ModuleBase add common base type and cleanup

.ackrc

@@ -0,0 +1 @@
+--ignore-dir=Documentation

.ci/Jenkinsfile-compile

@@ -0,0 +1,190 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+      steps {
+        script {
+          def build_nodes = [:]
+          def docker_images = [
+            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
+            base: "px4io/px4-dev-base-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
+          ]
+
+          def armhf_builds = [
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            image: docker_images.armhf,
+            archive: false
+          ]
+
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
+          def base_builds = [
+            target: ["px4_sitl_rtps"],
+            image: docker_images.base,
+            archive: false
+          ]
+
+          def nuttx_builds_archive = [
+            target: [
+                     "airmind_mindpx-v2_default",
+                     "av_x-v1_default",
+                     "bitcraze_crazyflie_default",
+                     "cuav_can-gps-v1_canbootloader",
+                     "cuav_can-gps-v1_default",
+                     "cuav_nora_default",
+                     "cuav_x7pro_default",
+                     "cubepilot_cubeorange_console",
+                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
+                     "cubepilot_cubeyellow_default",
+                     "holybro_durandal-v1_default",
+                     "holybro_kakutef7_default",
+                     "holybro_pix32v5_default",
+                     "intel_aerofc-v1_default",
+                     "modalai_fc-v1_default",
+                     "mro_ctrl-zero-f7_default",
+                     "mro_x21-777_default",
+                     "mro_x21_default",
+                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-v3_rtps",
+                     "nxp_fmurt1062-v1_default",
+                     "nxp_ucans32k146_default",
+                     "omnibus_f4sd_default",
+                     "px4_fmu-v2_default",
+                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lpe",
+                     "px4_fmu-v2_multicopter",
+                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
+                     "px4_fmu-v3_default",
+                     "px4_fmu-v4_cannode",
+                     "px4_fmu-v4_default",
+                     "px4_fmu-v4_optimized",
+                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_debug",
+                     "px4_fmu-v5_fixedwing",
+                     "px4_fmu-v5_multicopter",
+                     "px4_fmu-v5_optimized",
+                     "px4_fmu-v5_rover",
+                     "px4_fmu-v5_rtps",
+                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5x_base_phy_DP83848C",
+                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6x_default",
+                     "px4_io-v2_default",
+                     "spracing_h7extreme_default",
+                     "uvify_core_default"
+            ],
+            image: docker_images.nuttx,
+            archive: true
+          ]
+
+          def snapdragon_builds = [
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
+            image: docker_images.snapdragon,
+            archive: false
+          ]
+
+          def docker_builds = [
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
+          ]
+
+          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
+            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
+              build_nodes.put(docker_builds[build_type].target[build_target],
+                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
+                )
+            }
+          }
+
+        parallel build_nodes
+
+        } // script
+      } // steps
+    } // stage Build
+
+    // TODO: actually upload artifacts to S3
+    // stage('S3 Upload') {
+    //   agent {
+    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+    //   }
+    //   options {
+    //         skipDefaultCheckout()
+    //   }
+    //   when {
+    //     anyOf {
+    //       branch 'master'
+    //       branch 'beta'
+    //       branch 'stable'
+    //       branch 'pr-jenkins' // for testing
+    //     }
+    //   }
+    //   steps {
+    //     sh 'echo "uploading to S3"'
+    //   }
+    // }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}
+
+def createBuildNode(Boolean archive, String docker_image, String target) {
+  return {
+
+    // TODO: fix the snapdragon image
+    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }
+
+    node {
+      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
+          stage(target) {
+            try {
+              sh('export')
+              checkout(scm)
+              sh('make distclean')
+              sh('git fetch --tags')
+              sh('ccache -s')
+              sh('make ' + target)
+              sh('ccache -s')
+              sh('make sizes')
+              if (archive) {
+                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
+              }
+              sh('make ' + target + ' package')
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
+            }
+            catch (exc) {
+              throw (exc)
+            }
+            finally {
+              sh('make distclean')
+            }
+          }
+        }
+      }
+    }
+  }
+}

.clang-tidy

@@ -1,17 +1,11 @@
 ---
 Checks:          '*,
-                  -*-avoid-c-arrays,
-                  -*-uppercase-literal-suffix,
-                  -*-magic-numbers,
-                  -altera-id-dependent-backward-branch,
-                  -altera-unroll-loops,
                   -android*,
                   -bugprone-integer-division,
                   -cert-dcl50-cpp,
                   -cert-env33-c,
                   -cert-err34-c,
                   -cert-err58-cpp,
-                  -cert-flp30-c,
                   -cert-msc30-c,
                   -cert-msc50-cpp,
                   -clang-analyzer-core.CallAndMessage,
@@ -24,7 +18,6 @@ Checks:          '*,
                   -clang-analyzer-deadcode.DeadStores,
                   -clang-analyzer-optin.cplusplus.VirtualCall,
                   -clang-analyzer-optin.performance.Padding,
-                  -clang-analyzer-security.FloatLoopCounter,
                   -clang-analyzer-security.insecureAPI.strcpy,
                   -clang-analyzer-unix.API,
                   -clang-analyzer-unix.cstring.BadSizeArg,
@@ -44,7 +37,8 @@ Checks:          '*,
                   -cppcoreguidelines-pro-type-union-access,
                   -cppcoreguidelines-pro-type-vararg,
                   -cppcoreguidelines-special-member-functions,
-                  -fuchsia-*,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
                   -google-build-using-namespace,
                   -google-explicit-constructor,
                   -google-global-names-in-headers,
@@ -68,7 +62,6 @@ Checks:          '*,
                   -hicpp-use-equals-delete,
                   -hicpp-use-override,
                   -hicpp-vararg,
-                  -llvmlibc-*,
                   -llvm-header-guard,
                   -llvm-include-order,
                   -llvm-namespace-comment,
@@ -81,7 +74,6 @@ Checks:          '*,
                   -modernize-deprecated-headers,
                   -modernize-loop-convert,
                   -modernize-pass-by-value,
-                  -modernize-raw-string-literal,
                   -modernize-return-braced-init-list,
                   -modernize-use-auto,
                   -modernize-use-bool-literals,
@@ -89,9 +81,7 @@ Checks:          '*,
                   -modernize-use-equals-default,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
-                  -modernize-use-trailing-return-type,
                   -modernize-use-using,
-                  -modernize-use-trailing-return-type,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,
                   -readability-container-size-empty,
@@ -105,79 +95,6 @@ Checks:          '*,
                   -readability-redundant-declaration,
                   -readability-static-accessed-through-instance,
                   -readability-static-definition-in-anonymous-namespace,
-                  -altera-struct-pack-align,
-                  -bugprone-easily-swappable-parameters,
-                  -concurrency-mt-unsafe,
-                  -cppcoreguidelines-avoid-const-or-ref-data-members,
-                  -cppcoreguidelines-macro-usage,
-                  -cppcoreguidelines-non-private-member-variables-in-classes,
-                  -hicpp-uppercase-literal-suffix,
-                  -llvm-qualified-auto,
-                  -misc-non-private-member-variables-in-classes,
-                  -misc-use-anonymous-namespace,
-                  -modernize-concat-nested-namespaces,
-                  -readability-const-return-type,
-                  -readability-identifier-length,
-                  -readability-isolate-declaration,
-                  -readability-qualified-auto,
-                  -readability-redundant-access-specifiers,
-                  -cppcoreguidelines-avoid-do-while,
-                  -misc-include-cleaner,
-                  -misc-const-correctness,
-                  -llvm-else-after-return,
-                  -readability-function-cognitive-complexity,
-                  -cppcoreguidelines-init-variables,
-                  -bugprone-reserved-identifier,
-                  -cert-dcl37-c,
-                  -cert-dcl51-cpp,
-                  -modernize-use-nodiscard,
-                  -misc-confusable-identifiers,
-                  -cert-err33-c,
-                  -readability-redundant-inline-specifier,
-                  -readability-uppercase-literal-suffix,
-                  -bugprone-narrowing-conversions,
-                  -cppcoreguidelines-narrowing-conversions,
-                  -bugprone-switch-missing-default-case,
-                  -cppcoreguidelines-avoid-goto,
-                  -hicpp-avoid-goto,
-                  -bugprone-branch-clone,
-                  -performance-enum-size,
-                  -readability-avoid-nested-conditional-operator,
-                  -cppcoreguidelines-prefer-member-initializer,
-                  -cppcoreguidelines-explicit-virtual-functions,
-                  -readability-convert-member-functions-to-static,
-                  -readability-make-member-function-const,
-                  -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-multi-level-implicit-pointer-conversion,
-                  -bugprone-signed-char-misuse,
-                  -cppcoreguidelines-avoid-non-const-global-variables,
-                  -cppcoreguidelines-use-default-member-init,
-                  -hicpp-multiway-paths-covered,
-                  -hicpp-named-parameter,
-                  -misc-header-include-cycle,
-                  -misc-no-recursion,
-                  -performance-no-int-to-ptr,
-                  -readability-avoid-return-with-void-value,
-                  -readability-avoid-unconditional-preprocessor-if,
-                  -readability-delete-null-pointer,
-                  -readability-redundant-casting,
-                  -readability-redundant-member-init,
-                  -readability-reference-to-constructed-temporary,
-                  -readability-simplify-boolean-expr,
-                  -cert-msc32-c,
-                  -cert-msc33-c,
-                  -cert-msc51-cpp,
-                  -cert-str34-c,
-                  -cppcoreguidelines-macro-to-enum,
-                  -modernize-macro-to-enum,
-                  -abseil-string-find-str-contains,
-                  -bugprone-suspicious-include,
-                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
-                  -clang-analyzer-optin.core.EnumCastOutOfRange,
-                  -modernize-type-traits,
-                  -misc-definitions-in-headers,
-                  -bugprone-casting-through-void,
-                  -readability-redundant-string-init,
                  '
 WarningsAsErrors: '*'
 CheckOptions:

.claude/skills/commit/SKILL.md

@@ -1,28 +0,0 @@
----
-name: commit
-description: Create a conventional commit for PX4 changes
-disable-model-invocation: true
-argument-hint: "[optional: description of changes]"
-allowed-tools: Bash, Read, Glob, Grep
----
-
-# PX4 Conventional Commit
-
-Create a git commit: `type(scope): description`
-
-**NEVER add Co-Authored-By lines. No Claude attribution in commits.**
-
-Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
-
-## Steps
-
-1. **Read [CONTRIBUTING.md](../../CONTRIBUTING.md)** for commit message format, types, scopes, and conventions.
-2. Check branch (`git branch --show-current`). If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
-3. Run `git status` and `git diff --staged`. If nothing staged, ask what to stage.
-4. Follow the commit message convention from CONTRIBUTING.md: pick the correct **type** and **scope**, write a concise imperative description.
-5. Body (if needed): explain **why**, not what.
-6. Run `make format` or `./Tools/astyle/fix_code_style.sh <file>` on changed C/C++ files before committing.
-7. Check if GPG signing is available: `git config --get user.signingkey`. If set, use `git commit -S -s`. Otherwise, use `git commit -s`.
-8. Stage and commit. No `Co-Authored-By`.
-
-If the user provided arguments, use them as context: $ARGUMENTS

.claude/skills/pr/SKILL.md

@@ -1,24 +0,0 @@
----
-name: pr
-description: Create a pull request with conventional commit title and description
-disable-model-invocation: true
-argument-hint: "[optional: target branch or description]"
-allowed-tools: Bash, Read, Glob, Grep
----
-
-# PX4 Pull Request
-
-**No Claude attribution anywhere (no Co-Authored-By, no "Generated with Claude").**
-
-Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
-
-## Steps
-
-1. Check branch. If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
-2. Gather context: `git status`, `git log --oneline main..HEAD`, `git diff main...HEAD --stat`, check if remote tracking branch exists.
-3. PR **title**: `type(scope): description` — under 72 chars, describes the overall change across all commits. This becomes the squash-merge commit message.
-4. PR **body**: brief summary + bullet points for key changes. No filler.
-5. Push with `-u` if needed, then `gh pr create`. Default base is `main` unless user says otherwise.
-6. Return the PR URL.
-
-If the user provided arguments, use them as context: $ARGUMENTS

