Fix regression with gliding setpoints

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

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

@@ -21,8 +21,10 @@ applyTo: "docs/en/**"
   - Do not apply bold or italic styling inside a heading.
 - **Formatting:** 
   - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
   - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+    Backticks are optional for hyperlinked CLI commands and tool names.
+  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
+    Emphasis is optional for hyperlinked applications.
 - **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
 
 ## Linking & Navigation

.gitignore

@@ -112,38 +112,3 @@ keys/
 
 # metadata
 _emscripten_sdk/
-
-# AI coding agents -- only AGENTS.md is committed
-# Tool-specific configs, settings, and local state
-.claude/
-CLAUDE.md
-CLAUDE.local.md
-.cursor/
-.cursorrules
-.cursorignore
-.cursorindexingignore
-.windsurf/
-.windsurfrules
-.codeiumignore
-.aider*
-.clinerules
-.clinerules-*
-.clineignore
-.continue/
-.continuerc.json
-.continueignore
-.codex/
-.amazonq/
-.augment/
-.augmentignore
-.augment-guidelines
-.cody/
-.junie/
-.tabnine_root
-.tabnineignore
-GEMINI.md
-.gemini/
-.geminiignore
-.aiexclude
-.mcp.json
-.claudeignore

AGENTS.md

@@ -1,51 +0,0 @@
-# AGENTS.md -- PX4-Autopilot
-
-Open-source flight controller (C/C++, NuttX/POSIX/QURT). Docs live in-tree at `docs/en/` (rendered at https://docs.px4.io).
-
-## Docs (read these first)
-
-- **Building & targets:** `docs/en/dev_setup/building_px4.md`
-- **Code style, conventions & commits:** `docs/en/contribute/code.md`
-- **Architecture & modules:** `docs/en/concept/architecture.md`
-- **uORB messaging:** `docs/en/middleware/uorb.md`
-- **Simulation (incl. choosing SIH vs Gazebo):** `docs/en/simulation/index.md`
-- **Testing:** `docs/en/test_and_ci/unit_tests.md`
-- **Test flights:** `docs/en/test_and_ci/test_flights.md`
-
-## Build Verification
-
-Always test across architectures before submitting:
-
-```bash
-make px4_sitl_default           # POSIX / SITL
-make px4_fmu-v6x_default        # STM32H7 (Pixhawk 6X)
-make px4_fmu-v5x_default        # STM32F7 (Pixhawk 5X)
-make nxp_fmuk66-v3_default      # NXP K66
-```
-
-## Areas That Benefit From Extra Review
-
-| Directory | Controls | Before modifying |
-|-----------|----------|------------------|
-| `src/modules/commander/` | Arming, failsafe, mode transitions | Verify failsafe in SITL for all vehicle types |
-| `src/modules/ekf2/` | State estimation | Run EKF replay tests |
-| `src/modules/mc_*_control/` | Multicopter controllers | Test in SIH; verify all MC airframes |
-| `src/modules/fw_*/` | Fixed-wing controllers | Test FW airframes in SITL |
-| `src/modules/vtol_att_control/` | VTOL transitions | Test MC + FW modes and transitions |
-| `msg/*.msg` | uORB schemas | Check all publishers/subscribers |
-| `ROMFS/px4fmu_common/init.d/` | Startup & default params | Can change behavior on all boards |
-
-## Rules
-
-- Never bypass safety checks (arming, geofence, failsafe) without justification
-- Document parameter changes, they affect flight behavior
-- Specify units in comments for physical quantities
-- No magic numbers, use named `constexpr` constants
-
-## Agent Decision Framework
-
-**Do without asking:** write or update the docs, ensure successful build, ensure CI checks are successful, run `make format`, add tests for new features or fixes.
-
-**Ask first:** parameter defaults, control algorithms, failsafe logic, uORB schema changes, board configs.
-
-**Stop, do not proceed:** if you can't verify flight safety, if modifying EKF2/controller math without SITL/SIH, if removing safety guards.

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

@@ -42,23 +42,21 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
 
-param set-default CA_ROTOR0_AX -1
-param set-default CA_ROTOR0_AY 1
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
-#param set-default CA_ROTOR0_PZ 0.0
 
-param set-default CA_ROTOR1_AX -1
-param set-default CA_ROTOR1_AY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
-#param set-default CA_ROTOR1_PZ 0.0
 
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -67,7 +65,6 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
-#param set-default CA_ROTOR2_PZ 0.0
 
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -79,7 +76,7 @@ param set-default CA_ROTOR3_PZ 0.06
 
 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ 1
+param set-default CA_ROTOR4_AZ -1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -103,7 +100,7 @@ param set-default CA_ROTOR6_PZ 0
 
 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ 1
+param set-default CA_ROTOR7_AZ -1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22

Tools/ci/metadata_sync.sh

@@ -123,7 +123,7 @@ generate_parameters() {
     if [[ "$VERBOSE" == "true" ]]; then
         make parameters_metadata
     else
-        make parameters_metadata >/dev/null 2>&1
+        make parameters_metadata >/dev/null
     fi
 }
 
@@ -132,7 +132,7 @@ generate_airframes() {
     if [[ "$VERBOSE" == "true" ]]; then
         make airframe_metadata
     else
-        make airframe_metadata >/dev/null 2>&1
+        make airframe_metadata >/dev/null
     fi
 }
 
@@ -141,7 +141,7 @@ generate_modules() {
     if [[ "$VERBOSE" == "true" ]]; then
         make module_documentation
     else
-        make module_documentation >/dev/null 2>&1
+        make module_documentation >/dev/null
     fi
 }
 
@@ -150,7 +150,7 @@ generate_msg_docs() {
     if [[ "$VERBOSE" == "true" ]]; then
         make msg_docs
     else
-        make msg_docs >/dev/null 2>&1
+        make msg_docs >/dev/null
     fi
 }
 
@@ -159,7 +159,7 @@ generate_uorb_graphs() {
     if [[ "$VERBOSE" == "true" ]]; then
         make uorb_graphs
     else
-        make uorb_graphs >/dev/null 2>&1
+        make uorb_graphs >/dev/null
     fi
 }
 
@@ -169,7 +169,7 @@ generate_failsafe_web() {
     if [[ "$VERBOSE" == "true" ]]; then
         make failsafe_web
     else
-        make failsafe_web >/dev/null 2>&1
+        make failsafe_web >/dev/null
     fi
 }
 

Tools/msg/generate_msg_docs.py

@@ -729,10 +729,10 @@ pageClass: is-wide-page
 
             # Fix up topics if the topic is empty
             def camel_to_snake(name):
-                # Match upper case not at start of string
-                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
-                # Handle cases with multiple capital first letter
-                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+                # Insert underscore between lowercase/digit and uppercase letter
+                s1 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', name)
+                # Insert underscore between consecutive uppercase and uppercase+lowercase
+                return re.sub('([A-Z]+)([A-Z][a-z])', r'\1_\2', s1).lower()
 
             defaultTopic = camel_to_snake(self.name)
             if len(self.topics) == 0:
@@ -745,7 +745,7 @@ pageClass: is-wide-page
                     error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
                 else:
                     # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[0]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
                 if not "topic_error" in self.errors:
                     self.errors["topic_error"] = []
                     self.errors["topic_error"].append(error)

boards/ark/fpv/init/rc.board_defaults

@@ -26,6 +26,8 @@ then
 fi
 
 param set-default BAT1_V_DIV 21.0
+param set-default BAT1_V_FILT 0.075
+param set-default BAT1_I_FILT 0.5
 
 param set-default RC_CRSF_PRT_CFG 300
 param set-default RC_SBUS_PRT_CFG 0

boards/ark/fpv/src/board_config.h

@@ -176,9 +176,6 @@
 
 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
 
-#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
-#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
-
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

