cs_check: remove unnecessary constrain

instead only leaving tilt. adjust function / variable names accordingly.

.github/labeler.yml

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

.github/workflows/appimage.yml

@@ -1,44 +0,0 @@
-name: Build PX4 SITL AppImage
-
-on:
-  pull_request:
-    branches:
-      - main
-
-permissions:
-  contents: read
-  actions: write
-
-jobs:
-  build-appimage:
-    name: "AppImage ${{ matrix.arch }}"
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - arch: amd64
-            runner: x64
-          - arch: arm64
-            runner: arm64
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu22-full-${{ matrix.runner }}","run-id=${{ github.run_id }}"]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Install Dependencies
-        run: ./Tools/setup/ubuntu.sh
-
-      - name: Build PX4 SITL and AppImage
-        env:
-          # avoid FUSE by extracting the AppImage in‐place
-          APPIMAGE_EXTRACT_AND_RUN: "1"
-        run: |
-          make appimage
-
-      - name: Upload AppImage artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4-sitl-appimage-${{ matrix.arch }}
-          path: build/*.AppImage

.github/workflows/checks.yml

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

.github/workflows/clang-tidy.yml

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

.github/workflows/compile_macos.yml

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

.github/workflows/compile_ubuntu.yml

@@ -9,11 +9,13 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   RUNS_IN_DOCKER: true

.github/workflows/ekf_functional_change_indicator.yml

@@ -6,6 +6,7 @@ on:
     - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/ekf_update_change_indicator.yml

@@ -4,6 +4,7 @@ on:
   push:
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/failsafe_sim.yml

@@ -6,11 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -25,7 +27,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
       - name: Install Node v20.18.0

.github/workflows/flash_analysis.yml

@@ -11,11 +11,13 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -26,7 +28,7 @@ jobs:
     name: Analyzing ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]

.github/workflows/itcm_check.yml

@@ -9,18 +9,20 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
     strategy:
       fail-fast: false
       matrix:

.github/workflows/label.yml

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

.github/workflows/mavros_mission_tests.yml

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

.github/workflows/mavros_offboard_tests.yml

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

.github/workflows/nuttx_env_config.yml

@@ -6,11 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -29,7 +31,7 @@ jobs:
     - name: Build PX4 and Run Test [${{ matrix.config }}]
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev:v1.16.0-ondemand
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.github/workflows/python_checks.yml

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

.github/workflows/ros_integration_tests.yml

@@ -11,11 +11,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -31,12 +33,6 @@ jobs:
     - name: Git Ownership Workaround
       run: git config --system --add safe.directory '*'
 
-    - name: Update ROS Keys
-      run: |
-        sudo rm /etc/apt/sources.list.d/ros2.list && \
-        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
     - name: Install gazebo
       run: |
         apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

.github/workflows/ros_translation_node.yml

@@ -5,11 +5,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 defaults:
   run:
     shell: bash