.claude/skills/rebase-onto-main/SKILL.md

@@ -1,73 +0,0 @@
----
-name: rebase-onto-main
-description: Rebase a branch onto main, handling squash-merged parent branches cleanly
-argument-hint: "[optional: branch name, defaults to current branch]"
-allowed-tools: Bash, Read, Glob, Grep, Agent
----
-
-# Rebase Branch onto Main
-
-Rebase the current (or specified) branch onto `main`, correctly handling the case where the branch was built on top of another branch that has since been squash-merged into `main`.
-
-## Background
-
-When a parent branch is squash-merged, its individual commits become a single new commit on `main` with a different hash. A normal `git rebase main` will try to replay the parent's original commits, causing messy conflicts. The fix is to **cherry-pick only the commits unique to this branch** onto a fresh branch from `main`.
-
-## Steps
-
-1. **Identify the branch.** Use `$ARGUMENTS` if provided, otherwise use the current branch.
-
-2. **Fetch and update main:**
-   ```
-   git fetch origin main:main
-   ```
-
-3. **Find the merge base** between the branch and `main`:
-   ```
-   git merge-base <branch> main
-   ```
-
-4. **List all commits** on the branch since the merge base:
-   ```
-   git log --oneline <merge-base>..<branch>
-   ```
-
-5. **Identify which commits are unique to this branch** vs. inherited from a parent branch. Look for:
-   - Squash-merged commits on `main` that correspond to a group of commits at the bottom of the branch's history (check PR titles, commit message keywords).
-   - The boundary commit: the first commit that belongs to *this* branch's work, not the parent's.
-   - If ALL commits are unique (no parent branch), just do a normal `git rebase main` and skip the rest.
-
-6. **Create a fresh branch from `main`:**
-   ```
-   git checkout -b <branch>-rebase main
-   ```
-
-7. **Cherry-pick only the unique commits** (oldest first):
-   ```
-   git cherry-pick <first-unique-commit>^..<branch>
-   ```
-   The `A^..B` range means "from the parent of A through B inclusive."
-
-8. **Handle conflicts** if any arise during cherry-pick. Resolve and `git cherry-pick --continue`.
-
-9. **Replace the old branch:**
-   ```
-   git branch -m <branch> <branch>-old
-   git branch -m <branch>-rebase <branch>
-   ```
-
-10. **Verify** the result:
-    ```
-    git log --oneline main..<branch>
-    ```
-    Confirm only the expected commits are present.
-
-11. **Ask the user** before force-pushing. When approved:
-    ```
-    git push origin <branch> --force-with-lease
-    ```
-
-12. **Clean up** the old branch:
-    ```
-    git branch -D <branch>-old
-    ```

.claude/skills/review-pr/SKILL.md

@@ -1,207 +0,0 @@
----
-name: review-pr
-description: Review a pull request with structured, domain-aware feedback
-argument-hint: "<PR number or URL>"
-allowed-tools: Bash, Read, Glob, Grep, Agent
----
-
-# PX4 Pull Request Review
-
-Review a pull request with domain-aware checks based on which files are changed.
-
-**No Claude attribution anywhere.**
-
-## Steps
-
-1. **Fetch PR context.** Run these in parallel:
-   - `gh pr view <PR> --json number,title,body,baseRefName,headRefName,files,commits,reviewRequests,reviews,author`
-   - `gh pr checks <PR>` (exit code 8 means some checks are pending, this is normal, not an error)
-   - `gh pr diff <PR>` -- if this fails with HTTP 406 (300+ files), do NOT retry. Instead use `gh api repos/OWNER/REPO/pulls/NUMBER/files --paginate` to get the full file list in one call, then fetch patches for key infrastructure files individually and sample representative changes from each domain touched.
-   - `gh api repos/OWNER/REPO/pulls/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, path: .path, created_at: .created_at}'` to get inline review comments
-   - `gh api repos/OWNER/REPO/issues/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, created_at: .created_at}'` to get PR conversation comments
-
-   From the PR metadata, note:
-   - **Assigned reviewers**: who has been requested to review (from `reviewRequests`)
-   - **Existing reviews**: who has already reviewed and their verdict (from `reviews` -- approved, changes_requested, commented, dismissed)
-   - **PR comments and inline comments**: read all existing feedback to avoid duplicating points already raised by other reviewers, and to build on their discussion rather than ignoring it
-
-2. **Check CI status.** From the `gh pr checks` output in step 1, summarize pass/fail/pending. If there are failures, fetch logs with `gh run view <run-id> --log-failed`. Include CI status in the output.
-
-3. **Recommend merge strategy.** Analyze the commit history and recommend squash or rebase merge. This decision informs all subsequent commit hygiene feedback.
-
-   **Recommend rebase merge** when:
-   - Commits are atomic, each builds/works independently
-   - Each commit has a proper `type(scope): description` message
-   - The PR intentionally separates logical changes (e.g., refactor + feature, or one commit per module)
-   - The commit history tells a useful story that would be lost by squashing
-
-   **Recommend squash merge** when:
-   - There are WIP, fixup, or review-response commits
-   - Commit messages are messy or inconsistent
-   - The PR is a single logical change spread across multiple commits
-   - There are "oops" or "make format" commits mixed in
-
-   Include the recommendation in the output. If recommending rebase, flag any commits that break atomicity or have bad messages. If recommending squash, don't bother flagging individual commit messages (they'll be discarded) but ensure the PR title is correct since it becomes the squash commit message.
-
-4. **Check conventional commit title.** Verify the PR title follows `type(scope): description` per CONTRIBUTING.md. The PR title becomes the commit message on squash-merge, so it must be accurate and descriptive. Verify the scope matches the primary area of changed files. If the PR introduces breaking changes, the title must include `!` before the colon. If rebase merge was recommended in step 3, also scan individual commit messages for anti-patterns: vague messages ("fix", "update"), missing type prefix, review-response noise ("apply suggestions from code review", "do make format"), or WIP markers. Flag these for rewording.
-
-5. **Identify domains touched.** Classify changed files into domains based on paths (a PR may touch multiple):
-   - **Estimation**: `src/modules/ekf2/`, `src/lib/wind_estimator/`, `src/lib/world_magnetic_model/`
-   - **Control**: `src/modules/mc_*control*/`, `src/modules/fw_*control*/`, `src/modules/flight_mode_manager/`, `src/lib/rate_control/`, `src/lib/npfg/`, `src/modules/vtol_att_control/`
-   - **Drivers/CAN**: `src/drivers/`, `src/modules/cyphal/`, `src/drivers/uavcan*/`
-   - **Simulation**: `src/modules/simulation/`, `Tools/simulation/`
-   - **System**: `src/modules/commander/`, `src/modules/logger/`, `src/systemcmds/`, `platforms/`, `src/modules/dataman/`
-   - **Board Addition**: `boards/{manufacturer}/{board}/` (new directories only, not modifications to existing boards)
-   - **CI/Build**: `.github/`, `CMakeLists.txt`, `Makefile`, `cmake/`, `Tools/`, `Kconfig`
-   - **Messages/Protocol**: `msg/`, `src/modules/mavlink/`, `src/modules/uxrce_dds_client/`
-
-6. **Apply core checks** (always):
-   - **Correctness**: logic errors, off-by-ones, unhandled edge cases
-   - **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
-   - **Initialization**: uninitialized variables, missing default construction
-   - **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
-   - **Magic numbers**: every numeric literal needs a named constant or justification
-   - **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
-   - **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
-   - **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
-   - **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical. When automated testing is infeasible (hardware-specific), require a flight log link from https://logs.px4.io or bench test evidence.
-   - **PR hygiene**: focused scope, no unrelated formatting, no stale submodule changes. Commits should be atomic and independently revertable. Multiple WIP or review-response commits should be squashed. Clean, logical commits will be preserved individually on main via rebase merge. **Do NOT assume PRs are squash-merged. Both squash and rebase merge are enabled; merge commits are disabled.** Verify the PR targets `main` unless it is a backport or release-specific fix.
-   - **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean. Python files checked with `mypy` and `flake8`. PRs failing CI format or lint checks will not be merged.
-   - **Coding style**: C/C++ must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html)
-   - **Necessity**: challenge every addition with "Why?" Is this actually needed or just copied? Can we change a default instead of adding runtime detection?
-   - **Root cause vs symptom**: is this fixing the real problem or masking it?
-   - **Ecosystem impact**: what does this change mean for QGC users, log analysis tools, and third-party integrations?
-   - **Sustainability**: who will maintain this? Does it create long-term burden?
-   - **Architecture fit**: does the code live in the module that naturally owns the data? Are there unnecessary cross-module dependencies?
-   - **End user impact**: will parameters confuse less-technical users? Are error messages actionable in QGC?
-
-7. **Apply domain checks** based on step 5:
-
-   **Estimation:**
-   - Singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
-   - Aliasing from downsampling sensor data without filtering
-   - Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
-   - CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
-   - Frame/coordinate system correctness (FRD vs NED, body vs earth)
-
-   **Control:**
-   - Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
-   - Circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
-   - NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
-   - Setpoint generation vs output-stage hacks: prefer proper setpoint smoothing over controller output filtering
-   - Yaw control edge cases: heading lock, drift, setpoint propagation
-   - Flight task inheritance chain: correct base class for the desired behavior
-   - Control allocation: actuator function ordering, motor index mapping
-
-   **Drivers/CAN:**
-   - CAN bus devices behave differently from serial/SPI; check driver assumptions
-   - ESC index mapping: telemetry index != channel when motors are disabled
-   - ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
-   - device_id correctness and I2CSPIDriver patterns
-   - Time representation: prefer `hrt_abstime` over iteration counts
-
-   **Simulation:**
-   - Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
-   - Keep gz_bridge generic; vehicle-specific logic belongs in plugins
-   - Prefer gz-transport over ROS2 dependencies when possible
-   - Wrench commands for physics correctness vs kinematic constraints
-   - Library generic/specific boundary: only base classes in common libs
-
-   **System:**
-   - Race conditions and concurrency: no partial fixes, demand complete solutions
-   - Semaphore/scheduling edge cases; understand RTOS guarantees
-   - State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
-   - uORB-driven scheduling (`SubscriptionCallback`), not extra threads
-   - param_set triggers auto-save; no redundant param_save_default
-   - Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
-   - Constructor initialization order matters
-
-   **CI/Build:**
-   - Pipeline race conditions (tag + branch push double-trigger, git describe correctness)
-   - Container image size (check layer bloat)
-   - Ubuntu LTS support policy (latest + one prior only)
-   - Build time impact
-   - CMake preferred over Makefiles
-
-   **Messages/Protocol:**
-   - Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
-   - uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
-   - Don't version messages unless strictly needed
-   - Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
-   - MAVLink: use library constants, don't implement custom stream rates
-
-   **Board Addition:**
-   - **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
-   - **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
-   - **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
-   - **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
-   - **Unique board_id**: registered in `boards/boards.json`, no collisions
-   - **Copied code cleanup**: check for leftover files, configs, or comments from the template board; "Is this real or leftover?"
-   - **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
-   - **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
-   - **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
-   - **CI integration**: board must be added to CI compile workflows so it builds on every PR
-   - **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
-   - **Port labels**: serial port labels must match what is physically printed on the board
-   - **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
-
-8. **Format output** as:
-   - **CI status**: pass/fail summary, link to failed runs if any
-   - **Merge strategy**: recommend squash or rebase merge with reasoning
-   - **Title check**: pass/fail with suggestion
-   - **Review status**: list assigned reviewers and any existing reviews (who approved, who requested changes, key points already raised). Note if your review would duplicate feedback already given.
-   - **Domains detected**: list which domain checks were applied
-   - **Summary**: one paragraph on what the PR does and whether the approach is sound
-   - **Issues**: numbered list, each with file:line, severity (blocker/warning/nit), and explanation. Skip issues already raised by other reviewers unless you have something to add.
-   - **Verdict**: approve, request changes, or needs discussion
-
-   After the structured output, also display a **draft PR comment** formatted using the PR comment formatting rules from step 9. This gives the user a preview of what would be posted.
-
-9. **Interactive dialog.** After displaying the review, present the user with these options:
-
-   Present options based on the verdict:
-
-   If verdict is **approve**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Approve this PR and post the review comment
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   If verdict is **request changes**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Request changes on this PR and post the review comment
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   If verdict is **needs discussion**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Post the review as a comment (no approval or rejection)
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   Wait for the user to choose before proceeding. If they pick:
-   - **1 (chat)**: enter a free-form conversation about the PR. The user can ask about specific files, code paths, or decisions. When done, loop back to the options. This is the default if the user just presses enter.
-   - **2 (submit)**: use the draft PR comment already shown. Before posting, check if you have review permissions: run `gh api repos/OWNER/REPO/collaborators/$(gh api user --jq .login)/permission --jq .permission` -- if `admin` or `write`, submit as a formal review with `gh pr review <PR> --approve --body "..."` or `gh pr review <PR> --request-changes --body "..."` based on the verdict. If no write access, fall back to `gh pr comment <PR> --body "..."`. Always confirm with the user before posting.
-   - **3 (adjust)**: ask what to change, update the review and draft, then loop back to the options.
-   - **4 (done)**: stop.
-
-   **PR comment formatting rules** (for the draft):
-   When writing the GitHub comment, rewrite the review to sound like a human reviewer, not a structured report. Do NOT include the full skill output. Instead:
-   - Drop most meta-sections (CI status, title check, domains detected, severity labels) but keep the merge strategy recommendation (e.g., "I'd suggest a rebase merge here since the commits are clean and atomic" or "This should be squash-merged, the commit history is messy")
-   - Write conversationally: "Nice work on this. A few things I noticed:" not "Issues: 1. file:line (warning):"
-   - Lead with a brief take on the overall change (1-2 sentences)
-   - List only actionable feedback as natural review comments, not numbered checklists
-   - Skip nits unless they are particularly useful
-   - End with a clear stance: looks good to merge, needs a few changes, or let's discuss X
-   - Post with `gh pr comment <PR> --body "$(cat <<'EOF' ... EOF)"`. Do not post without explicit confirmation.
-
-If the user provided arguments, use them as context: $ARGUMENTS

