDX 2.3 JSON Software Bill of Materials generation
+
+option(GENERATE_SBOM "Generate SPDX 2.3 SBOM" ON)
+
+if(DEFINED ENV{PX4_SBOM_DISABLE})
+	set(GENERATE_SBOM OFF)
+endif()
+
+if(GENERATE_SBOM)
+
+	# Write board-specific module list for the SBOM generator
+	set(sbom_module_list_file "${PX4_BINARY_DIR}/config_module_list.txt")
+	get_property(module_list GLOBAL PROPERTY PX4_MODULE_PATHS)
+	string(REPLACE ";" "\n" module_list_content "${module_list}")
+	file(GENERATE OUTPUT ${sbom_module_list_file} CONTENT "${module_list_content}\n")
+
+	set(sbom_output "${PX4_BINARY_DIR}/${PX4_CONFIG}.sbom.spdx.json")
+
+	add_custom_command(
+		OUTPUT ${sbom_output}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/ci/generate_sbom.py
+			--source-dir ${PX4_SOURCE_DIR}
+			--board ${PX4_CONFIG}
+			--modules-file ${sbom_module_list_file}
+			--compiler ${CMAKE_C_COMPILER}
+			--platform ${PX4_PLATFORM}
+			--output ${sbom_output}
+		DEPENDS
+			${PX4_SOURCE_DIR}/Tools/ci/generate_sbom.py
+			${PX4_SOURCE_DIR}/Tools/ci/license-overrides.yaml
+			${PX4_SOURCE_DIR}/.gitmodules
+			${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+			${sbom_module_list_file}
+		COMMENT "Generating SPDX SBOM for ${PX4_CONFIG}"
+	)
+
+	add_custom_target(sbom ALL DEPENDS ${sbom_output})
+
+endif()

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

@@ -304,7 +304,6 @@
 1	1	COM_FLT_TIME_MAX	-1	6
 1	1	COM_FORCE_SAFETY	0	6
 1	1	COM_HLDL_LOSS_T	120	6
-1	1	COM_HLDL_REG_T	0	6
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6