.github/workflows/sitl_container.yml

@@ -1,189 +0,0 @@
-name: SITL Container
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    tags:
-      - 'v*'
-  pull_request:
-    branches:
-      - '**'
-  workflow_dispatch:
-    inputs:
-      px4_version:
-        description: 'Container tag (e.g. v1.16.0)'
-        required: true
-        type: string
-      deploy_to_registry:
-        description: 'Whether to push built images to the registry'
-        required: false
-        type: boolean
-        default: false
-
-jobs:
-  setup:
-    name: Set Tags and Variables
-    permissions:
-      contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      px4_version: ${{ steps.px4_version.outputs.px4_version }}
-      meta_tags: ${{ steps.meta.outputs.tags }}
-      meta_labels: ${{ steps.meta.outputs.labels }}
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      # If manual dispatch, take the user‐provided input
-      - name: Set PX4 Tag Version
-        id: px4_version
-        run: |
-          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
-            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
-          else
-            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/PX4/px4-sitl
-            px4io/px4-sitl
-          tags: |
-            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
-
-  build:
-    name: Build (${{ matrix.arch }})
-    permissions:
-      contents: read
-      packages: write
-    needs: setup
-    strategy:
-      matrix:
-        include:
-          - platform: linux/arm64
-            arch: arm64
-            runner: arm64
-          - platform: linux/amd64
-            arch: amd64
-            runner: x64
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Install PX4 Dependencies
-        run: ./Tools/setup/ubuntu.sh
-
-      - name: Build PX4 SITL
-        run: make px4_sitl_default
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}
-
-      - name: Build and Load Container Image
-        uses: docker/build-push-action@v6
-        id: docker
-        with:
-          context: .
-          file: Tools/sitl-container/Dockerfile
-          tags: |
-            ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-          labels: ${{ needs.setup.outputs.meta_labels }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-          provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
-
-  deploy:
-    name: Deploy To Registry
-    permissions:
-      contents: read
-      packages: write
-    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    needs: [build, setup]
-    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Verify Images Exist Before Creating Manifest
-        run: |
-          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
-
-      - name: Create and Push Multi-Arch Manifest for Docker Hub
-        run: |
-          docker manifest create px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} \
-            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}
-
-      - name: Create and Push Multi-Arch Manifest for GHCR
-        run: |
-          docker manifest create ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} \
-            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}

.github/workflows/sitl_tests.yml

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

.vscode/cmake-variants.yaml

@@ -6,11 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_spacecraft:
-      short: px4_sitl_spacecraft
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_spacecraft
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
@@ -306,11 +301,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7-wing_default:
-      short: holybro_kakuteh7-wing
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7-wing_default
     holybro_kakuteh7dualimu_default:
       short: holybro_kakuteh7dualimu
       buildType: MinSizeRel

CMakeLists.txt

@@ -496,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)
 
 
+include(doxygen)
 include(metadata)
 include(package)
 

Makefile

@@ -264,42 +264,6 @@ px4fmu_firmware: \
 	check_px4_fmu-v5x_default \
 	sizes
 
-# Create a one-file AppImage for PX4 SITL
-PX4_VERSION := $(shell git describe --tags --match "v[0-9]*" 2>/dev/null || echo "v0.0.0")
-.PHONY: AppImage
-appimage: build/px4_sitl_default/bin/px4 build/px4_sitl_default/romfs_files.tar
-
-	@$(MAKE) px4_sitl_default
-	@$(RM) -rf build/px4.AppDir
-
-	@mkdir -p \
-		build/px4.AppDir/usr/bin \
-		build/px4.AppDir/usr/lib \
-		build/px4.AppDir/usr/share/px4/romfs/etc \
-		build/px4.AppDir/usr/share/px4/romfs/bin
-	@cp build/px4_sitl_default/bin/px4 build/px4.AppDir/usr/bin/
-	@echo "${PX4_VERSION}" > build/px4.AppDir/version.txt
-
-	# bundle required Gazebo transport libs (arch‐agnostic lookup)
-	echo "→ Gathering shared-lib dependencies for px4..."
-	@ldd build/px4_sitl_default/bin/px4 \
-		| awk '/=>/ { print $$3 }' \
-		| grep -E '^/' \
-		| grep -Ev '/lib(c|gcc|stdc\+\+)\.so' \
-		| sort -u \
-		| while read lib; do \
-			echo "	→ bundling $$lib"; \
-			cp "$$lib" build/px4.AppDir/usr/lib/; \
-		done
-
-	@tar xf build/px4_sitl_default/romfs_files.tar -C build/px4.AppDir/usr/share/px4/romfs/etc
-	@cp build/px4_sitl_default/bin/px4-* build/px4.AppDir/usr/share/px4/romfs/bin/
-	@cp Tools/appimage/px4.desktop build/px4.AppDir/
-	@cp Tools/appimage/px4.svg build/px4.AppDir/
-	@cp Tools/appimage/AppRun build/px4.AppDir/
-	@chmod +x build/px4.AppDir/AppRun
-	@cd build && appimagetool px4.AppDir
-
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_mro_x21_default \
@@ -401,7 +365,7 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -417,6 +381,12 @@ extract_events:
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines