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
+	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 
@@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -30,8 +29,7 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript",
-		"ms-vscode.makefile-tools"
+		"zixuanwang.linkerscript"
 	],
 
 	"containerUser": "user",

.dockerignore

@@ -1 +0,0 @@
-build/

.editorconfig

@@ -1,22 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml, *.yml]
-indent_style = space
-indent_size = 2
-
-[*.sh]
-indent_style = tab
-indent_size = 2
-insert_final_newline = true
-trim_trailing_whitespace = true
-# Not in the official standard, but supported by many editors
-max_line_length = 80

.gitattributes

@@ -19,8 +19,9 @@
 *.jar    binary
 *.xml    text eol=lf
 
-# PX4 msgs, etc
+# PX4 mixers, msgs, etc
 *.bin    binary
+*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf
@@ -72,7 +73,6 @@ Makefile.* text eol=lf
 *.tar    binary
 *.tgz    binary
 *.zip    binary
-*.hex    binary
 
 # everything else
 .gitattributes text eol=lf

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+
+---
+
+**Describe the bug**
+A clear and concise description of the bug.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Log Files and Screenshots**
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
+
+Add screenshots to help explain your problem.
+
+**Drone (please complete the following information):**
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -0,0 +1,19 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
+
+**Describe problem solved by the proposed feature**
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+**Describe your preferred solution**
+A clear and concise description of what you want to happen.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots for the feature request here.

.github/ISSUE_TEMPLATE/3_Support_question.md

@@ -0,0 +1,10 @@
+---
+name: ⛔ Support Question
+about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
+
+---
+
+We use GitHub issues only to discuss PX4 bugs and new features. For
+questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
+
+Thanks!

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

@@ -0,0 +1,9 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/Devguide for documentation issues
+
+---
+
+PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
+
+Thanks!

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,47 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        **Tips for a great bug report:**
-        - Describe what went wrong and what you expected
-        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
-        - Mention your PX4 version, flight controller, and vehicle type if relevant
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear description of the bug and what you expected to happen.
-      placeholder: |
-        What happened and what did you expect instead?
-
-        Steps to reproduce (if applicable):
-        1.
-        2.
-        3.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Flight Log / Additional Information
-      description: |
-        **Flight log** (highly recommended for flight-related issues):
-        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
-
-        **Additional details** (if relevant):
-        - PX4 version (output of `ver all` in MAVLink Shell)
-        - Flight controller model
-        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
-        - Screenshots or media
-      placeholder: |
-        Flight log link:
-
-        Version:
-
-        Hardware:
-    validations:
-      required: false

.github/ISSUE_TEMPLATE/config.yml

@@ -1,5 +0,0 @@
-blank_issues_enabled: true
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server

.github/ISSUE_TEMPLATE/docs_bug_report.yml

@@ -1,33 +0,0 @@
-name: 📑 Documentation Bug report
-description: Create a report to help us improve the docs
-title: "[Docs] [Bug] "
-labels: ["Documentation 📑"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-      placeholder: |
-          # A PR to fix the bug is often better than adding this issue!
-          #
-          # If you can't create a PR please provide the following:
-          # - What page and/or section has the problem
-          # - What is the problem - missing information, incorrect information?
-          # - Suggested fixes, links to corresponding code PRs
-          # - Any additional context
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Page URL
-      description: The URL of the problem page.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-    validations:
-      required: false

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,23 +0,0 @@
-<!--
-
-### Solved Problem
-Fixes #{Github issue ID}
-
-### Solution
-
-### Changelog Entry
-For release notes:
-```
-Feature/Bugfix XYZ
-New parameter: XYZ_Z
-Documentation: Need to clarify page ... / done, read docs.px4.io/...
-```
-
-### Alternatives
-
-### Test coverage
-
-### Context
-Related links, screenshot before/after, video
-
--->

.github/actions/build-deb/action.yml

@@ -1,115 +0,0 @@
-name: Build PX4 .deb Package
-description: Build PX4 SITL, run cpack, validate the .deb, and upload artifact
-
-inputs:
-  target:
-    description: 'Build target: default or sih'
-    required: true
-  artifact-name:
-    description: Name for the uploaded artifact
-    required: true
-  ccache-key-prefix:
-    description: Prefix for ccache cache keys
-    default: deb-ccache
-  ccache-max-size:
-    description: Maximum ccache size
-    default: 400M
-
-runs:
-  using: composite
-  steps:
-    - name: Restore ccache
-      id: ccache-restore
-      uses: actions/cache/restore@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-        restore-keys: |
-          ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-
-          ${{ inputs.ccache-key-prefix }}-${{ github.base_ref || 'main' }}-
-          ${{ inputs.ccache-key-prefix }}-
-
-    - name: Configure ccache
-      shell: bash
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = ${{ inputs.ccache-max-size }}" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Build PX4 SITL
-      shell: bash
-      run: make px4_sitl_${{ inputs.target }}
-
-    - name: ccache stats
-      if: always()
-      shell: bash
-      run: ccache -s
-
-    - name: Save ccache
-      uses: actions/cache/save@v4
-      if: always()
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-
-    - name: Build .deb package
-      shell: bash
-      run: |
-        cd build/px4_sitl_${{ inputs.target }}
-        cpack -G DEB
-
-    - name: Print package info and contents
-      shell: bash
-      run: |
-        cd build/px4_sitl_${{ inputs.target }}
-        echo "--- Package info ---"
-        dpkg-deb -I *.deb
-        echo "--- Package contents ---"
-        dpkg-deb -c *.deb
-
-    - name: Validate sih package
-      if: inputs.target == 'sih'
-      shell: bash
-      run: |
-        cd build/px4_sitl_sih
-        echo "--- Verify NO Gazebo resources ---"
-        ! dpkg-deb -c px4_*.deb | grep share/gz > /dev/null && echo "PASS: no Gazebo" || { echo "FAIL: Gazebo found"; exit 1; }
-        echo "--- Install test ---"
-        dpkg -i px4_*.deb
-        test -x /opt/px4/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
-        test -L /usr/bin/px4 || { echo "FAIL: symlink not created"; exit 1; }
-        test ! -d /opt/px4/share/gz || { echo "FAIL: Gazebo dir should not exist"; exit 1; }
-        echo "--- Smoke test ---"
-        /opt/px4/bin/px4 -h
-        echo "PASS: sih package validation successful"
-
-    - name: Validate gazebo package
-      if: inputs.target == 'default'
-      shell: bash
-      run: |
-        cd build/px4_sitl_default
-        echo "--- Verify Gazebo resources in package ---"
-        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/models > /dev/null || { echo "FAIL: models missing"; exit 1; }
-        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/worlds > /dev/null || { echo "FAIL: worlds missing"; exit 1; }
-        echo "--- Install test ---"
-        dpkg -i px4-gazebo_*.deb
-        test -x /opt/px4-gazebo/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
-        test -x /opt/px4-gazebo/bin/px4-gazebo || { echo "FAIL: wrapper not found"; exit 1; }
-        test -L /usr/bin/px4-gazebo || { echo "FAIL: symlink not created"; exit 1; }
-        test -d /opt/px4-gazebo/share/gz/models || { echo "FAIL: Gazebo models not installed"; exit 1; }
-        echo "--- Smoke test ---"
-        /opt/px4-gazebo/bin/px4 -h
-        echo "PASS: gazebo package validation successful"
-
-    - name: Upload .deb artifacts
-      uses: actions/upload-artifact@v4
-      with:
-        name: ${{ inputs.artifact-name }}
-        path: build/px4_sitl_${{ inputs.target }}/*.deb
-        if-no-files-found: error

.github/actions/build-gazebo-sitl/action.yml

@@ -1,21 +0,0 @@
-name: Build Gazebo Classic SITL
-description: Build PX4 firmware and Gazebo Classic plugins with ccache stats
-
-runs:
-  using: composite
-  steps:
-    - name: Build - PX4 Firmware (SITL)
-      shell: bash
-      run: make px4_sitl_default
-
-    - name: Cache - Stats after PX4 Firmware
-      shell: bash
-      run: ccache -s
-
-    - name: Build - Gazebo Classic Plugins
-      shell: bash
-      run: make px4_sitl_default sitl_gazebo-classic
-
-    - name: Cache - Stats after Gazebo Plugins
-      shell: bash
-      run: ccache -s

.github/actions/save-ccache/action.yml

@@ -1,22 +0,0 @@
-name: Save ccache
-description: Print ccache stats and save to cache
-
-inputs:
-  cache-primary-key:
-    description: Primary cache key from setup-ccache output
-    required: true
-
-runs:
-  using: composite
-  steps:
-    - name: Cache - Stats
-      if: always()
-      shell: bash
-      run: ccache -s
-
-    - name: Cache - Save ccache
-      if: always()
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.cache-primary-key }}

.github/actions/setup-ccache/action.yml

@@ -1,56 +0,0 @@
-name: Setup ccache
-description: Restore ccache from cache and configure ccache.conf
-
-inputs:
-  cache-key-prefix:
-    description: Cache key prefix (e.g. ccache-sitl)
-    required: true
-  max-size:
-    description: Max ccache size (e.g. 300M)
-    required: false
-    default: '300M'
-  base-dir:
-    description: ccache base_dir value
-    required: false
-    default: '${GITHUB_WORKSPACE}'
-  install-ccache:
-    description: Install ccache via apt before configuring
-    required: false
-    default: 'false'
-
-outputs:
-  cache-primary-key:
-    description: Primary cache key (pass to save-ccache)
-    value: ${{ steps.restore.outputs.cache-primary-key }}
-
-runs:
-  using: composite
-  steps:
-    - name: Cache - Install ccache
-      if: inputs.install-ccache == 'true'
-      shell: bash
-      run: apt-get update && apt-get install -y ccache
-
-    - name: Cache - Restore ccache
-      id: restore
-      uses: actions/cache/restore@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-        restore-keys: |
-          ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-
-          ${{ inputs.cache-key-prefix }}-${{ github.base_ref || 'main' }}-
-          ${{ inputs.cache-key-prefix }}-
-
-    - name: Cache - Configure ccache
-      shell: bash
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${{ inputs.base-dir }}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = ${{ inputs.max-size }}" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z

.github/fuzzing_issue_template.md

@@ -1,6 +0,0 @@
----
-title: '[CI] Fuzzing Workflow Failed'
-labels: ['Fuzzing']
----
-The automated fuzzing workflow has failed.
-See {{ env.WORKFLOW_RUN_URL }} for details.