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

@@ -76,10 +76,10 @@ param load
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
-    qshell icm42688p start -s -R 12
+    qshell icm42688p start -s -R 12 -C 32768
 else
     /bin/echo "Starting IMU driver with no rotation"
-    qshell icm42688p start -s
+    qshell icm42688p start -s -C 32768
 fi
 
 # Start Invensense ICP 101xx barometer built on to VOXL 2

boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld

@@ -269,7 +269,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)

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

@@ -269,7 +269,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -273,7 +273,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)

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

@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.15.4
+# Vehicle: Amovlab F410
+# Version: 1.15.4 
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -546,7 +546,6 @@
 1	1	IMU_INTEG_RATE	200	6
 1	1	LNDMC_ALT_GND	2.000000000000000000	9
 1	1	LNDMC_ROT_MAX	20.000000000000000000	9
-1	1	LNDMC_TRIG_TIME	1.000000000000000000	9
 1	1	LNDMC_XY_VEL_MAX	1.500000000000000000	9
 1	1	LNDMC_Z_VEL_MAX	0.250000000000000000	9
 1	1	LND_FLIGHT_T_HI	5	6

docs/en/advanced_config/land_detector.md

@@ -38,7 +38,7 @@ In order to detect landing, the multicopter first has to go through three differ
 If a condition cannot be reached because of missing sensors, then the condition is true by default.
 For instance, in [Acro mode](../flight_modes_mc/acro.md) and no sensor is active except for the gyro sensor, then the detection solely relies on thrust output and time.
 
-In order to proceed to the next state, each condition has to be true for a third of the configured total land detector trigger time [LNDMC_TRIG_TIME](../advanced_config/parameter_reference.md#LNDMC_TRIG_TIME).
+In order to proceed to the next state, each condition has to be true for 300ms.
 If the vehicle is equipped with a distance sensor, but the distance to ground is currently not measurable (usually because it is too large), the trigger time is increased by a factor of 3.
 
 If one condition fails, the land detector drops out of the current state immediately.

docs/en/advanced_config/parameter_reference.md

@@ -266,6 +266,166 @@ This parameter defines the squawk code. Value should be between 0000 and 7777.
 
 ## Actuator Outputs
 
+### PCA9685_CENT1 (`INT32`) {#PCA9685_CENT1}
+
+PCA9685 Output Channel 1 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT10 (`INT32`) {#PCA9685_CENT10}
+
+PCA9685 Output Channel 10 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT11 (`INT32`) {#PCA9685_CENT11}
+
+PCA9685 Output Channel 11 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT12 (`INT32`) {#PCA9685_CENT12}
+
+PCA9685 Output Channel 12 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT13 (`INT32`) {#PCA9685_CENT13}
+
+PCA9685 Output Channel 13 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT14 (`INT32`) {#PCA9685_CENT14}
+
+PCA9685 Output Channel 14 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT15 (`INT32`) {#PCA9685_CENT15}
+
+PCA9685 Output Channel 15 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT16 (`INT32`) {#PCA9685_CENT16}
+
+PCA9685 Output Channel 16 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT2 (`INT32`) {#PCA9685_CENT2}
+
+PCA9685 Output Channel 2 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT3 (`INT32`) {#PCA9685_CENT3}
+
+PCA9685 Output Channel 3 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT4 (`INT32`) {#PCA9685_CENT4}
+
+PCA9685 Output Channel 4 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT5 (`INT32`) {#PCA9685_CENT5}
+
+PCA9685 Output Channel 5 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT6 (`INT32`) {#PCA9685_CENT6}
+
+PCA9685 Output Channel 6 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT7 (`INT32`) {#PCA9685_CENT7}
+
+PCA9685 Output Channel 7 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT8 (`INT32`) {#PCA9685_CENT8}
+
+PCA9685 Output Channel 8 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT9 (`INT32`) {#PCA9685_CENT9}
+
+PCA9685 Output Channel 9 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
 ### PCA9685_DIS1 (`INT32`) {#PCA9685_DIS1}
 
 PCA9685 Output Channel 1 Disarmed Value.
@@ -15405,6 +15565,18 @@ A value of -1 means to use the board default.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          |           | -1      |
 
+### BAT1_I_FILT (`FLOAT`) {#BAT1_I_FILT}
+
+Battery 1 current filter time constant.
+
+Low-pass filter time constant for the battery current ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT1_I_OVERWRITE (`FLOAT`) {#BAT1_I_OVERWRITE}
 
 Battery 1 idle current overwrite.
@@ -15537,6 +15709,18 @@ it drops off to a voltage level damaging the cells.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          | 0.01      | 3.6     | V    |
 
+### BAT1_V_FILT (`FLOAT`) {#BAT1_V_FILT}
+
+Battery 1 voltage filter time constant.
+
+Low-pass filter time constant for the battery voltage ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT2_A_PER_V (`FLOAT`) {#BAT2_A_PER_V}
 
 Battery 2 current per volt (A/V).
@@ -15570,6 +15754,18 @@ A value of -1 means to use the board default.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          |           | -1      |
 
+### BAT2_I_FILT (`FLOAT`) {#BAT2_I_FILT}
+
+Battery 2 current filter time constant.
+
+Low-pass filter time constant for the battery current ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT2_I_OVERWRITE (`FLOAT`) {#BAT2_I_OVERWRITE}
 
 Battery 2 idle current overwrite.
@@ -15702,6 +15898,18 @@ it drops off to a voltage level damaging the cells.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          | 0.01      | 3.6     | V    |
 
+### BAT2_V_FILT (`FLOAT`) {#BAT2_V_FILT}
+
+Battery 2 voltage filter time constant.
+
+Low-pass filter time constant for the battery voltage ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT3_CAPACITY (`FLOAT`) {#BAT3_CAPACITY}
 
 Battery 3 capacity.
@@ -17788,9 +17996,9 @@ Accelerometer noise for covariance prediction.
 | ------ | -------- | -------- | --------- | ------- | ----- |
 |   | 0.01     | 1.0      |           | 0.35    | m/s^2 |
 
-### EKF2_AGP_CTRL (`INT32`) {#EKF2_AGP_CTRL}
+### EKF2_AGP0_CTRL (`INT32`) {#EKF2_AGP0_CTRL}
 
-Aux global position (AGP) sensor aiding.
+Auxiliary global position sensor 0 aiding.
 
 Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
 
@@ -17803,17 +18011,17 @@ Set bits in the following positions to enable: 0 : Horizontal position fusion 1
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 0        | 3        |           | 0       |
 
-### EKF2_AGP_DELAY (`FLOAT`) {#EKF2_AGP_DELAY}
+### EKF2_AGP0_DELAY (`FLOAT`) {#EKF2_AGP0_DELAY}
 
-Aux global position estimator delay relative to IMU measurements.
+Auxiliary global position sensor 0 delay (to IMU).
 