ROMFS/CMakeLists.txt

@@ -216,33 +216,12 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
-
-			# Generate the file using configure_file at configure time to a temporary location
-			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
-
-			# Then copy it at build time with proper dependencies
-			add_custom_command(
-				OUTPUT
-					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-					rc.board_bootloader_upgrade.stamp
-				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
-				DEPENDS
-					${bootloader_upgrade_tmp}
-					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
-					romfs_copy.stamp
-				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
-			)
-
-			list(APPEND extras_dependencies
-				rc.board_bootloader_upgrade.stamp
-			)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
+
 	endif()
 endforeach()
 

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

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

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

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

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

@@ -30,16 +30,14 @@ param set-default RO_MAX_THR_SPEED 3.1
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 1
 param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_RATE_CORR 1
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 3
 param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

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

@@ -15,6 +15,8 @@ param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
 param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -28,16 +30,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.75
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.5
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5

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

@@ -1,56 +0,0 @@
-#!/bin/sh
-# @name Generic Differential Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
-param set-default RD_WHEEL_TRACK 0.6
-param set-default RD_TRANS_DRV_TRN 0.785398
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 2
-param set-default RO_SPEED_LIM 1.8
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.01
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 80
-param set-default SIM_GZ_WH_MAX1 120
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 80
-param set-default SIM_GZ_WH_MAX2 120
-param set-default SIM_GZ_WH_DIS2 100

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

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

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

@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
+param set-default MAV_TYPE 99
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

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

@@ -114,8 +114,7 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	50000_gz_rover_differential
-
+	71001_gazebo-classic_spacecraft_dart
 	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models

ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
@@ -23,6 +26,7 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
 
@@ -38,16 +42,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
-param set-default RO_YAW_RATE_CORR 2.7
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 
@@ -30,16 +33,14 @@ param set-default RO_MAX_THR_SPEED 2.8
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
-param set-default RO_YAW_RATE_CORR 1
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_mecanum_defaults

ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d

@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
+param set-default MAV_TYPE 99
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -3,10 +3,10 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set VEHICLE_TYPE spacecraft
+set VEHICLE_TYPE sc
 
-# MAV_TYPE_SPACECRAFT_ORBITTER
-param set-default MAV_TYPE 45
+# MAV_TYPE_QUADROTOR 2
+#param set-default MAV_TYPE 12
 
 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -234,7 +234,6 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
-	qmc5883p -X -q start
 	rm3100 -X -q start
 
 	# start last (wait for possible icm20948 passthrough mode)

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -68,15 +68,6 @@ then
 	. ${R}etc/init.d/rc.vtol_apps
 fi
 
-#
-# Spapcecraft setup.
-#
-if [ $VEHICLE_TYPE = spacecraft ]
-then
-	# Start standard multicopter apps.
-	. ${R}etc/init.d/rc.sc_apps
-fi
-
 #
 # Airship setup.
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -280,14 +280,6 @@ else
 	#
 	send_event start
 
-	#
-	# Start the hardfault streamer.
-	#
-	if param compare -s SYS_HF_MAV 1
-	then
-		hardfault_stream start
-	fi
-
 	#
 	# Start the resource load monitor.
 	#