.github/instructions/board-addition.instructions.md

@@ -1,21 +0,0 @@
----
-applyTo: "boards/**"
----
-
-# Board Addition Review Guidelines
-
-In addition to the core code review guidelines, when reviewing new board additions:
-
-- **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
-- **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
-- **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
-- **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
-- **Unique board_id**: registered in `boards/boards.json`, no collisions
-- **Copied code cleanup**: check for leftover files, configs, or comments from the template board. Ask "Is this real or leftover?"
-- **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
-- **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
-- **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
-- **CI integration**: board must be added to CI compile workflows so it builds on every PR
-- **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
-- **Port labels**: serial port labels must match what is physically printed on the board
-- **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)

.github/instructions/ci-build.instructions.md

@@ -1,13 +0,0 @@
----
-applyTo: ".github/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,**/Kconfig"
----
-
-# CI/Build Review Guidelines
-
-In addition to the core code review guidelines:
-
-- Check for pipeline race conditions (tag + branch push double-trigger, git describe correctness)
-- Container image size: check for layer bloat
-- Ubuntu LTS support policy: only latest + one prior LTS version
-- Consider build time impact of changes
-- Prefer CMake over Makefiles

.github/instructions/code-review.instructions.md

@@ -1,32 +0,0 @@
----
-applyTo: "src/**,boards/**,platforms/**,msg/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,.github/**"
----
-
-# PX4 Code Review Guidelines
-
-## Conventions
-
-- PR titles must follow conventional commits: `type(scope): description` (see CONTRIBUTING.md)
-- Types: `feat`, `fix`, `docs`, `style`, `refactor`, `perf`, `test`, `build`, `ci`, `chore`, `revert`
-- Scope should match the primary area of changed files
-- Append `!` before the colon for breaking changes
-- Both squash merge and rebase merge are enabled; merge commits are disabled
-- Commits should be atomic and independently revertable
-- WIP or review-response commits should be squashed before merge
-
-## Core Checks (always apply)
-
-- **Correctness**: logic errors, off-by-ones, unhandled edge cases
-- **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
-- **Initialization**: uninitialized variables, missing default construction
-- **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
-- **Magic numbers**: every numeric literal needs a named constant or justification
-- **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
-- **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
-- **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
-- **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical
-- **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean
-- **Coding style**: C/C++ must follow the PX4 coding style (https://docs.px4.io/main/en/contribute/code.html)
-- **Necessity**: challenge every addition. Is this actually needed or just copied?
-- **Architecture fit**: does the code live in the module that naturally owns the data? No unnecessary cross-module dependencies
-- **Ecosystem impact**: consider QGC users, log analysis tools, and third-party integrations

.github/instructions/control.instructions.md

@@ -1,15 +0,0 @@
----
-applyTo: "src/modules/mc_*control*/**,src/modules/fw_*control*/**,src/modules/flight_mode_manager/**,src/lib/rate_control/**,src/lib/npfg/**,src/modules/vtol_att_control/**"
----
-
-# Control Review Guidelines
-
-In addition to the core code review guidelines:
-
-- Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
-- Check for circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
-- NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
-- Prefer proper setpoint smoothing over controller output filtering (setpoint generation vs output-stage hacks)
-- Check yaw control edge cases: heading lock, drift, setpoint propagation
-- Verify flight task inheritance chain uses the correct base class for desired behavior
-- Control allocation: verify actuator function ordering and motor index mapping

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

@@ -1,50 +0,0 @@
----
-applyTo: "docs/en/**"
----
-
-# Review Guidelines docs/en Tree
-
-## File System & Structure
-
-- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
-- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
-  - Valid: `docs/en/category/file.md`
-  - Invalid: `docs/en/category/subcategory/file.md`
-- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
-- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
-- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
-
-## Markdown & Style
-
-- **Headings:** Use Title Case ("First Letter Capitalisation"). 
-  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
-  - Do not apply bold or italic styling inside a heading.
-- **Formatting:** 
-  - **Bold:** Only for UI elements (buttons, menu items).
-  - **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
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
-  Note relative link. 
-- **Table Links:** To keep tables readable, use reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
-- **Table Links:** To keep tables easier to edit, prefer reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
-
-## Quality Control
-
-- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
-- **Language:** Enforce **UK English** spelling and grammar.

.github/instructions/drivers.instructions.md

@@ -1,13 +0,0 @@
----
-applyTo: "src/drivers/**,src/modules/cyphal/**"
----
-
-# Drivers/CAN Review Guidelines
-
-In addition to the core code review guidelines:
-
-- CAN bus devices behave differently from serial/SPI; check driver assumptions
-- ESC index mapping: telemetry index != channel when motors are disabled
-- ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
-- Verify device_id correctness and I2CSPIDriver patterns
-- Time representation: prefer `hrt_abstime` over iteration counts

.github/instructions/estimation.instructions.md

@@ -1,13 +0,0 @@
----
-applyTo: "src/modules/ekf2/**,src/lib/wind_estimator/**,src/lib/world_magnetic_model/**"
----
-
-# Estimation Review Guidelines
-
-In addition to the core code review guidelines:
-
-- Check for singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
-- Flag aliasing from downsampling sensor data without proper filtering
-- Verify Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
-- Consider CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
-- Verify frame/coordinate system correctness (FRD vs NED, body vs earth frame)

.github/instructions/messages.instructions.md

@@ -1,13 +0,0 @@
----
-applyTo: "msg/**,src/modules/mavlink/**,src/modules/uxrce_dds_client/**"
----
-
-# Messages/Protocol Review Guidelines
-
-In addition to the core code review guidelines:
-
-- Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
-- uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
-- Don't version messages unless strictly needed
-- Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
-- MAVLink: use library constants, don't implement custom stream rates

.github/instructions/simulation.instructions.md

@@ -1,13 +0,0 @@
----
-applyTo: "src/modules/simulation/**,Tools/simulation/**"
----
-
-# Simulation Review Guidelines
-
-In addition to the core code review guidelines:
-
-- Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
-- Keep gz_bridge generic; vehicle-specific logic belongs in plugins
-- Prefer gz-transport over ROS2 dependencies when possible
-- Use wrench commands for physics correctness vs kinematic constraints
-- Library generic/specific boundary: only base classes in common libs

.github/instructions/system.instructions.md

@@ -1,15 +0,0 @@
----
-applyTo: "src/modules/commander/**,src/modules/logger/**,src/systemcmds/**,platforms/**,src/modules/dataman/**"
----
-
-# System Review Guidelines
-
-In addition to the core code review guidelines:
-
-- Race conditions and concurrency: no partial fixes, demand complete solutions
-- Semaphore/scheduling edge cases; understand RTOS guarantees
-- State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
-- Use uORB-driven scheduling (`SubscriptionCallback`), not extra threads
-- `param_set` triggers auto-save; no redundant `param_save_default`
-- Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
-- Constructor initialization order matters

.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/runs-on.yml

@@ -1,24 +0,0 @@
-runners:
-  x86-small-runner:
-    cpu: [1, 2]
-    ram: [1, 4]
-    disk: default
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  x86-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7i", "m7i", "r7i"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  arm64-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7g", "m7g", "r7g"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-arm64
-    extras: s3-cache

.github/stale.yml

@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false

.github/workflows/build_all_targets.yml

@@ -1,272 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-#
-# ===================================================================================
-# RELEASE UPLOAD LOGIC
-# ===================================================================================
-# This workflow handles building firmware and uploading to S3 + GitHub Releases.
-#
-# S3 Bucket Structure (s3://px4-travis/Firmware/):
-#   - master/          <- Latest main branch build (for QGC compatibility)
-#   - stable/          <- Latest stable release, controlled by 'stable' branch
-#   - beta/            <- Latest pre-release, controlled by 'beta' branch
-#   - vX.Y.Z/          <- Archived stable release
-#   - vX.Y.Z-beta1/    <- Archived pre-release
-#
-# Trigger Behavior:
-#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
-#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
-#   - Branch main        -> Upload to: master/ (for QGC compatibility)
-#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
-#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
-#   - Branch release/**  -> Build only, no S3 upload (CI validation)
-#   - Pull requests      -> Build only, no S3 upload (CI validation)
-#
-# GitHub Releases:
-#   - All version tags create a draft GitHub Release
-#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
-#
-# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
-# corresponding branch pushes control those directories. This prevents
-# pre-release tags from accidentally overwriting stable firmware (#26340)
-# and avoids race conditions between tag and branch builds.
-# ===================================================================================
-
-name: Build all targets
-
-on:
-  push:
-    tags:
-      - 'v*'
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-permissions:
-  contents: write
-  actions: read
-  packages: read
-
-jobs:
-  group_targets:
-    name: Scan for Board Targets
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Cache Python pip
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-
-      - name: Update python packaging to avoid canonicalize_version() error
-        run: |
-            pip3 install -U packaging
-
-      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
-
-      - id: set-matrix
-        name: Generate Build Matrix
-        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
-
-      - id: set-timestamp
-        name: Save Current Timestamp
-        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
-
-      - id: set-branch
-        name: Save Current Branch Name
-        run: |
-          echo "branchname=${{
-            github.event_name == 'pull_request' &&
-            format('pr-{0}', github.event.pull_request.number) ||
-            github.head_ref ||
-            github.ref_name
-          }}" >> $GITHUB_OUTPUT
-
-      - name: Debug Matrix Output
-        if: runner.debug == '1'
-        run: |
-          echo "${{ steps.set-timestamp.outputs.timestamp }}"
-          echo "${{ steps.set-branch.outputs.branchname }}"
-          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
-
-  setup:
-    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
-    needs: group_targets
-    strategy:
-      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-      fail-fast: false
-    container:
-      image: ${{ matrix.container }}
-      credentials:
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
-          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
-
-      - name: Cache Config and Stats
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Building Artifacts for [${{ matrix.targets }}]
-        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
-
-      - name: Arrange Build Artifacts
-        run: |
-          ./Tools/ci/package_build_artifacts.sh
-
-      - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_${{matrix.group}}_build_artifacts
-          path: artifacts/
-
-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
-      - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
-
-  # ===========================================================================
-  # ARTIFACT UPLOAD JOB
-  # ===========================================================================
-  # Uploads build artifacts to S3 and creates GitHub Releases.
-  # Runs for version tags (v*), main, stable, and beta branch pushes.
-  # See header comments for full upload logic documentation.
-  # ===========================================================================
-  artifacts:
-    name: Upload Artifacts
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
-    outputs:
-      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Choose Upload Location
-        id: upload-location
-        run: |
-          set -euo pipefail
-
-          ref="${GITHUB_REF}"
-          branch=${{ needs.group_targets.outputs.branchname  }}
-          location="$branch"
-          is_prerelease="false"
-
-          # Main branch uploads to "master" for QGC backward compatibility
-          if [[ "$branch" == "main" ]]; then
-            location="master"
-          fi
-
-          # Version tags: upload to versioned directory (e.g., v1.16.1/)
-          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
-            tag="${ref#refs/tags/}"
-            location="$tag"
-
-            # Pre-release tags contain -alpha, -beta, or -rc suffix
-            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
-              is_prerelease="true"
-            fi
-          fi
-
-          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
-
-      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
-        uses: jakejarvis/s3-sync-action@master
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
-
-      # Create a draft GitHub Release for all version tags
-      # Pre-releases are automatically marked as such
-      - name: Upload Artifacts to GitHub Release
-        uses: softprops/action-gh-release@v2
-        if: startsWith(github.ref, 'refs/tags/v')
-        with:
-          draft: true
-          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: |
-            artifacts/*.px4
-            artifacts/*.deb
-            artifacts/**/*.sbom.spdx.json
-          name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/build_deb_package.yml