 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
-| ✓ | 0        | 300      |           | 0       | ms   |
+| ✓ | 0        | 1000     |           | 0       | ms   |
 
-### EKF2_AGP_GATE (`FLOAT`) {#EKF2_AGP_GATE}
+### EKF2_AGP0_GATE (`FLOAT`) {#EKF2_AGP0_GATE}
 
-Gate size for aux global position fusion.
+Gate size for auxiliary global position sensor 0 fusion.
 
 Sets the number of standard deviations used by the innovation consistency test.
 
@@ -17821,9 +18029,19 @@ Sets the number of standard deviations used by the innovation consistency test.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 1.0      |          |           | 3.0     | SD   |
 
-### EKF2_AGP_MODE (`INT32`) {#EKF2_AGP_MODE}
+### EKF2_AGP0_ID (`INT32`) {#EKF2_AGP0_ID}
 
-Fusion reset mode.
+Auxiliary global position sensor 0 ID.
+
+Sensor ID for slot 0. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP0_MODE (`INT32`) {#EKF2_AGP0_MODE}
+
+Fusion reset mode for sensor 0.
 
 Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
 
@@ -17836,15 +18054,219 @@ Automatic: reset on fusion timeout if no other source of position is available D
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   |          |          |           | 0       |
 
-### EKF2_AGP_NOISE (`FLOAT`) {#EKF2_AGP_NOISE}
+### EKF2_AGP0_NOISE (`FLOAT`) {#EKF2_AGP0_NOISE}
 
-Measurement noise for aux global position measurements.
+Measurement noise for auxiliary global position sensor 0.
 
 Used to lower bound or replace the uncertainty included in the message
 
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 0.01     |          |           | 0.9     | m    |
+|   | 0.01     |          |           | 1.0     | m    |
+
+### EKF2_AGP1_CTRL (`INT32`) {#EKF2_AGP1_CTRL}
+
+Auxiliary global position sensor 1 aiding.
+
+Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
+
+**Bitmask:**
+
+- `0`: Horizontal position
+- `1`: Vertical position
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 3        |           | 0       |
+
+### EKF2_AGP1_DELAY (`FLOAT`) {#EKF2_AGP1_DELAY}
+
+Auxiliary global position sensor 1 delay (to IMU).
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 1000     |           | 0       | ms   |
+
+### EKF2_AGP1_GATE (`FLOAT`) {#EKF2_AGP1_GATE}
+
+Gate size for auxiliary global position sensor 1 fusion.
+
+Sets the number of standard deviations used by the innovation consistency test.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 1.0      |          |           | 3.0     | SD   |
+
+### EKF2_AGP1_ID (`INT32`) {#EKF2_AGP1_ID}
+
+Auxiliary global position sensor 1 ID.
+
+Sensor ID for slot 1. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP1_MODE (`INT32`) {#EKF2_AGP1_MODE}
+
+Fusion reset mode for sensor 1.
+
+Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
+
+**Values:**
+
+- `0`: Automatic
+- `1`: Dead-reckoning
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |
+
+### EKF2_AGP1_NOISE (`FLOAT`) {#EKF2_AGP1_NOISE}
+
+Measurement noise for auxiliary global position sensor 1.
+
+Used to lower bound or replace the uncertainty included in the message
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.01     |          |           | 1.0     | m    |
+
+### EKF2_AGP2_CTRL (`INT32`) {#EKF2_AGP2_CTRL}
+
+Auxiliary global position sensor 2 aiding.
+
+Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
+
+**Bitmask:**
+
+- `0`: Horizontal position
+- `1`: Vertical position
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 3        |           | 0       |
+
+### EKF2_AGP2_DELAY (`FLOAT`) {#EKF2_AGP2_DELAY}
+
+Auxiliary global position sensor 2 delay (to IMU).
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 1000     |           | 0       | ms   |
+
+### EKF2_AGP2_GATE (`FLOAT`) {#EKF2_AGP2_GATE}
+
+Gate size for auxiliary global position sensor 2 fusion.
+
+Sets the number of standard deviations used by the innovation consistency test.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 1.0      |          |           | 3.0     | SD   |
+
+### EKF2_AGP2_ID (`INT32`) {#EKF2_AGP2_ID}
+
+Auxiliary global position sensor 2 ID.
+
+Sensor ID for slot 2. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP2_MODE (`INT32`) {#EKF2_AGP2_MODE}
+
+Fusion reset mode for sensor 2.
+
+Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
+
+**Values:**
+
+- `0`: Automatic
+- `1`: Dead-reckoning
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |
+
+### EKF2_AGP2_NOISE (`FLOAT`) {#EKF2_AGP2_NOISE}
+
+Measurement noise for auxiliary global position sensor 2.
+
+Used to lower bound or replace the uncertainty included in the message
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.01     |          |           | 1.0     | m    |
+
+### EKF2_AGP3_CTRL (`INT32`) {#EKF2_AGP3_CTRL}
+
+Auxiliary global position sensor 3 aiding.
+
+Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
+
+**Bitmask:**
+
+- `0`: Horizontal position
+- `1`: Vertical position
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 3        |           | 0       |
+
+### EKF2_AGP3_DELAY (`FLOAT`) {#EKF2_AGP3_DELAY}
+
+Auxiliary global position sensor 3 delay (to IMU).
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 1000     |           | 0       | ms   |
+
+### EKF2_AGP3_GATE (`FLOAT`) {#EKF2_AGP3_GATE}
+
+Gate size for auxiliary global position sensor 3 fusion.
+
+Sets the number of standard deviations used by the innovation consistency test.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 1.0      |          |           | 3.0     | SD   |
+
+### EKF2_AGP3_ID (`INT32`) {#EKF2_AGP3_ID}
+
+Auxiliary global position sensor 3 ID.
+
+Sensor ID for slot 3. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP3_MODE (`INT32`) {#EKF2_AGP3_MODE}
+
+Fusion reset mode for sensor 3.
+
+Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
+
+**Values:**
+
+- `0`: Automatic
+- `1`: Dead-reckoning
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |
+
+### EKF2_AGP3_NOISE (`FLOAT`) {#EKF2_AGP3_NOISE}
+
+Measurement noise for auxiliary global position sensor 3.
+
+Used to lower bound or replace the uncertainty included in the message
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.01     |          |           | 1.0     | m    |
 
 ### EKF2_ANGERR_INIT (`FLOAT`) {#EKF2_ANGERR_INIT}
 
@@ -24582,18 +25004,6 @@ Maximum allowed norm of the angular velocity (roll, pitch) in the landed state.
 | ------ | -------- | -------- | --------- | ------- | ----- |
 |   |          |          |           | 20.0    | deg/s |
 
-### LNDMC_TRIG_TIME (`FLOAT`) {#LNDMC_TRIG_TIME}
-
-Multicopter land detection trigger time.
-
-Total time it takes to go through all three land detection stages:
-ground contact, maybe landed, landed
-when all necessary conditions are constantly met.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 0.1      | 10.0     |           | 1.0     | s    |
-
 ### LNDMC_XY_VEL_MAX (`FLOAT`) {#LNDMC_XY_VEL_MAX}
 
 Multicopter max horizontal velocity.
@@ -26944,7 +27354,7 @@ With MPC_THR_HOVER 0.5 it's equivalent to No rescale.
 Vertical thrust required to hover.
 
 Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE).
-Used for initialization of the hover thrust estimator (see MPC_USE_HTE).
+Used for initialization of the hover thrust estimator.
 The estimated hover thrust is used as base for zero vertical acceleration in altitude control.
 The hover thrust is important for land detection to work correctly.
 
@@ -27026,17 +27436,6 @@ Takeoff climb rate.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 1        | 5        |           | 1.5     | m/s  |
 
-### MPC_USE_HTE (`INT32`) {#MPC_USE_HTE}
-
-Use hover thrust estimate for altitude control.
-
-Disable to use the fixed parameter MPC_THR_HOVER instead of the hover thrust estimate in the position controller.
-This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).
-
-| Reboot | minValue | maxValue | increment | default     | unit |
-| ------ | -------- | -------- | --------- | ----------- | ---- |
-|   |          |          |           | Enabled (1) |
-
 ### MPC_VELD_LP (`FLOAT`) {#MPC_VELD_LP}
 
 Velocity derivative low pass cutoff frequency.
@@ -40781,6 +41180,70 @@ uavcan::equipment::range_sensor::Measurement
 
 ## UUV Attitude Control
 
+### UUV_HGT_B_DOWN (`INT32`) {#UUV_HGT_B_DOWN}
+
+Height rc-button down.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 16       |           | 12      |
+
+### UUV_HGT_B_UP (`INT32`) {#UUV_HGT_B_UP}
+
+Height rc-button up.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 16       |           | 11      |
+
+### UUV_HGT_D (`FLOAT`) {#UUV_HGT_D}
+
+Height differential gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
+### UUV_HGT_I (`FLOAT`) {#UUV_HGT_I}
+
+Height integrational gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0.2     |
+
+### UUV_HGT_I_SPD (`FLOAT`) {#UUV_HGT_I_SPD}
+
+sum speed of error for integrational gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
+### UUV_HGT_MAX_DIFF (`FLOAT`) {#UUV_HGT_MAX_DIFF}
+
+maximum Height distance controlled by manual input. Diff between actual and desired Height cant be higher than that.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0.3     |
+
+### UUV_HGT_P (`FLOAT`) {#UUV_HGT_P}
+
+Height proportional gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
+### UUV_HGT_STR (`FLOAT`) {#UUV_HGT_STR}
+
+Height change strength from manual input.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
 ### UUV_MGM_PITCH (`FLOAT`) {#UUV_MGM_PITCH}
 
 Pitch gain for manual inputs in manual control mode.