Tools/appimage/AppRun

@@ -1,61 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DEBUG=false
-for arg; do
-  case "$arg" in
-  --debug)
-    DEBUG=true
-    shift
-    ;;
-  *)
-    break
-    ;;
-  esac
-done
-
-if $DEBUG; then
-  echo "[DEBUG] Running in debug mode" >&2
-fi
-
-CUR_VER=$(<"$APPDIR/version.txt")
-$DEBUG && echo "[DEBUG] PX4_VERSION = $CUR_VER" >&2
-
-# figure out a stable logs directory
-STATE_HOME="${XDG_STATE_HOME:-$HOME/.local/state}"
-DATA_HOME="${XDG_DATA_HOME:-$HOME/.local/share}"
-ROMFS_DIR="$DATA_HOME/px4/romfs"
-mkdir -p "$DATA_HOME/px4" "$STATE_HOME/px4"
-
-$DEBUG && echo "[DEBUG] STATE_HOME = $STATE_HOME" >&2
-$DEBUG && echo "[DEBUG] DATA_HOME = $STATE_HOME" >&2
-
-# Read last unpacked version
-LAST_VER_FILE="$STATE_HOME/px4/version"
-LAST_VER=""
-[ -f "$LAST_VER_FILE" ] && LAST_VER=$(<"$LAST_VER_FILE")
-
-# if versions differ, refresh the payload
-if [ "$CUR_VER" != "$LAST_VER" ]; then
-  $DEBUG && echo "[DEBUG] Version changed ($LAST_VER → $CUR_VER); updating ROMFS..." >&2
-  rm -fr "$ROMFS_DIR"
-  mkdir -p "$ROMFS_DIR"
-  cp -a "$APPDIR/usr/share/px4/romfs/." "$ROMFS_DIR"
-  echo "$CUR_VER" > "$LAST_VER_FILE"
-else
-  if $DEBUG; then
-    echo "[DEBUG] Using cached ROMFS version $CUR_VER" >&2
-  fi
-fi
-
-LOG_DIR="$STATE_HOME/px4/logs"
-mkdir -p "$LOG_DIR"
-$DEBUG && echo "[DEBUG] LOG_DIR = $LOG_DIR" >&2
-
-# pick up bundled libs first
-export LD_LIBRARY_PATH="$APPDIR/usr/lib:$LD_LIBRARY_PATH"
-export PATH="$ROMFS_DIR/bin:$ROMFS_DIR:$PATH"
-
-
-$DEBUG && echo "[DEBUG] Launching: $APPDIR/usr/bin/px4 -w $ROMFS_DIR $*" >&2
-exec "$APPDIR/usr/bin/px4" -w "$ROMFS_DIR" "$@"

Tools/appimage/px4.desktop

@@ -1,6 +0,0 @@
-[Desktop Entry]
-Type=Application
-Name=PX4 Autopilot SITL
-Exec=px4 %F
-Icon=px4
-Categories=Development;

Tools/astyle/check_newlines.sh

@@ -3,14 +3,14 @@
 return_value=0
 
 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1
 fi
 
 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1

Tools/ci/generate_board_targets_json.py

@@ -35,7 +35,6 @@ if args.filter:
     for board in args.filter.split(','):
         board_filter.append(board)
 
-default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
@@ -87,7 +86,7 @@ def process_target(px4board_file, target_name):
     assert platform, f"PLATFORM not found in {px4board_file}"
 
     if platform not in excluded_platforms:
-        container = default_container
+        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
         if platform == 'posix':
             group = 'base'
             if toolchain:
@@ -121,7 +120,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = default_container
+grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets

Tools/docker_run.sh

@@ -1,8 +1,21 @@
 #! /bin/bash
 
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	echo "guessing PX4_DOCKER_REPO based on input";
+	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+		# clang tools
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
+	elif [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
+	fi
+else
+	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
+fi
+
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
 fi
 
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

Tools/setup/requirements.txt

@@ -27,4 +27,3 @@ six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
 pycryptodome
-lark

Tools/setup/ubuntu.sh

@@ -126,11 +126,9 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
-		fuse \
 		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
-		libfuse2 \
 		libgmp-dev \
 		libisl-dev \
 		libmpc-dev \
@@ -158,11 +156,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			gcc-arm-none-eabi \
 			gcc-multilib \
 			;
-
-		# Install the appimagetool for building AppImages
-		sudo wget -O /usr/local/bin/appimagetool \
-			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage
-		sudo chmod +x /usr/local/bin/appimagetool
 	fi
 