@@ -1,220 +0,0 @@
-name: SITL Packages and Containers
-
-on:
-  push:
-    tags: ['v*']
-  pull_request:
-    paths:
-      - 'cmake/package.cmake'
-      - 'platforms/posix/CMakeLists.txt'
-      - 'Tools/packaging/**'
-      - 'boards/px4/sitl/sih.px4board'
-      - '.github/workflows/build_deb_package.yml'
-      - '.github/actions/build-deb/**'
-  workflow_dispatch:
-    inputs:
-      deploy_containers:
-        description: 'Push container images to registry'
-        required: false
-        type: boolean
-        default: false
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-permissions:
-  contents: read
-  packages: write
-
-jobs:
-
-  # ---------------------------------------------------------------------------
-  # Setup: extract version and determine whether to push containers
-  # ---------------------------------------------------------------------------
-  setup:
-    name: Setup
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    outputs:
-      px4_version: ${{ steps.version.outputs.px4_version }}
-      should_push: ${{ steps.push.outputs.should_push }}
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Set PX4 version
-        id: version
-        run: echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-
-      - name: Check if we should push containers
-        id: push
-        run: |
-          if [[ "${{ startsWith(github.ref, 'refs/tags/') }}" == "true" ]] || \
-             [[ "${{ github.event_name }}" == "workflow_dispatch" && "${{ github.event.inputs.deploy_containers }}" == "true" ]]; then
-            echo "should_push=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_push=false" >> $GITHUB_OUTPUT
-          fi
-
-  # ---------------------------------------------------------------------------
-  # Build .deb packages (all distros, arches, targets)
-  # ---------------------------------------------------------------------------
-  build-deb:
-    name: "Build .deb (${{ matrix.target }}/${{ matrix.codename }}/${{ matrix.arch }})"
-    needs: setup
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    container:
-      image: ${{ matrix.container }}
-      volumes:
-        - /github/workspace:/github/workspace
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: default, setup_flags: "" }
-          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: default, setup_flags: "" }
-          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: default, setup_flags: "" }
-          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: default, setup_flags: "" }
-          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
-    env:
-      RUNS_IN_DOCKER: true
-    steps:
-      - uses: runs-on/action@v2
-
-      - name: Fix git in container
-        run: |
-          apt-get update && apt-get install -y git
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          fetch-tags: true
-
-      - name: Use AWS regional apt mirror
-        if: startsWith(runner.name, 'runs-on--')
-        run: ./Tools/ci/use_aws_apt_mirror.sh
-
-      - name: Cache apt packages
-        uses: actions/cache@v4
-        with:
-          path: /var/cache/apt/archives
-          key: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
-          restore-keys: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-
-
-      - name: Install dependencies
-        run: ./Tools/setup/ubuntu.sh --no-nuttx ${{ matrix.setup_flags }}
-
-      - name: Build and package .deb
-        uses: ./.github/actions/build-deb
-        with:
-          target: ${{ matrix.target }}
-          artifact-name: px4-sitl-debs-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
-          ccache-key-prefix: deb-ccache-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
-
-  # ---------------------------------------------------------------------------
-  # Build Docker images from Noble .debs
-  # ---------------------------------------------------------------------------
-  build-docker:
-    name: "Build Image (${{ matrix.image }}/${{ matrix.arch }})"
-    needs: [setup, build-deb]
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { image: sih,    repo: px4-sitl,        target: sih,     arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.sih }
-          - { image: sih,    repo: px4-sitl,        target: sih,     arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.sih }
-          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.gazebo }
-          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
-        with:
-          submodules: false
-          fetch-depth: 1
-
-      - name: Download Noble .deb artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4-sitl-debs-${{ matrix.target }}-noble-${{ matrix.arch }}
-          path: docker-context
-
-      - name: Prepare build context
-        run: cp Tools/packaging/px4-entrypoint.sh docker-context/
-
-      - name: Login to registries
-        if: needs.setup.outputs.should_push == 'true'
-        run: |
-          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
-          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}
-
-      - name: Build and push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: docker-context
-          file: Tools/packaging/${{ matrix.dockerfile }}
-          tags: |
-            px4io/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/${{ matrix.repo }}:latest-${{ matrix.arch }}
-            ghcr.io/px4/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            ghcr.io/px4/${{ matrix.repo }}:latest-${{ matrix.arch }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ needs.setup.outputs.should_push == 'true' }}
-          provenance: false
-          cache-from: type=gha,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
-
-  # ---------------------------------------------------------------------------
-  # Deploy: create multi-arch manifests and push to registries
-  # ---------------------------------------------------------------------------
-  deploy:
-    name: "Deploy (${{ matrix.image }})"
-    needs: [setup, build-docker]
-    if: needs.setup.outputs.should_push == 'true'
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    strategy:
-      matrix:
-        include:
-          - { image: sih,    repo: px4-sitl }
-          - { image: gazebo, repo: px4-sitl-gazebo }
-    steps:
-      - uses: runs-on/action@v2
-
-      - name: Login to registries
-        run: |
-          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
-          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
-
-      - name: Create and push multi-arch manifests
-        run: |
-          VERSION="${{ needs.setup.outputs.px4_version }}"
-
-          for REGISTRY in px4io ghcr.io/px4; do
-            IMAGE="${REGISTRY}/${{ matrix.repo }}"
-
-            for TAG in ${VERSION} latest; do
-              docker manifest create ${IMAGE}:${TAG} \
-                --amend ${IMAGE}:${TAG}-arm64 \
-                --amend ${IMAGE}:${TAG}-amd64
-
-              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-arm64 --arch arm64
-              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-amd64 --arch amd64
-
-              docker manifest push ${IMAGE}:${TAG}
-            done
-          done

.github/workflows/checks.yml

@@ -3,60 +3,56 @@ name: Checks
 on:
   push:
     branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
+    - 'master'
   pull_request:
     branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     strategy:
       fail-fast: false
       matrix:
         check: [
           "check_format",
-          "check_newlines",
           "tests",
-          "tests_coverage",
           "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
+          "airframe_metadata",
           "module_documentation",
+          "parameters_metadata",
         ]
-
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-      - name: Building [${{ matrix.check }}]
-        env:
-          PX4_SBOM_DISABLE: 1
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: tests_${{matrix.ubuntu_release}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
 
-      - name: Uploading Coverage to Codecov.io
-        if: contains(matrix.check, 'coverage')
-        uses: codecov/codecov-action@v1
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: unittests
-          file: coverage/lcov.info
+    - name: ${{matrix.check}}
+      run: make ${{matrix.check}}

.github/workflows/clang-tidy.yml

@@ -1,69 +1,46 @@
-name: Static Analysis
+name: Clang Tidy
 
 on:
   push:
     branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
+    - 'master'
   pull_request:
     branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-permissions:
-  contents: read
+    - '*'
 
 jobs:
-  clang_tidy:
-    name: Clang-Tidy
-    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-clang:2020-08-14
     steps:
-    - uses: runs-on/action@v2
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
       with:
-        fetch-depth: 0
-        fetch-tags: true
+        token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: Configure Git Safe Directory
-      run: git config --system --add safe.directory '*'
-
-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
-      with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
-
-    - name: Configure Compiler Cache
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
       run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
-
-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
-
-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
       with:
         path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: clang-tidy-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make clang-tidy-quiet
+      run: |
+        ccache -z
+        make clang-tidy-quiet
+        ccache -s

.github/workflows/commit_checks.yml

@@ -1,148 +0,0 @@
-name: Commit Quality
-
-on:
-  pull_request:
-    types: [opened, edited, synchronize, reopened]
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  PR_NUMBER: ${{ github.event.pull_request.number }}
-  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
-
-jobs:
-  pr-title:
-    name: PR Title
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR title
-        id: check
-        run: |
-          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
-          exit 1
-
-  commit-messages:
-    name: Commit Messages
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check commit messages
-        id: check
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          gh api \
-            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
-            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-          # Check for warnings (non-empty markdown on exit 0)
-          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
-            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
-          else
-            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
-          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::Commit message errors found. See the PR comment for details."
-          exit 1
-
-  pr-body:
-    name: PR Description
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        if: env.IS_FORK == 'false'
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR body
-        id: check
-        env:
-          PR_BODY: ${{ github.event.pull_request.body }}
-        run: |
-          message=""
-          if [ -z "$PR_BODY" ]; then
-            message="PR description is empty. Please add a summary of the changes."
-            echo "::warning::PR description is empty."
-          else
-            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
-            if [ -z "$cleaned" ]; then
-              message="PR description contains only template comments. Please fill in the details."
-              echo "::warning::PR description contains only template comments."
-            fi
-          fi
-          echo "message=$message" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ -n "${{ steps.check.outputs.message }}" ]; then
-            printf '%s\n' \
-              "## PR Description (advisory)" \
-              "" \
-              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
-              "" \
-              "${{ steps.check.outputs.message }}" \
-              "" \
-              "A good PR description helps reviewers understand what changed and why." \
-              "" \
-              "---" \
-              "*This comment will be automatically removed once the issue is resolved.*" \
-            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
-          fi

.github/workflows/compile_linux.yml

@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2020-08-14
+    strategy:
+      matrix:
+        config: [
+          aerotenna_ocpoc_default,
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_macos.yml

@@ -3,48 +3,37 @@ name: MacOS build
 on:
   push:
     branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
+    - 'master'
   pull_request:
     branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'
 
 jobs:
   build:
-    runs-on: macos-latest
+    runs-on: macos-10.15
     strategy:
       matrix:
         config: [
           px4_fmu-v5_default,
-          px4_sitl
+          px4_sitl_default,
+          #tests, # includes px4_sitl
           ]
     steps:
-    - name: install Python 3.10
-      uses: actions/setup-python@v5
+    - uses: actions/checkout@v1
       with:
-        python-version: "3.10"
-
-    - uses: actions/checkout@v4
+        token: ${{secrets.ACCESS_TOKEN}}
 
     - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
       shell: cmake -P {0}
       run: |
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+        message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
-      uses: actions/cache@v4
+      uses: actions/cache@v2
       with:
         path: ~/.ccache
         key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -55,8 +44,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx.yml

@@ -0,0 +1,117 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    strategy:
+      matrix:
+        config: [
+          airmind_mindpx-v2_default,
+          av_x-v1_default,
+          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
+          cuav_x7pro_default,
+          cubepilot_cubeorange_console,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeyellow_console,
+          cubepilot_cubeyellow_default,
+          holybro_durandal-v1_default,
+          holybro_kakutef7_default,
+          holybro_pix32v5_default,
+          intel_aerofc-v1_default,
+          modalai_fc-v1_default,
+          mro_ctrl-zero-f7_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-e_default,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4_optimized,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
+          px4_fmu-v6x_default,
+          px4_io-v2_default,
+          spracing_h7extreme_default,
+          uvify_core_default
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v1
+      with:
+        name: px4_package_${{matrix.config}}
+        path: build/${{matrix.config}}/${{matrix.config}}.px4

.github/workflows/compile_ubuntu.yml

@@ -1,61 +0,0 @@
-name: Ubuntu environment build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-env:
-  RUNS_IN_DOCKER: true
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build_and_test:
-    name: Build and Test
-    strategy:
-      fail-fast: false
-      matrix:
-        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: ${{ matrix.version }}
-      volumes:
-        - /github/workspace:/github/workspace
-    steps:
-
-      - name: Fix git in container
-        run: |
-          # we only need this because we are running the job in a container
-          # when checkout pulls git it does it in a shared volume
-          # and file ownership changes between steps
-          # first we install git since its missing from the base image
-          # then we mark the directory as safe for other instances
-          # of git to use.
-          apt update && apt install git -y
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Use AWS regional apt mirror
-        if: startsWith(runner.name, 'runs-on--')
-        run: ./Tools/ci/use_aws_apt_mirror.sh
-
-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check