docs/en/contribute/code.md

@@ -86,20 +86,6 @@ private:
 };
 ```
 
-## Coding Conventions
-
-The following conventions are enforced during code review:
-
-- **Return early** to reduce nesting depth.
-- **No `get`/`is` prefixes** on boolean methods: prefer `enabled()` over `isEnabled()`.
-- **Default member initialization** in class headers, not constructors (e.g. `float _value{0.f};`).
-- **Avoid `goto`.**
-- **Prefer `++i`** over `i++`.
-- **No `std::` containers or algorithms** in embedded (NuttX) code.
-- **No dynamic memory allocation after init.**
-
-Formatting source of truth: `Tools/astyle/astylerc`. Run `make format` to fix formatting project-wide, or `Tools/astyle/fix_code_style.sh <file>` for a single file.
-
 ## In-Source Documentation
 
 PX4 developers are encouraged to create appropriate in-source documentation.

docs/en/frames_sub/bluerov2.md

@@ -2,9 +2,11 @@
 
 <Badge type="tip" text="PX4 v1.12" />
 
-The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
+The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an
+affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
 
-PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy Configuration_.
+PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy
+Configuration_.
 
 ![Hero](../../assets/airframes/sub/bluerov/bluerov_hero.jpg)
 
@@ -14,9 +16,11 @@ PX4 provides [experimental support](index.md) for an 8-thrust vectored configura
 
 ### Motor Mapping/Wiring
 
-The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this vehicle .
+The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this
+vehicle .
 
-The vehicle will then match the configuration documented in the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
+The vehicle will then match the configuration documented in
+the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
 
 <img src="../../assets/airframes/types/Vectored6DofUUV.svg" width="29%" style="max-height: 180px;"/>
 
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
 - **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
 - **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
 
+## Manual Modes
+
+| Mode     | Description                                                                                                          |
+| -------- | -------------------------------------------------------------------------------------------------------------------- |
+| Manual   | Direct manual control of yaw and thrust.                                                                             |
+| Acro     | Manual control of yaw/thrust, but keeps roll/pitch zero                                                              |
+| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
+| Position | Controlls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero                                          |
+
 ## Airframe Configuration
 
 BlueROV2 does not come with PX4 installed.

docs/en/middleware/dds_topics.md

@@ -70,7 +70,7 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
 | /fmu/in/vehicle_torque_setpoint            | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)                       |
 | /fmu/in/actuator_motors                    | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)                                     |
 | /fmu/in/actuator_servos                    | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)                                     |
-| /fmu/in/aux_global_position                | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)                       |
+| /fmu/in/aux_global_position                | [px4_msgs::msg::AuxGlobalPosition](../msg_docs/AuxGlobalPosition.md)                               |
 | /fmu/in/fixed_wing_longitudinal_setpoint   | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)       |
 | /fmu/in/fixed_wing_lateral_setpoint        | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)                 |
 | /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
@@ -94,200 +94,201 @@ They are not build into the module, and hence are neither published or subscribe
 
 ::: details See messages
 
-- [SensorGyro](../msg_docs/SensorGyro.md)
-- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
-- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
-- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
-- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
-- [NeuralControl](../msg_docs/NeuralControl.md)
-- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
-- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
-- [ActionRequest](../msg_docs/ActionRequest.md)
-- [CellularStatus](../msg_docs/CellularStatus.md)
-- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
-- [GpsDump](../msg_docs/GpsDump.md)
-- [SystemPower](../msg_docs/SystemPower.md)
-- [PwmInput](../msg_docs/PwmInput.md)
-- [SensorTemp](../msg_docs/SensorTemp.md)
-- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
-- [QshellRetval](../msg_docs/QshellRetval.md)
-- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
-- [HeaterStatus](../msg_docs/HeaterStatus.md)
-- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
-- [SensorsStatus](../msg_docs/SensorsStatus.md)
-- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
-- [MissionResult](../msg_docs/MissionResult.md)
-- [CameraTrigger](../msg_docs/CameraTrigger.md)
-- [PpsCapture](../msg_docs/PpsCapture.md)
-- [EstimatorStates](../msg_docs/EstimatorStates.md)
-- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
-- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
-- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
-- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
-- [VehicleRoi](../msg_docs/VehicleRoi.md)
-- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
-- [WheelEncoders](../msg_docs/WheelEncoders.md)
-- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
-- [TecsStatus](../msg_docs/TecsStatus.md)
-- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
-- [RtlStatus](../msg_docs/RtlStatus.md)
-- [MountOrientation](../msg_docs/MountOrientation.md)
-- [Vtx](../msg_docs/Vtx.md)
-- [VehicleImu](../msg_docs/VehicleImu.md)
-- [GpioOut](../msg_docs/GpioOut.md)
-- [EstimatorBias](../msg_docs/EstimatorBias.md)
-- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
-- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
-- [MagWorkerData](../msg_docs/MagWorkerData.md)
-- [VehicleAirData](../msg_docs/VehicleAirData.md)
-- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
-- [ActuatorTest](../msg_docs/ActuatorTest.md)
-- [UlogStream](../msg_docs/UlogStream.md)
-- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
-- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
-- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
-- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
-- [DebugValue](../msg_docs/DebugValue.md)
-- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
-- [DatamanResponse](../msg_docs/DatamanResponse.md)
-- [RaptorInput](../msg_docs/RaptorInput.md)
-- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
-- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
-- [GpioRequest](../msg_docs/GpioRequest.md)
-- [SensorSelection](../msg_docs/SensorSelection.md)
-- [OrbTest](../msg_docs/OrbTest.md)
-- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
-- [GpsInjectData](../msg_docs/GpsInjectData.md)
-- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
-- [Mission](../msg_docs/Mission.md)
-- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
-- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
-- [RcParameterMap](../msg_docs/RcParameterMap.md)
-- [EventV0](../msg_docs/EventV0.md)
-- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
-- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
-- [GimbalControls](../msg_docs/GimbalControls.md)
-- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
-- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
-- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
-- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
-- [GeofenceResult](../msg_docs/GeofenceResult.md)
-- [EscStatus](../msg_docs/EscStatus.md)
-- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
-- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
-- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
-- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
-- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
-- [LogMessage](../msg_docs/LogMessage.md)
-- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
-- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
-- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
-- [PowerMonitor](../msg_docs/PowerMonitor.md)
-- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
-- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
-- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
-- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
-- [HomePositionV0](../msg_docs/HomePositionV0.md)
-- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
-- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
-- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
-- [Ping](../msg_docs/Ping.md)
-- [Gripper](../msg_docs/Gripper.md)
-- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
-- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
-- [InputRc](../msg_docs/InputRc.md)
-- [AdcReport](../msg_docs/AdcReport.md)
-- [Rpm](../msg_docs/Rpm.md)
-- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
-- [MavlinkLog](../msg_docs/MavlinkLog.md)
-- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
-- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
-- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
-- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
-- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
-- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
-- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
-- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
-- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
-- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
-- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
-- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
-- [PowerButtonState](../msg_docs/PowerButtonState.md)
-- [SensorBaro](../msg_docs/SensorBaro.md)
-- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
-- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
-- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
-- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
-- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
-- [RaptorStatus](../msg_docs/RaptorStatus.md)
-- [GainCompression](../msg_docs/GainCompression.md)
-- [LedControl](../msg_docs/LedControl.md)
-- [DeviceInformation](../msg_docs/DeviceInformation.md)
-- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
-- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
-- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
-- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
-- [AirspeedWind](../msg_docs/AirspeedWind.md)
-- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
-- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
-- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
-- [Airspeed](../msg_docs/Airspeed.md)
-- [CameraCapture](../msg_docs/CameraCapture.md)
-- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
-- [RadioStatus](../msg_docs/RadioStatus.md)
-- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
-- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
-- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
-- [Cpuload](../msg_docs/Cpuload.md)
-- [BatteryInfo](../msg_docs/BatteryInfo.md)
-- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
-- [SensorAirflow](../msg_docs/SensorAirflow.md)
-- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
-- [SensorMag](../msg_docs/SensorMag.md)
-- [EscReport](../msg_docs/EscReport.md)
-- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
-- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
-- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
-- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
-- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
-- [SensorCorrection](../msg_docs/SensorCorrection.md)
-- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
-- [GpioConfig](../msg_docs/GpioConfig.md)
-- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
-- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
-- [LoggerStatus](../msg_docs/LoggerStatus.md)
-- [SensorUwb](../msg_docs/SensorUwb.md)
-- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
-- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
-- [GpioIn](../msg_docs/GpioIn.md)
-- [SensorAccel](../msg_docs/SensorAccel.md)
-- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
-- [TuneControl](../msg_docs/TuneControl.md)
-- [IrlockReport](../msg_docs/IrlockReport.md)
-- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
-- [HealthReport](../msg_docs/HealthReport.md)
-- [ButtonEvent](../msg_docs/ButtonEvent.md)
-- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
-- [FollowTarget](../msg_docs/FollowTarget.md)
-- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
-- [VelocityLimits](../msg_docs/VelocityLimits.md)
-- [QshellReq](../msg_docs/QshellReq.md)
-- [RcChannels](../msg_docs/RcChannels.md)
-- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
-- [CameraStatus](../msg_docs/CameraStatus.md)
-- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
-- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
-- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
-- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
-- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
-- [DatamanRequest](../msg_docs/DatamanRequest.md)
-- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
-- [Event](../msg_docs/Event.md)
-- [OrbitStatus](../msg_docs/OrbitStatus.md)
-- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
-- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
-- [DebugArray](../msg_docs/DebugArray.md)
-- [DebugVect](../msg_docs/DebugVect.md)
 - [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [Ping](../msg_docs/Ping.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [Mission](../msg_docs/Mission.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [Rpm](../msg_docs/Rpm.md)
 - [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [Event](../msg_docs/Event.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
   :::

docs/en/msg_docs/ActuatorServosTrim.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Servo trims, added as offset to servo outputs.
 
-**TOPICS:** actuator_servostrim
+**TOPICS:** actuator_servos_trim
 
 ## Fields
 

docs/en/msg_docs/AirspeedValidatedV0.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # AirspeedValidatedV0 (UORB message)
 
-**TOPICS:** airspeed_validatedv0
+**TOPICS:** airspeed_validated_v0
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckReply.md

@@ -13,7 +13,7 @@ The request is sent regularly to all registered ROS modes, even while armed, so
 Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
 The message is not used by internal/FMU components, as their mode requirements are known at compile time.
 
-**TOPICS:** arming_checkreply
+**TOPICS:** arming_check_reply
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckReplyV0.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # ArmingCheckReplyV0 (UORB message)
 
-**TOPICS:** arming_checkreplyv0
+**TOPICS:** arming_check_reply_v0
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckRequest.md

@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 
-**TOPICS:** arming_checkrequest
+**TOPICS:** arming_check_request
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckRequestV0.md

@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 
-**TOPICS:** arming_checkrequestv0
+**TOPICS:** arming_check_request_v0
 
 ## Fields
 

docs/en/msg_docs/AutotuneAttitudeControlStatus.md

@@ -11,7 +11,7 @@ and is subscribed to by the respective attitude controllers to command rate setp
 
 The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
 
-**TOPICS:** autotune_attitudecontrol_status
+**TOPICS:** autotune_attitude_control_status
 
 ## Fields
 

docs/en/msg_docs/AuxGlobalPosition.md

@@ -0,0 +1,89 @@
+---
+pageClass: is-wide-page
+---
+
+# AuxGlobalPosition (UORB message)
+
+Auxiliary global position.
+
+This message provides global position data from an external source such as
+pseudolites, visual navigation, or other positioning system.
+
+**TOPICS:** aux_global_position
+
+## Fields
+
+| Name                  | Type      | Unit [Frame] | Range/Enum        | Description                                                                 |
+| --------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- |
+| timestamp             | `uint64`  | us           |                   | Time since system start                                                     |
+| timestamp_sample      | `uint64`  | us           |                   | Timestamp of the raw data                                                   |
+| id                    | `uint8`   |              |                   | Unique identifier for the AGP source                                        |
+| source                | `uint8`   |              | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)    |
+| lat                   | `float64` | deg          |                   | Latitude in WGS84                                                           |
+| lon                   | `float64` | deg          |                   | Longitude in WGS84                                                          |
+| alt                   | `float32` | m            |                   | Altitude above mean sea level (AMSL) (Invalid: NaN)                         |
+| eph                   | `float32` | m            |                   | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
+| epv                   | `float32` | m            |                   | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN)   |
+| lat_lon_reset_counter | `uint8`   |              |                   | Counter for reset events on horizontal position coordinates                 |
+
+## Enums
+
+### SOURCE {#SOURCE}
+
+| Name                                                  | Type    | Value | Description    |
+| ----------------------------------------------------- | ------- | ----- | -------------- |
+| <a href="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN         | `uint8` | 0     | Unknown source |
+| <a href="#SOURCE_GNSS"></a> SOURCE_GNSS               | `uint8` | 1     | GNSS           |
+| <a href="#SOURCE_VISION"></a> SOURCE_VISION           | `uint8` | 2     | Vision         |
+| <a href="#SOURCE_PSEUDOLITES"></a> SOURCE_PSEUDOLITES | `uint8` | 3     | Pseudolites    |
+| <a href="#SOURCE_TERRAIN"></a> SOURCE_TERRAIN         | `uint8` | 4     | Terrain        |
+| <a href="#SOURCE_MAGNETIC"></a> SOURCE_MAGNETIC       | `uint8` | 5     | Magnetic       |
+| <a href="#SOURCE_ESTIMATOR"></a> SOURCE_ESTIMATOR     | `uint8` | 6     | Estimator      |
+
+## Constants
+
+| Name                                            | Type     | Value | Description |
+| ----------------------------------------------- | -------- | ----- | ----------- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1     |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg)
+
+::: details Click here to see original file
+
+```c
+# Auxiliary global position
+#
+# This message provides global position data from an external source such as
+# pseudolites, visual navigation, or other positioning system.
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
+
+uint8 id # [-] Unique identifier for the AGP source
+uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
+uint8 SOURCE_UNKNOWN = 0 # Unknown source
+uint8 SOURCE_GNSS = 1 # GNSS
+uint8 SOURCE_VISION = 2 # Vision
+uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
+uint8 SOURCE_TERRAIN = 4 # Terrain
+uint8 SOURCE_MAGNETIC = 5 # Magnetic
+uint8 SOURCE_ESTIMATOR = 6 # Estimator
+
+# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
+float64 lat # [deg] Latitude in WGS84