 	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
@@ -170,10 +163,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			g++-aarch64-linux-gnu \
 			g++-arm-linux-gnueabihf \
 			;
-		# Install the appimagetool for building AppImages
-		sudo wget -O /usr/local/bin/appimagetool \
-			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-aarch64.AppImage
-		sudo chmod +x /usr/local/bin/appimagetool
 	fi
 
 	if [ -n "$USER" ]; then

Tools/sitl-container/Dockerfile

@@ -1,55 +0,0 @@
-FROM ubuntu:24.04
-
-RUN apt-get update \
-  && apt-get install -y --no-install-recommends \
-    ca-certificates \
-    curl \
-    gnupg \
-    lsb-release \
-    libbsd0 \
-    libcom-err2 \
-    libc6 \
-    libgcc-s1 \
-    libgssapi-krb5-2 \
-    libk5crypto3 \
-    libkeyutils1 \
-    libkrb5-3 \
-    libkrb5support0 \
-    libmd0 \
-    libnorm1 \
-    libpgm-5.3-0 \
-    libprotobuf32 \
-    libprotobuf-lite32t64 \
-    libsodium23 \
-    libstdc++6 \
-    libuuid1 \
-    libzmq5 \
-    wget \
-    zlib1g \
-  && rm -fr /var/lib/apt/lists/*
-
-RUN curl -sSL https://packages.osrfoundation.org/gazebo.key \
-  | gpg --dearmor -o /usr/share/keyrings/gazebo-archive-keyring.gpg \
-  && echo "deb  [signed-by=/usr/share/keyrings/gazebo-archive-keyring.gpg] \
-    http://packages.osrfoundation.org/gazebo/ubuntu-stable \
-    $(lsb_release -cs) main" \
-    > /etc/apt/sources.list.d/gazebo-stable.list \
-  && apt-get update \
-  && apt-get install -y --no-install-recommends \
-    libgz-msgs10 \
-    libgz-transport13 \
-    libgz-utils2 \
-  && rm -fr /var/lib/apt/lists/*
-
-COPY build/px4_sitl_default/bin /opt/px4/bin
-COPY build/px4_sitl_default/etc /opt/px4/etc
-
-WORKDIR /opt/px4
-
-COPY Tools/sitl-container/entrypoint.sh /usr/local/bin/entrypoint.sh
-RUN chmod +x /usr/local/bin/entrypoint.sh
-
-EXPOSE 14540/udp 14550/udp 8888/udp
-
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-CMD []

Tools/sitl-container/docker_run.sh

@@ -1,9 +0,0 @@
-#!/bin/bash
-
-sudo docker run \
-  --rm -it \
-  --device /dev/fuse --cap-add SYS_ADMIN \
-  -p 14540:14540/udp \
-  -p 14550:14550/udp \
-  -p 8888:8888/udp \
-  px4-sitl:local

Tools/sitl-container/entrypoint.sh

@@ -1,11 +0,0 @@
-#!/bin/sh
-set -e
-
-PX4_BIN=/opt/px4/bin/px4
-
-# if no args passed, default to SITL none
-if [ $# -eq 0 ]; then
-  exec "$PX4_BIN"
-else
-  exec "$PX4_BIN" "$@"
-fi

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

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

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

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

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

@@ -1,76 +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.
- *
- ****************************************************************************/
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi2,
-	.npart = 1,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
-		},
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs = 1,
-	.entries  = {
-		&fmum_fram
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = {
-		&mtd_mft
-	}
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}

boards/ark/fmu-v6x/default.px4board

@@ -62,7 +62,6 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/auterion/fmu-v6s/default.px4board

@@ -43,7 +43,6 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/cuav/7-nano/default.px4board

@@ -20,7 +20,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -43,8 +42,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/7-nano/init/rc.board_sensors