.github/workflows/coverage.yml

@@ -0,0 +1,67 @@
+name: Coverage
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    strategy:
+      matrix:
+        config: [
+          tests,
+          #python_coverage,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: coverage_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_CMAKE_BUILD_TYPE: "Coverage"
+      run: make ${{matrix.config}}
+
+    # Report test coverage
+    - name: Upload coverage
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: ${{matrix.config}}
+        file: coverage/lcov.info

.github/workflows/dev_container.yml

@@ -1,203 +0,0 @@
-name: Container build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    tags:
-      - 'v*'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - '.github/workflows/dev_container.yml'
-      - 'Tools/setup/ubuntu.sh'
-      - 'Tools/setup/requirements.txt'
-      - 'Tools/setup/Dockerfile'
-      - 'Tools/setup/docker-entrypoint.sh'
-  workflow_dispatch:
-    inputs:
-      px4_version:
-        description: 'Container tag (e.g. v1.16.0)'
-        required: true
-        type: string
-      build_ref:
-        description: 'Git ref to build from (branch, tag, or SHA). Leave empty to build from the dispatch ref.'
-        required: false
-        type: string
-        default: ''
-      deploy_to_registry:
-        description: 'Whether to push built images to the registry'
-        required: false
-        type: boolean
-        default: false
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-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 }}",extras=s3-cache,spot=false]
-    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@v2
-      - uses: actions/checkout@v5
-        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      # If manual dispatch, take the user‐provided input
-      - name: Set PX4 Tag Version
-        id: px4_version
-        run: |
-          if [[ "${{ 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]*')" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v6
-        with:
-          images: |
-            ghcr.io/PX4/px4-dev
-            px4io/px4-dev
-          tags: |
-            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
-
-  build:
-    name: Build Container (${{ matrix.arch }})
-    permissions:
-      contents: read
-      packages: write
-    needs: setup
-    strategy:
-      matrix:
-        include:
-          - platform: linux/arm64
-            arch: arm64
-            runner: arm64
-          - platform: linux/amd64
-            arch: amd64
-            runner: x64
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
-        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v4
-        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@v4
-        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@v4
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}
-
-      - name: Build and Load Container Image
-        uses: docker/build-push-action@v7
-        id: docker
-        with:
-          context: Tools/setup
-          tags: |
-            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-          labels: ${{ needs.setup.outputs.meta_labels }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-          provenance: false
-          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }},ignore-error=true
-
-  deploy:
-    name: Deploy To Registry
-    permissions:
-      contents: read
-      packages: write
-    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    needs: [build, setup]
-    if: |
-      !cancelled() &&
-      needs.setup.result == 'success' &&
-      (startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
-        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v4
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v4
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Verify Images Exist Before Creating Manifest
-        run: |
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-
-      - name: Create and Push Multi-Arch Manifest for Docker Hub
-        run: |
-          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
-
-      - name: Create and Push Multi-Arch Manifest for GHCR
-        run: |
-          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}

.github/workflows/docs-orchestrator.yml

@@ -1,416 +0,0 @@
-# Docs - Orchestrator
-#
-# Trigger paths:
-#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
-#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
-#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
-#
-# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
-# require safe.directory + fetch-depth: 0 for git operations.
-
-name: Docs - Orchestrator
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/**"
-      - "src/**"
-      - "msg/**"
-      - "ROMFS/**"
-      - "Tools/module_config/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  pull_request:
-    paths:
-      - "docs/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  workflow_dispatch:
-
-concurrency:
-  group: docs-orchestrator-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  # =============================================================================
-  # Detect Changes (PR only)
-  # =============================================================================
-  detect-changes:
-    name: "T1: Detect Changes"
-    if: github.event_name == 'pull_request'
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    outputs:
-      source_changed: ${{ steps.changes.outputs.source }}
-      docs_changed: ${{ steps.changes.outputs.docs }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            source:
-              - 'src/**'
-              - 'msg/**'
-              - 'ROMFS/**'
-              - 'Tools/module_config/**'
-            docs:
-              - 'docs/**'
-
-  # =============================================================================
-  # PR Metadata Regen (conditional - only when PR touches source files)
-  # =============================================================================
-  pr-metadata-regen:
-    name: "T2: PR Metadata"
-    needs: [detect-changes]
-    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-          retention-days: 1
-
-  # =============================================================================
-  # Push Metadata Regen (main/release branches)
-  # =============================================================================
-  metadata-regen:
-    name: "T2: Metadata Sync"
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    permissions:
-      contents: write
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Install Node.js and Yarn
-        run: |
-          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
-          apt-get install -y nodejs
-          corepack enable
-
-      - name: Format markdown with Prettier
-        run: |
-          cd docs
-          yarn install --frozen-lockfile
-          yarn prettier --write "en/**/*.md"
-
-      - name: Commit and push changes
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add docs/
-          if git diff --staged --quiet; then
-            echo "No changes to commit"
-          else
-            git commit -m "docs: auto-sync metadata [skip ci]
-
-            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
-            git push
-          fi
-
-  # =============================================================================
-  # Link Check
-  # =============================================================================
-  link-check:
-    name: "T2: Link Check"
-    needs: [detect-changes, pr-metadata-regen]
-    if: always() && (github.event_name == 'pull_request')
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-
-      - name: Download metadata artifact
-        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - name: Get changed doc files
-        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          write_output_files: true
-          output_dir: ./logs
-          base_sha: ${{ github.event.pull_request.base.sha }}
-          sha: ${{ github.event.pull_request.head.sha }}
-          files: |
-            docs/en/**/*.md
-
-      - name: Save changed files list
-        run: |
-          mv ./logs/all_changed_files.json ./logs/prFiles.json
-          echo "Changed files:"
-          cat ./logs/prFiles.json
-
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-
-      - name: Run filtered link checker (changed files)
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
-            markdown_link_checker_sc \
-              -r "$GITHUB_WORKSPACE" \
-              -d docs \
-              -e en \
-              -f ./logs/prFiles.json \
-              -i assets \
-              -u docs.px4.io/main/ \
-              > ./logs/filtered-link-check-results.md || true
-          fi
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
-          fi
-          cat ./logs/filtered-link-check-results.md
-
-      - name: Run full link checker
-        run: |
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/link-check-results.md || true
-          cat ./logs/link-check-results.md
-
-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
-
-      - name: Upload link check results
-        uses: actions/upload-artifact@v4
-        with:
-          name: link-check-results
-          path: logs/
-          retention-days: 7
-
-  # =============================================================================
-  # Build Site
-  # =============================================================================
-  build-site:
-    name: "T3: Build Site"
-    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
-    if: >-
-      always() &&
-      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
-      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
-      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
-
-      - name: Download metadata artifact (PR)
-        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          elif [[ "$branch" =~ ^release/ ]]; then
-            version="v${branch#release/}"
-          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
-            version="main"
-          else
-            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
-            exit 1
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  # =============================================================================
-  # Deploy to AWS (push + workflow_dispatch)
-  # =============================================================================
-  deploy-aws:
-    name: "T4: Deploy"
-    needs: [metadata-regen, build-site]
-    if: >-
-      always() &&
-      needs.metadata-regen.result == 'success' &&
-      needs.build-site.result == 'success' &&
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
-    permissions:
-      id-token: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_crowdin_download.yml

@@ -1,55 +0,0 @@
-name: Docs - Crowdin - Download Guide Translations
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  schedule:
-    - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
-  workflow_dispatch:
-
-permissions:
-  contents: write
-  pull-requests: write
-
-jobs:
-  synchronize-with-crowdin:
-    name: Synchronize with Crowdin
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1 # Should be 1 to avoid parallel builds
-      matrix:
-        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Debug Environment Variables
-        run: |
-          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
-          echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
-      - name: Matrix
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: false
-          upload_translations: false
-          download_translations: true
-          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
-          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
-          crowdin_branch_name: main
-          create_pull_request: true
-          pull_request_base_branch_name: 'main'
-          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
-          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
-          pull_request_labels: 'Documentation 📑'
-          pull_request_reviewers: hamishwillee
-          download_language: ${{ matrix.lc }}
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_crowdin_upload.yml

@@ -1,44 +0,0 @@
-name: Docs - Crowdin - Upload Guide sources (en)
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  push:
-    branches:
-      - main
-    paths:
-      - 'docs/en/**'
-  #pull_request:
-  #  types:
-  #    - closed
-  #  branches:
-  #    - main
-  #  paths:
-  #    - 'docs/en/**'
-  workflow_dispatch:
-
-jobs:
-  upload-to-crowdin:
-    #if: github.event.pull_request.merged == true || github.event_name == 'push'  || github.event_name == 'workflow_dispatch'
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: crowdin push
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: true
-          upload_translations: false
-          download_translations: false
-          crowdin_branch_name: main
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_deploy.yml

@@ -1,86 +0,0 @@
-name: Docs - Deploy PX4 User Guide to Github pages (Manual)
-
-on:
-  workflow_dispatch:
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
-# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
-concurrency:
-  group: pages
-  cancel-in-progress: false
-
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          # Specify the path to lock file for correct caching
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Deploy
-        run: |
-          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch
-          cd docs.px4.io
-          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
-          git checkout --orphan "${CURRENT_DATETIME}_main"
-          rm -rf ${BRANCH_NAME}
-          mkdir -p ${BRANCH_NAME}
-          cp -r ~/_book/* ${BRANCH_NAME}/
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add .
-          git commit -a -m "PX4 docs build update (vitepress) `date`"
-          # push branch as backup
-          git push origin "${CURRENT_DATETIME}_main"
-          # Now make main from backup and push updated
-          git branch -D main
-          git checkout -b main
-          git push origin main -f

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,35 +0,0 @@
-name: EKF Change Indicator
-
-on:
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
-  cancel-in-progress: true
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: main test
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make tests TESTFILTER=EKF
-
-      - name: Check if there is a functional change
-        run: git diff --exit-code
-        working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,54 +0,0 @@
-name: EKF Update Change Indicator
-
-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: main test
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make tests TESTFILTER=EKF
-
-      - name: Check if there exists diff and save result in variable
-        id: diff-check
-        working-directory: src/modules/ekf2/test/change_indication
-        run: |
-          if git diff --quiet; then
-            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
-          else
-            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
-          fi
-
-      - name: auto-commit any changes to change indication
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
-        with:
-          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
-          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
-          commit_message: |
-            [AUTO COMMIT] update change indication
-
-            See .github/workflows/ekf_update_change_indicator.yml for more details
-
-      - name: if there is a functional change, fail check
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        run: exit 1

.github/workflows/failsafe_sim.yml

@@ -1,58 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-      - name: Install Node v20.18.0
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20.18.0
-
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Install empscripten
-        run: |
-          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-          cd _emscripten_sdk
-          git checkout 4.0.15
-          ./emsdk install latest
-          ./emsdk activate latest
-
-      - name: Testing [${{ matrix.check }}]
-        run: |
-          . ./_emscripten_sdk/emsdk_env.sh
-          make ${{ matrix.check }}