+float64 lon # [deg] Longitude in WGS84
+float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
+
+float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
+float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
+
+uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
+
+# TOPICS aux_global_position
+```
+
+:::

docs/en/msg_docs/BatteryStatusV0.md

@@ -10,7 +10,7 @@ Battery status information for up to 4 battery instances.
 These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 Battery instance information is also logged and streamed in MAVLink telemetry.
 
-**TOPICS:** battery_statusv0
+**TOPICS:** battery_status_v0
 
 ## Fields
 

docs/en/msg_docs/CanInterfaceStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # CanInterfaceStatus (UORB message)
 
-**TOPICS:** can_interfacestatus
+**TOPICS:** can_interface_status
 
 ## Fields
 

docs/en/msg_docs/ControlAllocatorStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # ControlAllocatorStatus (UORB message)
 
-**TOPICS:** control_allocatorstatus
+**TOPICS:** control_allocator_status
 
 ## Fields
 

docs/en/msg_docs/DebugKeyValue.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # DebugKeyValue (UORB message)
 
-**TOPICS:** debug_keyvalue
+**TOPICS:** debug_key_value
 
 ## Fields
 

docs/en/msg_docs/DeviceInformation.md

@@ -17,8 +17,7 @@ as well as tracking of the used firmware versions on the devices.
 | ---------------- | ---------- | ------------ | ---------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
 | timestamp        | `uint64`   |              |                                                                                                      | time since system start (microseconds)                                       |
 | device_type      | `uint8`    |              | [DEVICE_TYPE](#DEVICE_TYPE)                                                                          | Type of the device. Matches MAVLink DEVICE_TYPE enum                         |
-| vendor_name      | `char[32]` |              |                                                                                                      | Name of the device vendor                                                    |
-| model_name       | `char[32]` |              |                                                                                                      | Name of the device model                                                     |
+| name             | `char[80]` |              |                                                                                                      | Name of device e.g. DroneCAN node name                                       |
 | `uint32`         |            |              | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) |
 | firmware_version | `char[24]` |              |                                                                                                      | Firmware version. (Invalid: empty if not available)                          |
 | hardware_version | `char[24]` |              |                                                                                                      | Hardware version. (Invalid: empty if not available)                          |
@@ -62,7 +61,6 @@ as well as tracking of the used firmware versions on the devices.
 uint64 timestamp  # time since system start (microseconds)
 
 uint8 device_type  # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
-
 uint8 DEVICE_TYPE_GENERIC = 0                 # Generic/unknown sensor
 uint8 DEVICE_TYPE_AIRSPEED = 1                # Airspeed sensor
 uint8 DEVICE_TYPE_ESC = 2                     # ESC
@@ -80,8 +78,7 @@ uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13  # Differential pressure
 uint8 DEVICE_TYPE_BATTERY = 14                # Battery
 uint8 DEVICE_TYPE_HYGROMETER = 15             # Hygrometer
 
-char[32] vendor_name  # Name of the device vendor
-char[32] model_name   # Name of the device model
+char[80] name # Name of device e.g. DroneCAN node name
 
 uint32   device_id         # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
 char[24] firmware_version  # [-] [@invalid empty if not available] Firmware version.

docs/en/msg_docs/DistanceSensorModeChangeRequest.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # DistanceSensorModeChangeRequest (UORB message)
 
-**TOPICS:** distance_sensormode_changerequest
+**TOPICS:** distance_sensor_mode_change_request
 
 ## Fields
 

docs/en/msg_docs/DronecanNodeStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # DronecanNodeStatus (UORB message)
 
-**TOPICS:** dronecan_nodestatus
+**TOPICS:** dronecan_node_status
 
 ## Fields
 

docs/en/msg_docs/EscReport.md

@@ -16,6 +16,7 @@ pageClass: is-wide-page
 | esc_voltage       | `float32` |              |            | Voltage measured from current ESC [V] - if supported               |
 | esc_current       | `float32` |              |            | Current measured from current ESC [A] - if supported               |
 | esc_temperature   | `float32` |              |            | Temperature measured from current ESC [degC] - if supported        |
+| motor_temperature | `int16`   |              |            | Temperature measured from current motor [degC] - if supported      |
 | esc_address       | `uint8`   |              |            | Address of current ESC (in most cases 1-8 / must be set by driver) |
 | esc_cmdcount      | `uint8`   |              |            | Counter of number of commands                                      |
 | esc_state         | `uint8`   |              |            | State of ESC - depend on Vendor                                    |
@@ -64,6 +65,7 @@ int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if support
 float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
 float32 esc_current					# Current measured from current ESC [A] - if supported
 float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
+int16 motor_temperature 				# Temperature measured from current motor [degC] - if supported
 uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
 uint8 esc_cmdcount					# Counter of number of commands
 

docs/en/msg_docs/EstimatorEventFlags.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorEventFlags (UORB message)
 
-**TOPICS:** estimator_eventflags
+**TOPICS:** estimator_event_flags
 
 ## Fields
 

docs/en/msg_docs/EstimatorGpsStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorGpsStatus (UORB message)
 
-**TOPICS:** estimator_gpsstatus
+**TOPICS:** estimator_gps_status
 
 ## Fields
 

docs/en/msg_docs/EstimatorSelectorStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorSelectorStatus (UORB message)
 
-**TOPICS:** estimator_selectorstatus
+**TOPICS:** estimator_selector_status
 
 ## Fields
 

docs/en/msg_docs/EstimatorSensorBias.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
 
-**TOPICS:** estimator_sensorbias
+**TOPICS:** estimator_sensor_bias
 
 ## Fields
 

docs/en/msg_docs/EstimatorStatusFlags.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorStatusFlags (UORB message)
 
-**TOPICS:** estimator_statusflags
+**TOPICS:** estimator_status_flags
 
 ## Fields
 

docs/en/msg_docs/EventV0.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 this message is required here in the msg_old folder because other msg are depending on it. Events interface.
 
-**TOPICS:** eventv0
+**TOPICS:** event_v0
 
 ## Fields
 

docs/en/msg_docs/FailureDetectorStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FailureDetectorStatus (UORB message)
 
-**TOPICS:** failure_detectorstatus
+**TOPICS:** failure_detector_status
 
 ## Fields
 

docs/en/msg_docs/FigureEightStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FigureEightStatus (UORB message)
 
-**TOPICS:** figure_eightstatus
+**TOPICS:** figure_eight_status
 
 ## Fields
 

docs/en/msg_docs/FixedWingLateralGuidanceStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
 
-**TOPICS:** fixed_winglateral_guidancestatus
+**TOPICS:** fixed_wing_lateral_guidance_status
 
 ## Fields
 

docs/en/msg_docs/FixedWingLateralSetpoint.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
 
-**TOPICS:** fixed_winglateral_setpoint
+**TOPICS:** fixed_wing_lateral_setpoint
 
 ## Fields
 

docs/en/msg_docs/FixedWingLateralStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
 
-**TOPICS:** fixed_winglateral_status
+**TOPICS:** fixed_wing_lateral_status
 
 ## Fields
 

docs/en/msg_docs/FixedWingLongitudinalSetpoint.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
 
-**TOPICS:** fixed_winglongitudinal_setpoint
+**TOPICS:** fixed_wing_longitudinal_setpoint
 
 ## Fields
 

docs/en/msg_docs/FixedWingRunwayControl.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Auxiliary control fields for fixed-wing runway takeoff/landing.
 
-**TOPICS:** fixed_wingrunway_control
+**TOPICS:** fixed_wing_runway_control
 
 ## Fields
 

docs/en/msg_docs/FlightPhaseEstimation.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FlightPhaseEstimation (UORB message)
 
-**TOPICS:** flight_phaseestimation
+**TOPICS:** flight_phase_estimation
 
 ## Fields
 

docs/en/msg_docs/FollowTargetEstimator.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FollowTargetEstimator (UORB message)
 
-**TOPICS:** follow_targetestimator
+**TOPICS:** follow_target_estimator
 
 ## Fields
 

docs/en/msg_docs/FollowTargetStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FollowTargetStatus (UORB message)
 
-**TOPICS:** follow_targetstatus
+**TOPICS:** follow_target_status
 
 ## Fields
 

docs/en/msg_docs/FuelTankStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FuelTankStatus (UORB message)
 
-**TOPICS:** fuel_tankstatus
+**TOPICS:** fuel_tank_status
 
 ## Fields
 

docs/en/msg_docs/GimbalDeviceAttitudeStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GimbalDeviceAttitudeStatus (UORB message)
 
-**TOPICS:** gimbal_deviceattitude_status
+**TOPICS:** gimbal_device_attitude_status
 
 ## Fields
 

docs/en/msg_docs/GimbalDeviceInformation.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GimbalDeviceInformation (UORB message)
 