@@ -12,17 +12,10 @@ else
 fi
 
 iim42652 -s -R 22 start
-
 bmi088 -A -R 29 -s start
-if ! bmi088 -G -R 29 -s start
-then
-	iim42653 -s -b 2 -R 22 start
-fi
+bmi088 -G -R 29 -s start
 
-if ! ist8310 -I -R 18 start
-then
-	iis2mdc -I -R 37 start
-fi
+ist8310 -I -R 18 start
 
 bmp581 -s start
 icp201xx -I start

boards/cuav/7-nano/src/spi.cpp

@@ -42,7 +42,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	// initSPIBus(SPI::Bus::SPI3,{
 	// 	// no devices

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

@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/diatone/mamba-f405-mk2/init/rc.board_sensors

@@ -5,16 +5,14 @@
 
 board_adc start
 
-if ! mpu6000 -R 6 -s start; then
+if ! mpu6000 -R 6 -s start
+then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	if ! icm20602 -s -R 6 start; then
-		# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
-		icm42688p -s -R 4 start
-	fi
+	icm20602 -s -R 6 start
 fi
 
 if ! hmc5883 -T -X start
-then
+then	
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34

boards/diatone/mamba-f405-mk2/src/spi.cpp

@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

boards/holybro/kakuteh7-wing/default.px4board

@@ -5,8 +5,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -63,6 +61,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/holybro/kakuteh7-wing/src/hw_config.h

@@ -74,7 +74,7 @@
 #define BOARD_TYPE                     1105
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
 
 #define OSC_FREQ                       16
 

boards/holybro/kakuteh7dualimu/default.px4board

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -31,6 +30,7 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,17 +70,22 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y

boards/holybro/kakuteh7dualimu/firmware.prototype

@@ -7,7 +7,7 @@
     "summary": "KAKUTEH7",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1703936,
+    "image_maxsize": 1835008,
     "git_identity": "",
     "board_revision": 0
 }

boards/holybro/kakuteh7dualimu/nuttx-config/scripts/script.ld

@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K

boards/holybro/kakuteh7dualimu/src/hw_config.h

@@ -72,7 +72,7 @@
 #define BOARD_TYPE                     5409
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
 
 #define OSC_FREQ                       8
 

boards/holybro/kakuteh7dualimu/src/led.c

@@ -48,11 +48,6 @@
  * of leds for system indication at will and there is no
  * separate switch, we need to build independent of the
  * CONFIG_ARCH_LEDS configuration switch.
- *
- * KakuteH7 DualIMU LED configuration:
- * - Red LED (PE9): TRIP LED, active high
- * - Blue LED (PC2): Status LED, active low
- * - Green LED: Hardware controlled, always on when powered (no software control)
  */
 __BEGIN_DECLS
 extern void led_init(void);
@@ -61,28 +56,11 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 0, 4, 2};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_LED_RED,                       // Indexed by BOARD_LED_RED
-	GPIO_nLED_BLUE,                     // Indexed by BOARD_LED_BLUE
-};
 
-static bool g_led_inverted[] = {
-	false, // LED_RED is active high
-	true,  // LED_BLUE is active low
-};
-
-#else
-
-#  define xlat(p) (p)
+#define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_LED_RED,                       // Indexed by LED_RED
+	GPIO_LED_RED,                      // Indexed by LED_RED
 };
 
 static bool g_led_inverted[] = {
@@ -90,7 +68,6 @@ static bool g_led_inverted[] = {
 	false, // LED_RED is active high
 };
 
-#endif
 
 __EXPORT void led_init(void)
 {

boards/px4/fmu-v2/rover.px4board

@@ -1,17 +1,15 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/px4/fmu-v3/rover.px4board

@@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v4/rover.px4board

@@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v4pro/rover.px4board

@@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v5/rover.px4board

@@ -1,17 +1,23 @@
+CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v5x/default.px4board

@@ -64,7 +64,6 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/px4/fmu-v5x/rover.px4board

@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -5,6 +6,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +14,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6c/rover.px4board