.github/workflows/flash_analysis.yml

@@ -1,154 +0,0 @@
-name: FLASH usage analysis
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-env:
-  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
-  MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
-
-jobs:
-  analyze_flash:
-    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-    strategy:
-      matrix:
-        target: [px4_fmu-v5x, px4_fmu-v6x]
-    outputs:
-      px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
-      px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
-      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
-      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}_flash-analysis
-
-      - name: Store the ELF with the change
-        run: cp ./build/**/*.elf ./with-change.elf
-
-      - name: Clean previous build
-        run: |
-          make clean
-          make distclean
-          make submodulesclean
-
-      - name: If it's a PR checkout the base branch
-        if: ${{ github.event.pull_request }}
-        # As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
-        run: git checkout ${{ github.event.pull_request.base.ref }}
-
-      - name: If it's a push checkout the previous commit
-        if: github.event_name == 'push'
-        run: git checkout ${{ github.event.before }}
-
-      - name: Update submodules
-        run: make submodulesupdate
-
-      - name: Build
-        run: make ${{ matrix.target }}_flash-analysis
-
-      - name: Store the ELF before the change
-        run: cp ./build/**/*.elf ./before-change.elf
-
-      - name: bloaty-action
-        uses: PX4/bloaty-action@v1.0.0
-        id: bloaty-step
-        with:
-          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,symbols -s vm -n 20
-          output-to-summary: true
-
-      - name: Generate output
-        id: gen-output
-        run: |
-          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-          echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
-          echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
-          echo "$EOF" >> $GITHUB_OUTPUT
-          echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
-          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
-          echo "$EOF" >> $GITHUB_OUTPUT
-
-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
-  post_pr_comment:
-    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
-    needs: [analyze_flash]
-    env:
-      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
-      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
-      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
-      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
-    steps:
-      - name: Find Comment
-        uses: peter-evans/find-comment@v3
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
-
-      - name: Set Build Time
-        id: bt
-        run: |
-          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
-
-      - name: Create or update comment
-        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
-        if: |
-          steps.fc.outputs.comment-id != '' ||
-          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
-
-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
-
-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace

.github/workflows/fuzzing.yml

@@ -1,49 +0,0 @@
-name: Fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-
-permissions:
-  contents: read
-  issues: write # for JasonEtco/create-an-issue
-
-env:
-  RUNS_IN_DOCKER: true
-
-jobs:
-  Fuzzing:
-    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
-    steps:
-      - name: Install Dependencies
-        run: |
-          apt update && apt install -y clang
-
-      - name: Fix git in Container
-        run: |
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Build and Run Fuzz Tests
-        run: |
-          # Only build the tests
-          export CC=clang
-          export CXX=clang++
-          make tests TESTFILTER=__no_tests__
-
-          # Run the fuzz tests
-          for fuzz_binary in build/px4_sitl_test/*fuzz*; do
-            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
-          done
-
-      # Create a github issue in case of a failure
-      - name: Create Issue
-        if: ${{ failure() }}
-        uses: JasonEtco/create-an-issue@v2
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
-        with:
-          filename: .github/fuzzing_issue_template.md

.github/workflows/itcm_check.yml

@@ -1,67 +0,0 @@
-name: ITCM check
-
-permissions:
-  contents: read
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  check_itcm:
-    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - target: px4_fmu-v5x
-            scripts: >
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
-          - target: px4_fmu-v6xrt
-            scripts: >
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_tropic-community
-            scripts: >
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_mr-tropic
-            scripts: >
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}
-
-      - name: Copy built ELF
-        run: cp ./build/**/*.elf ./built.elf
-
-      - name: Install itcm-check dependencies
-        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
-
-      - name: Execute the itcm-check
-        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}

.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_avoidance_tests.yml

@@ -0,0 +1,129 @@
+name: MAVROS Avoidance Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    # - name: ecl EKF analysis
+    #   if: always()
+    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_avoidance
+        file: coverage/lcov.info

.github/workflows/mavros_mission_tests.yml

@@ -3,43 +3,133 @@ name: MAVROS Mission Tests
 on:
   push:
     branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
+    - 'master'
   pull_request:
     branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-
     strategy:
       fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
+          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
+          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-      - name: Build SITL and Run Tests (inside old ROS container)
-        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_test_mission.test \
-                mission:=MC_mission_box \
-                vehicle:=iris
-            '
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_mission
+        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -3,42 +3,128 @@ name: MAVROS Offboard Tests
 on:
   push:
     branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
+    - 'master'
   pull_request:
     branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-
     strategy:
       fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
+    container:
+      image: px4io/px4-dev-ros-melodic:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-      - name: Build SITL and Run Tests (inside old ROS container)
-        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_tests_offboard_posctl.test \
-                vehicle:=iris
-            '
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: export
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_offboard
+        file: coverage/lcov.info

.github/workflows/metadata.yml

@@ -0,0 +1,111 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to devguide gitbook and s3
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to devguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml

.github/workflows/nuttx_env_config.yml

@@ -1,46 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    strategy:
-      matrix:
-        config:
-          - px4_fmu-v5_default
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build PX4 and Run Test [${{ matrix.config }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
-          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
-          make ${{ matrix.config }} nuttx_context
-
-          echo "Check that the config option is set"
-          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/python_checks.yml

@@ -3,31 +3,23 @@ name: Python CI Checks
 on:
   push:
     branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
+    - 'master'
   pull_request:
     branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
+    - '*'
 
 jobs:
   build:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
       with:
-        fetch-depth: 0
-
+        token: ${{ secrets.ACCESS_TOKEN }}
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
-
     - name: Install tools
-      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
-
+      run: pip3 install --user mypy flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
-
     - name: Check MAVSDK test scripts with flake8
       run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/ros_integration_tests.yml

@@ -1,146 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: ROS Integration Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-ros2-galactic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
-      run: git config --system --add safe.directory '*'
-
-    - name: Update ROS Keys
-      run: |
-        sudo rm /etc/apt/sources.list.d/ros2.list && \
-        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
-    - name: Install gazebo
-      run: |
-        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Get and build micro-xrce-dds-agent
-      run: |
-        cd /opt
-        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-        cd Micro-XRCE-DDS-Agent
-        git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
-        sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
-        mkdir build
-        cd build
-        cmake ..
-        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
-
-    - name: Get and build the ros2 interface library
-      shell: bash
-      run: |
-        PX4_DIR="$(pwd)"
-        . /opt/ros/galactic/setup.bash
-        mkdir -p /opt/px4_ws/src
-        cd /opt/px4_ws/src
-        # On a PR, target the branch we're merging into (main or release/X.Y).
-        # On a direct push, fall back to the branch we're running on.
-        BRANCH="${GITHUB_BASE_REF:-$GITHUB_REF_NAME}"
-        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
-        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
-          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
-          git clone --recursive --branch "$BRANCH" "$REPO_URL"
-        else
-          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
-          git clone --recursive "$REPO_URL"
-        fi
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
-        cd ..
-        # Copy messages to ROS workspace
-        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
-        rm -rf src/translation_node src/px4_msgs_old
-        colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s
-
-    - name: Build PX4
-      env:
-        PX4_SBOM_DISABLE: 1
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-        ulimit -c unlimited
-        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run tests
-      shell: bash
-      run: |
-        . /opt/px4_ws/install/setup.bash
-        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --force-color
-      timeout-minutes: 45
-
-    - name: Upload failed logs
-      if: failure()
-      uses: actions/upload-artifact@v4
-      with:
-        name: failed-logs.zip
-        path: |
-          logs/**/**/**/*.log
-          logs/**/**/**/*.ulg
-          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg

.github/workflows/ros_translation_node.yml

@@ -1,61 +0,0 @@
-name: ROS Translation Node Tests
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-defaults:
-  run:
-    shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {ros_version: "humble", ubuntu: "jammy"}
-          - {ros_version: "jazzy", ubuntu: "noble"}
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
-    steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Check .msg file versioning
-        if: github.event_name == 'pull_request'
-        run: |
-          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
-
-      - name: Build and test
-        run: |
-          ros_ws=/ros_ws
-          mkdir -p $ros_ws/src
-          ./Tools/copy_to_ros_ws.sh $ros_ws
-          cd $ros_ws
-          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests

.github/workflows/sbom_license_check.yml

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

.github/workflows/sbom_monthly_audit.yml

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

.github/workflows/sitl_tests.yml

@@ -1,164 +1,134 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
 name: SITL Tests
 
 on:
   push:
     branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
+    - 'master'
   pull_request:
     branches:
-    - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    - '*'
 
 jobs:
   build:
-    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
         config:
-          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
-          # transitions). Re-enable once the test infrastructure is stabilized.
-          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+    container:
+      image: px4io/px4-dev-simulation-focal:2020-08-14
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-      - name: Git Ownership Workaround
-        run: git config --system --add safe.directory '*'
+    - name: Download MAVSDK
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+    - name: Install MAVSDK
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
 
-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
 
-      - name: Cache Key Config
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: export
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default gazebo mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s
 
-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
 
-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          PX4_SBOM_DISABLE: 1
-        run: make px4_sitl_default
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
 
-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
 
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
+    - name: Upload logs to flight review
+      if: failure()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
 
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
 
-      - name: Download MAVSDK
-        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Install MAVSDK
-        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Check PX4 Environment Variables
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: |
-            export
-            ulimit -a
-
-      - name: Build PX4 / MAVSDK tests
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          DONT_RUN: 1
-        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
-
-      - name: Core Dump Settings
-        run: |
-            ulimit -c unlimited
-            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-      - name: Run SITL / MAVSDK Tests
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
-        timeout-minutes: 45
-
-      - name: Upload failed logs
-        if: failure()
-        uses: actions/upload-artifact@v4
-        with:
-          name: failed-${{matrix.config.model}}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
-
-      - name: Look at Core files
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-
-      - name: Upload PX4 coredump
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: coredump
-          path: px4.core
-
-      - name: Setup & Generate Coverage Report
-        if: contains(matrix.config.build_type, 'Coverage')
-        run: |
-            git config --global credential.helper "" # disable the keychain credential helper
-            git config --global --add credential.helper store # enable the local store credential helper
-            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-            mkdir -p coverage
-            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-
-      - name: Upload Coverage Information to Codecov
-        if: contains(matrix.config.build_type, 'Coverage')
-        uses: codecov/codecov-action@v4
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: mavsdk
-          file: coverage/lcov.info
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info

.github/workflows/stale.yml

@@ -1,21 +0,0 @@
-name: 'Handle stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v10
-        with:
-          operations-per-run: 250
-          days-before-stale: 90
-          days-before-close: 30
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true
-          stale-issue-message: ''
-          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: ''
-          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'

.github/workflows/sync_release_to_ros2_interface_lib.yml

@@ -1,43 +0,0 @@
-name: Sync release branch to px4-ros2-interface-lib
-
-on:
-  create:
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: 'Release branch name (e.g. release/1.18)'
-        required: true
-        type: string
-
-permissions: {}
-
-jobs:
-  notify-interface-lib:
-    if: >-
-      github.repository == 'PX4/PX4-Autopilot' &&
-      (
-        (github.event_name == 'create' && github.ref_type == 'branch' && startsWith(github.ref_name, 'release/')) ||
-        github.event_name == 'workflow_dispatch'
-      )
-    runs-on: ubuntu-latest
-    steps:
-      - name: Determine branch name
-        id: params
-        run: |
-          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
-            BRANCH="${{ inputs.branch }}"
-          else
-            BRANCH="${{ github.ref_name }}"
-          fi
-          echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
-          echo "Dispatching for branch: $BRANCH"
-
-      - name: Dispatch release branch creation
-        run: |
-          BRANCH="${{ steps.params.outputs.branch }}"
-          curl -s -f -X POST \
-            -H "Authorization: token ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}" \
-            -H "Accept: application/vnd.github.v3+json" \
-            https://api.github.com/repos/Auterion/px4-ros2-interface-lib/dispatches \
-            -d "{\"event_type\":\"px4_release_branch\",\"client_payload\":{\"branch\":\"$BRANCH\"}}"
-          echo "Dispatched px4_release_branch event for $BRANCH"