-**TOPICS:** gimbal_deviceinformation
+**TOPICS:** gimbal_device_information
 
 ## Fields
 

docs/en/msg_docs/GimbalDeviceSetAttitude.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GimbalDeviceSetAttitude (UORB message)
 
-**TOPICS:** gimbal_deviceset_attitude
+**TOPICS:** gimbal_device_set_attitude
 
 ## Fields
 

docs/en/msg_docs/GimbalManagerInformation.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GimbalManagerInformation (UORB message)
 
-**TOPICS:** gimbal_managerinformation
+**TOPICS:** gimbal_manager_information
 
 ## Fields
 

docs/en/msg_docs/GimbalManagerSetAttitude.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GimbalManagerSetAttitude (UORB message)
 
-**TOPICS:** gimbal_managerset_attitude
+**TOPICS:** gimbal_manager_set_attitude
 
 ## Fields
 

docs/en/msg_docs/GimbalManagerSetManualControl.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GimbalManagerSetManualControl (UORB message)
 
-**TOPICS:** gimbal_managerset_manualcontrol
+**TOPICS:** gimbal_manager_set_manual_control
 
 ## Fields
 

docs/en/msg_docs/GimbalManagerStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GimbalManagerStatus (UORB message)
 
-**TOPICS:** gimbal_managerstatus
+**TOPICS:** gimbal_manager_status
 
 ## Fields
 

docs/en/msg_docs/GpsInjectData.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # GpsInjectData (UORB message)
 
-**TOPICS:** gps_injectdata
+**TOPICS:** gps_inject_data
 
 ## Fields
 

docs/en/msg_docs/HomePositionV0.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 GPS home position in WGS84 coordinates.
 
-**TOPICS:** home_positionv0
+**TOPICS:** home_position_v0
 
 ## Fields
 

docs/en/msg_docs/HoverThrustEstimate.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # HoverThrustEstimate (UORB message)
 
-**TOPICS:** hover_thrustestimate
+**TOPICS:** hover_thrust_estimate
 
 ## Fields
 

docs/en/msg_docs/InternalCombustionEngineControl.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # InternalCombustionEngineControl (UORB message)
 
-**TOPICS:** internal_combustionengine_control
+**TOPICS:** internal_combustion_engine_control
 
 ## Fields
 

docs/en/msg_docs/InternalCombustionEngineStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # InternalCombustionEngineStatus (UORB message)
 
-**TOPICS:** internal_combustionengine_status
+**TOPICS:** internal_combustion_engine_status
 
 ## Fields
 

docs/en/msg_docs/LandingGearWheel.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # LandingGearWheel (UORB message)
 
-**TOPICS:** landing_gearwheel
+**TOPICS:** landing_gear_wheel
 
 ## Fields
 

docs/en/msg_docs/LandingTargetInnovations.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # LandingTargetInnovations (UORB message)
 
-**TOPICS:** landing_targetinnovations
+**TOPICS:** landing_target_innovations
 
 ## Fields
 

docs/en/msg_docs/LandingTargetPose.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
 
-**TOPICS:** landing_targetpose
+**TOPICS:** landing_target_pose
 
 ## Fields
 

docs/en/msg_docs/LateralControlConfiguration.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
 
-**TOPICS:** lateral_controlconfiguration
+**TOPICS:** lateral_control_configuration
 
 ## Fields
 

docs/en/msg_docs/LaunchDetectionStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Status of the launch detection state machine (fixed-wing only).
 
-**TOPICS:** launch_detectionstatus
+**TOPICS:** launch_detection_status
 
 ## Fields
 

docs/en/msg_docs/LongitudinalControlConfiguration.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
 
-**TOPICS:** longitudinal_controlconfiguration
+**TOPICS:** longitudinal_control_configuration
 
 ## Fields
 

docs/en/msg_docs/MagWorkerData.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # MagWorkerData (UORB message)
 
-**TOPICS:** mag_workerdata
+**TOPICS:** mag_worker_data
 
 ## Fields
 

docs/en/msg_docs/MagnetometerBiasEstimate.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # MagnetometerBiasEstimate (UORB message)
 
-**TOPICS:** magnetometer_biasestimate
+**TOPICS:** magnetometer_bias_estimate
 
 ## Fields
 

docs/en/msg_docs/ManualControlSwitches.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # ManualControlSwitches (UORB message)
 
-**TOPICS:** manual_controlswitches
+**TOPICS:** manual_control_switches
 
 ## Fields
 

docs/en/msg_docs/MessageFormatRequest.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # MessageFormatRequest (UORB message)
 
-**TOPICS:** message_formatrequest
+**TOPICS:** message_format_request
 
 ## Fields
 

docs/en/msg_docs/MessageFormatResponse.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # MessageFormatResponse (UORB message)
 
-**TOPICS:** message_formatresponse
+**TOPICS:** message_format_response
 
 ## Fields
 

docs/en/msg_docs/NavigatorMissionItem.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # NavigatorMissionItem (UORB message)
 
-**TOPICS:** navigator_missionitem
+**TOPICS:** navigator_mission_item
 
 ## Fields
 

docs/en/msg_docs/OffboardControlMode.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Off-board control mode.
 
-**TOPICS:** offboard_controlmode
+**TOPICS:** offboard_control_mode
 
 ## Fields
 

docs/en/msg_docs/OnboardComputerStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 ONBOARD_COMPUTER_STATUS message data.
 
-**TOPICS:** onboard_computerstatus
+**TOPICS:** onboard_computer_status
 
 ## Fields
 

docs/en/msg_docs/OpenDroneIdArmStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # OpenDroneIdArmStatus (UORB message)
 
-**TOPICS:** open_droneid_armstatus
+**TOPICS:** open_drone_id_arm_status
 
 ## Fields
 

docs/en/msg_docs/OpenDroneIdOperatorId.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # OpenDroneIdOperatorId (UORB message)
 
-**TOPICS:** open_droneid_operatorid
+**TOPICS:** open_drone_id_operator_id
 
 ## Fields
 

docs/en/msg_docs/OpenDroneIdSelfId.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # OpenDroneIdSelfId (UORB message)
 
-**TOPICS:** open_droneid_selfid
+**TOPICS:** open_drone_id_self_id
 
 ## Fields
 

docs/en/msg_docs/OpenDroneIdSystem.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # OpenDroneIdSystem (UORB message)
 
-**TOPICS:** open_droneid_system
+**TOPICS:** open_drone_id_system
 
 ## Fields
 

docs/en/msg_docs/OrbTestLarge.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # OrbTestLarge (UORB message)
 
-**TOPICS:** orb_testlarge
+**TOPICS:** orb_test_large
 
 ## Fields
 

docs/en/msg_docs/ParameterResetRequest.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote.
 
-**TOPICS:** parameter_resetrequest
+**TOPICS:** parameter_reset_request
 
 ## Fields
 

docs/en/msg_docs/ParameterSetUsedRequest.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary.
 
-**TOPICS:** parameter_setused_request
+**TOPICS:** parameter_set_used_request
 
 ## Fields
 

docs/en/msg_docs/PositionControllerLandingStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # PositionControllerLandingStatus (UORB message)
 
-**TOPICS:** position_controllerlanding_status
+**TOPICS:** position_controller_landing_status
 
 ## Fields
 

docs/en/msg_docs/PositionControllerStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # PositionControllerStatus (UORB message)
 
-**TOPICS:** position_controllerstatus
+**TOPICS:** position_controller_status
 
 ## Fields
 

docs/en/msg_docs/PositionSetpointTriplet.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
 
-**TOPICS:** position_setpointtriplet
+**TOPICS:** position_setpoint_triplet
 
 ## Fields
 

docs/en/msg_docs/PowerButtonState.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 power button state notification message.
 
-**TOPICS:** power_buttonstate
+**TOPICS:** power_button_state
 
 ## Fields
 

docs/en/msg_docs/PurePursuitStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Pure pursuit status.
 
-**TOPICS:** pure_pursuitstatus
+**TOPICS:** pure_pursuit_status
 
 ## Fields
 

docs/en/msg_docs/RateCtrlStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # RateCtrlStatus (UORB message)
 
-**TOPICS:** rate_ctrlstatus
+**TOPICS:** rate_ctrl_status
 
 ## Fields
 

docs/en/msg_docs/RcParameterMap.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # RcParameterMap (UORB message)
 
-**TOPICS:** rc_parametermap
+**TOPICS:** rc_parameter_map
 
 ## Fields
 

docs/en/msg_docs/RegisterExtComponentReply.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # RegisterExtComponentReply (UORB message)
 
-**TOPICS:** register_extcomponent_reply
+**TOPICS:** register_ext_component_reply
 
 ## Fields
 

docs/en/msg_docs/RegisterExtComponentReplyV0.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # RegisterExtComponentReplyV0 (UORB message)
 
-**TOPICS:** register_extcomponent_replyv0
+**TOPICS:** register_ext_component_reply_v0
 
 ## Fields
 

docs/en/msg_docs/RegisterExtComponentRequest.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Request to register an external component.
 
-**TOPICS:** register_extcomponent_request
+**TOPICS:** register_ext_component_request
 
 ## Fields
 

docs/en/msg_docs/RegisterExtComponentRequestV0.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Request to register an external component.
 
-**TOPICS:** register_extcomponent_requestv0
+**TOPICS:** register_ext_component_request_v0
 
 ## Fields
 

docs/en/msg_docs/RoverAttitudeSetpoint.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Rover Attitude Setpoint.
 
-**TOPICS:** rover_attitudesetpoint
+**TOPICS:** rover_attitude_setpoint
 
 ## Fields
 

docs/en/msg_docs/RoverAttitudeStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Rover Attitude Status.
 
-**TOPICS:** rover_attitudestatus
+**TOPICS:** rover_attitude_status
 
 ## Fields
 

docs/en/msg_docs/RoverPositionSetpoint.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Rover Position Setpoint.
 
-**TOPICS:** rover_positionsetpoint
+**TOPICS:** rover_position_setpoint
 
 ## Fields
 

docs/en/msg_docs/RoverRateSetpoint.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Rover Rate setpoint.
 
-**TOPICS:** rover_ratesetpoint
+**TOPICS:** rover_rate_setpoint
 
 ## Fields