@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6u/rover.px4board

@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6x/default.px4board

@@ -62,7 +62,6 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/px4/fmu-v6x/rover.px4board

@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6xrt/default.px4board

@@ -63,7 +63,6 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/px4/fmu-v6xrt/rover.px4board

@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -5,14 +6,16 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/zeroone/x6/default.px4board

@@ -20,9 +20,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
-CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/zeroone/x6/init/rc.board_defaults

@@ -27,6 +27,3 @@ else
 fi
 
 safety_button start
-
-# pwm voltage 3.3V/5V switch
-pwm_voltage_apply start

boards/zeroone/x6/init/rc.board_sensors

@@ -43,7 +43,6 @@ then
 	set INA_CONFIGURED yes
 fi
 
-
 if param compare SENS_EN_INA238 1
 then
 	# Start Digital power monitors
@@ -56,35 +55,96 @@ then
 	set INA_CONFIGURED yes
 fi
 
-
-if ver hwtypecmp ZeroOneX6000
+#Start Auterion Power Module selector for zeroone boards
+if ver hwbasecmp 009 010 011
 then
-        # Internal SPI bus icm45686 with SPIX
-	icm45686 -b 2 -s -R 6 start       //X6 & X6 air
-
-	bmi088 -A -R 4 -s start           //X6
-	bmi088 -G -R 4 -s start           //X6
-
-	# Internal SPI bus icm45686 with SPIX
-	icm45686 -b 1 -s -R 8 start       //X6 & X6 air
+	pm_selector_auterion start
+else
+	if [ $INA_CONFIGURED = no ]
+	then
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
+	fi
 fi
 
-
-if ver hwtypecmp ZeroOneX6001             //X6  PRO
+# Keep nesting shallow
+if ver hwtypecmp V6X006 V6X008
 then
-	# Internal SPI bus IIM42653 with SPIX
-	iim42653 -b 2 -s -R 6 start
+	if ver hwtypecmp V6X006
+	then
+		# Internal SPI bus ICM45686
+		adis16470 -s -R 0 start
+		iim42652 -s -R 6 start
+		icm45686 -s -R 10 start
+	else
+		# Internal SPI bus 3x ICM45686
+		icm45686 -b 3 -s -R 0 start
+		icm45686 -b 2 -s -R 0 start
+		icm45686 -b 1 -s -R 10 start
+	fi
+else
+	if ver hwtypecmp V6X004
+	then
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 6 start
+	else
+		# Internal SPI BMI088
+		if ver hwbasecmp 009 010 011
+		then
+			bmi088 -A -R 6 -s start
+			bmi088 -G -R 6 -s start
+		else
+			if ver hwtypecmp V6X010
+			then
+				bmi088 -A -R 0 -s start
+				bmi088 -G -R 0 -s start
+			else
+				bmi088 -A -R 4 -s start
+				bmi088 -G -R 4 -s start
+			fi
+		fi
+	fi
 
-	bmi088 -A -R 4 -s start
-	bmi088 -G -R 4 -s start
+	# Internal SPI bus ICM42688p
+	if ver hwbasecmp 009 010 011
+	then
+		icm42688p -R 12 -s start
+	else
+		if ver hwtypecmp V6X010
+		then
+			icm42688p -R 14 -s start
+		else
+			icm45686 -b 1 -s -R 8 start        //ZeroOne
+		fi
+	fi
 
-	# Internal SPI bus IIM42653 with SPIX
-	iim42653 -b 1 -s -R 8 start
+	if ver hwtypecmp V6X003 V6X004
+	then
+		# Internal SPI bus ICM-42670-P (hard-mounted)
+		icm42670p -R 10 -s start
+	else
+		if ver hwbasecmp 009 010 011
+		then
+			icm20602 -R 6 -s start
+		else
+			# Internal SPI bus ICM-20649 (hard-mounted)
+			icm45686 -b 2 -s -R 6 start        //ZeroOne
+		fi
+	fi
 fi
-
-
 rm3100 -I -b 4 start
 # Internal magnetometer on I2c
+# if ver hwtypecmp V6X001
+# then
+# 	rm3100 -I -b 4 start
+# else
+# 	# Internal magnetometer on I2C
+# 	bmm150 -I -R 0 start
+# fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
@@ -96,9 +156,24 @@ ist8310 start -I -a 0x0E -R 12
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
+	# if ver hwtypecmp V6X001 V6X006 V6X008
+	# then
+	# 	icp201xx -I -a 0x64 start
+	# else
+	# 	bmp388 -I -a 0x77 start
+	# fi
 fi
 icp201xx -X start
 #external baro
+# if ver hwtypecmp V6X001
+# then
+# 	icp201xx -X start
+# else
+# 	bmp388 -X start
+# fi
+
+# Baro on I2C3
+ms5611 -X start
 
 unset INA_CONFIGURED
 unset HAVE_PM2

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/pwm_voltage.cpp

@@ -1,56 +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.
- *
- ****************************************************************************/
-
-#include <inttypes.h>
-#include <stdint.h>
-
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module_params.h>
-
-#include "board_config.h"
-
-extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
-{
-	int32_t pwm_volt_sel = 0;
-
-	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
-
-	if (pwm_volt_sel != 0) {
-		PWM_5V_VOLT_SEL(true);
-
-	} else {
-		PWM_5V_VOLT_SEL(false);
-	}
-
-	return 0;
-}

boards/zeroone/x6/src/board_config.h

@@ -215,11 +215,10 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ZeroOneX6"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,
-#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6 Pro,
-#define ZeroOneX6_2     HW_FMUM_ID(0x2)   // reserved
+#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,     Sensor Set  Rev 0
+#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6,     Sensor Set  Rev 1
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 
@@ -245,10 +244,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-/* PWM Power */
-#define GPIO_PWM_VOLT_SEL               /* PD15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
-#define PWM_5V_VOLT_SEL(on_true)        px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
-
 /* Power supply control and monitoring GPIOs */
 
 #define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
@@ -462,8 +457,7 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT,                 \
-		GPIO_PWM_VOLT_SEL                \
+		GPIO_nARMED_INIT                  \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/zeroone/x6/src/spi.cpp

@@ -47,6 +47,10 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
 			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),
@@ -56,36 +60,21 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIFmumID(ZeroOneX6_1, {            // X6 Pro
+	initSPIFmumID(ZeroOneX6_1, {            // Placeholder
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIFmumID(ZeroOneX6_2, {             // reserved
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
 		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),

cmake/doxygen.cmake

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019 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
@@ -31,8 +31,31 @@
 #
 ############################################################################
 
-px4_add_library(AckermannManualMode
-	AckermannManualMode.cpp
-)
+# Doxygen
 
-target_include_directories(AckermannManualMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
+
+if (BUILD_DOXYGEN)
+	find_package(Doxygen)
+	if (DOXYGEN_FOUND)
+	    # set input and output files
+	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
+	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+	    # request to configure the file
+	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+	    # note the option ALL which allows to build the docs together with the application
+	    add_custom_target(doxygen ALL
+	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+			COMMENT "Generating documentation with Doxygen"
+			DEPENDS uorb_msgs parameters
+			VERBATIM
+			USES_TERMINAL
+			)
+
+	else()
+		message("Doxygen needs to be installed to generate documentation")
+	endif()
+endif()

docs/.gitignore

@@ -18,4 +18,4 @@ yarn-error.log
 
 
 # Generated alternative _summary.md
-# **/*/_summary.md
+# **/*/_summary.md

docs/.vitepress/theme/components/Redirect.vue

@@ -16,4 +16,4 @@
             document.location.replace(this.to);
         }
     }
-</script>
+</script>

docs/.vitepress/theme/style.css

@@ -159,4 +159,4 @@
 
  .vp-doc img {
   display: inline; /* block by default set by vitepress */
-}
+}