.github/workflows/sync_to_px4_msgs.yml

@@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs

.github/workflows/tag_px4_msgs_from_px4_release_tag.yml

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

.github_changelog_generator

@@ -0,0 +1,33 @@
+# How to install:
+#   gem install github_changelog_generator
+# How to run:
+#   github_changelog_generator -u PX4 -p Firmware
+# Description:
+#   The following params are sensible defaults for the PX4 project,
+#   if you want to do a changelog before a release you need to update since-tag and future-releases,
+
+# Params:
+#   github_changelog_generator --help for all options
+
+# max-issues
+#   max threshold for github api queries
+#   make sure you set your CHANGELOG_GITHUB_TOKEN before
+#   running
+max-issues=1500
+
+# exclude-tags-regex
+#   excludes release candidates
+exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
+
+# since-tag
+#   version of last stable release
+#   you need to change this depending on what you need
+#   if you want a changelog between versions this is the lowest version
+since-tag=1.6.5
+
+# future-release
+#   version you are about to release
+#   if you want a changelog between a version and all unreleased changes grouped as a release
+#     eg: v1.6.5 to v1.7.0
+future-release=v1.7.0
+

.gitignore

@@ -93,6 +93,7 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
+/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl
@@ -100,18 +101,15 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
+src/lib/parameters/px4_parameters.c
+src/lib/parameters/px4_parameters.h
+src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
-!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/
-keys/
-
-# metadata
-_emscripten_sdk/
-
-# virtual Python environment
-.venv
+# SITL
+dataman
+eeprom/

.gitmodules

@@ -1,117 +1,56 @@
-[submodule "src/modules/mavlink/mavlink"]
-	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
-[submodule "Tools/simulation/jmavsim/jMAVSim"]
-	path = Tools/simulation/jmavsim/jMAVSim
+[submodule "src/drivers/uavcan/libuavcan"]
+	path = src/drivers/uavcan/libuavcan
+	url = https://github.com/PX4/uavcan.git
+	branch = px4
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = main
-[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
-	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
-	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
-	branch = main
+	branch = master
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	branch = master
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/PX4-Matrix
+	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/PX4-ECL
+	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = main
+	url = https://github.com/PX4/PX4-GPSDrivers
+	branch = master
+[submodule "src/modules/micrortps_bridge/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/PX4/micro-CDR.git
+	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
-	path = Tools/simulation/flightgear/flightgear_bridge
+	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
-	path = Tools/simulation/jsbsim/jsbsim_bridge
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/cyphal/libcanard"]
-	path = src/drivers/cyphal/libcanard
-	url = https://github.com/opencyphal/libcanard.git
-[submodule "src/drivers/cyphal/public_regulated_data_types"]
-	path = src/drivers/cyphal/public_regulated_data_types
-	url = https://github.com/opencyphal/public_regulated_data_types.git
-[submodule "src/drivers/cyphal/legacy_data_types"]
-	path = src/drivers/cyphal/legacy_data_types
-	url = https://github.com/PX4/public_regulated_data_types.git
-	branch = legacy
-[submodule "src/lib/crypto/monocypher"]
-	path = src/lib/crypto/monocypher
-	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[submodule "src/lib/events/libevents"]
-	path = src/lib/events/libevents
-	url = https://github.com/mavlink/libevents.git
-	branch = main
-[submodule "src/lib/crypto/libtomcrypt"]
-	path = src/lib/crypto/libtomcrypt
-	url = https://github.com/PX4/libtomcrypt.git
-	branch = px4
-[submodule "src/lib/crypto/libtommath"]
-	path = src/lib/crypto/libtommath
-	url = https://github.com/PX4/libtommath.git
-	branch = px4
-[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
-	branch = px4
-[submodule "src/lib/cdrstream/cyclonedds"]
-	path = src/lib/cdrstream/cyclonedds
-	url = https://github.com/px4/cyclonedds
-[submodule "src/lib/cdrstream/rosidl"]
-	path = src/lib/cdrstream/rosidl
-	url = https://github.com/px4/rosidl
-[submodule "src/modules/zenoh/zenoh-pico"]
-	path = src/modules/zenoh/zenoh-pico
-	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
-[submodule "src/lib/heatshrink/heatshrink"]
-	path = src/lib/heatshrink/heatshrink
-	url = https://github.com/PX4/heatshrink.git
-	branch = px4
-[submodule "Tools/simulation/gz"]
-	path = Tools/simulation/gz
-	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = main
-[submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
-[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
-	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
-	url = https://github.com/PX4/iq-module-communication-cpp.git
-	branch = master
-[submodule "src/drivers/uavcan/libdronecan/dsdl"]
-	path = src/drivers/uavcan/libdronecan/dsdl
-	url = https://github.com/PX4/DSDL.git
-[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
-	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
-	url = https://github.com/dronecan/pydronecan
-[submodule "test/fuzztest"]
-	path = test/fuzztest
-	url = https://github.com/google/fuzztest.git
-	branch = main
-[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
-	path = src/lib/tensorflow_lite_micro/tflite_micro
-	url = https://github.com/PX4/tflite-micro.git
-	branch = main
-[submodule "src/drivers/ins/microstrain/mip_sdk"]
-	path = src/drivers/ins/microstrain/mip_sdk
-	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
-[submodule "src/drivers/ins/sbgecom/sbgECom"]
-	path = src/drivers/ins/sbgecom/sbgECom
-	url = https://github.com/PX4/sbgECom.git
-[submodule "src/modules/mc_raptor/blob"]
-	path = src/modules/mc_raptor/blob
-	url = https://github.com/rl-tools/px4-blob
-[submodule "src/lib/rl_tools/rl_tools"]
-	path = src/lib/rl_tools/rl_tools
-	url = https://github.com/rl-tools/rl-tools.git
-[submodule "libmodal-json"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
-[submodule "libmodal-pipe"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git

.travis.yml

@@ -0,0 +1,35 @@
+language: cpp
+
+git:
+  depth: 100
+  submodules: false
+
+matrix:
+  fast_finish: true
+  include:
+    - os: linux
+      dist: xenial
+      # In order to stay under the coverity rate limit, we only run this weekly
+      # and not on push which is configured in travis-ci settings.
+      if: branch = master
+
+before_install:
+    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
+
+install:
+    - export PATH=$HOME/.local/bin:$PATH
+    - pip install --user --upgrade pip
+    - pip install --user -r Tools/setup/requirements.txt
+
+script:
+    - make
+
+addons:
+  coverity_scan:
+    project:
+      name: "PX4/Firmware"
+      description: "Build submitted via Travis CI"
+    notification_email: ci@px4.io
+    build_command_prepend: "make distclean"
+    build_command: "make px4_sitl_default"
+    branch_pattern: coverity_scan

.vscode/.gitignore

@@ -4,11 +4,8 @@ compile_commands.json
 
 # generated by cmake
 launch.json
-c_cpp_properties.json
 
 # C/C++ extension does some local caching in this folder
 ipch/
 
 browse.vc.db*
-
-*.log

.vscode/c_cpp_properties.json

@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "PX4",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "macFrameworkPath": [],
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11"
+        }
+    ],
+    "version": 4
+}

.vscode/cmake-kits.json

@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]

.vscode/cmake-variants.yaml

@@ -2,40 +2,10 @@ CONFIG:
   default: px4_sitl_default
   choices:
     px4_sitl_default:
-      short: px4_sitl_default
+      short: px4_sitl
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_raptor:
-      short: px4_sitl_raptor
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_raptor_debug:
-      short: px4_sitl_raptor_debug
-      buildType: Debug
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_spacecraft:
-      short: px4_sitl_spacecraft
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_spacecraft
-    px4_sitl_nolockstep:
-      short: px4_sitl_nolockstep
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_nolockstep
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -46,11 +16,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_test
-    px4_sitl_zenoh:
-      short: px4_sitl_zenoh
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_test
     px4_io-v2_default:
       short: px4_io-v2
       buildType: MinSizeRel
@@ -81,236 +46,26 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5_default
-    px4_fmu-v5_debug:
-      short: px4_fmu-v5_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_debug
     px4_fmu-v5x_default:
       short: px4_fmu-v5x
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6c_default:
-      short: px4_fmu-v6c
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_default
-    px4_fmu-v6c_bootloader:
-      short: px4_fmu-v6c_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_bootloader
-    px4_fmu-v6u_default:
-      short: px4_fmu-v6u
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_default
-    px4_fmu-v6u_bootloader:
-      short: px4_fmu-v6u_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_bootloader
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
-    px4_fmu-v6xrt_default:
-      short: px4_fmu-v6xrt
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_default
-    px4_fmu-v6xrt_bootloader:
-      short: px4_fmu-v6xrt_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_bootloader
-    3dr_ctrl-zero-h7-oem-revg_default:
-      short: 3dr_ctrl-zero-h7-oem-revg
-      buildType: MinSizeRel
-      settings:
-        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
       settings:
         CONFIG: airmind_mindpx-v2_default
-    ark_can-flow_default:
-      short: ark_can-flow_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_default
-    ark_can-flow_canbootloader:
-      short: ark_can-flow_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_default:
-      short: ark_can-flow-mr_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_default
-    ark_can-flow-mr_canbootloader:
-      short: ark_can-flow-mr_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_canbootloader
-    ark_can-gps_default:
-      short: ark_can-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_default
-    ark_can-gps_canbootloader:
-      short: ark_can-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_canbootloader
-    ark_can-rtk-gps_default:
-      short: ark_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_default
-    ark_can-rtk-gps_debug:
-      short: ark_can-rtk-gps_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_debug
-    ark_can-rtk-gps_canbootloader:
-      short: ark_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_canbootloader
-    ark_teseo-gps_canbootloader:
-      short: ark_teseo-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_teseo-gps_canbootloader
-    ark_cannode_default:
-      short: ark_cannode_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_default
-    ark_cannode_canbootloader:
-      short: ark_cannode_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_canbootloader
-    ark_dist_default:
-      short: ark_dist_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_default
-    ark_dist_canbootloader:
-      short: ark_dist_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_canbootloader
-    ark_f9p-gps_default:
-      short: ark_f9p-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_f9p-gps_default
-    ark_f9p-gps_canbootloader:
-      short: ark_f9p-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_f9p-gps_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
-    ark_fpv_bootloader:
-      short: ark_fpv_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_bootloader
-    ark_fpv_default:
-      short: ark_fpv_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_default
-    ark_mag_canbootloader:
-      short: ark_mag_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_canbootloader
-    ark_mag_default:
-      short: ark_mag_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
-    ark_x20-gps_default:
-      short: ark_x20-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_x20-gps_default
-    ark_x20-gps_canbootloader:
-      short: ark_x20-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_x20-gps_canbootloader
-    atl_mantis-edu_default:
-      short: atl_mantis-edu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: atl_mantis-edu_default
     av_x-v1_default:
       short: av_x-v1
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
-    bitcraze_crazyflie_default:
-      short: bitcraze_crazyflie
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie_default
-    bluerobotics_navigator_default:
-      short: bluerobotics_navigator
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bluerobotics_navigator_default
     cuav_can-gps-v1_default:
       short: cuav_can-gps-v1_default
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
     cuav_nora_default:
       short: cuav_nora
       buildType: MinSizeRel
@@ -321,161 +76,41 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x7pro_default
-    cuav_7-nano_default:
-      short: cuav_7-nano
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_7-nano_default
-    cuav_fmu-v6x_default:
-      short: cuav_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_fmu-v6x_default
-    cuav_x25_default:
-      short: cuav_x25-evo
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-evo_default
-    cuav_x25-super_default:
-      short: cuav_x25-super
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-super_default
-    cubepilot_cubeorange_test:
+    cubepilot_cubeorange_default:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_cubeorange_test
-    cubepilot_cubeorangeplus_test:
-      short: cubepilot_cubeorangeplus
+        CONFIG: cubepilot_orange_default
+    cubepilot_cubeyellow_default:
+      short: cubepilot_cubeyellow
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_cubeorangeplus_test
+        CONFIG: cubepilot_cubeyellow_default
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
-    freefly_can-rtk-gps_default:
-      short: freefly_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_default
-    freefly_can-rtk-gps_canbootloader:
-      short: freefly_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_canbootloader
-    holybro_can-gps-v1_canbootloader:
-      short: holybro_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_canbootloader
-    holybro_can-gps-v1_default:
-      short: holybro_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7-wing_default:
-      short: holybro_kakuteh7-wing
+    intel_aerofc-v1_default:
+      short: intel_aerofc-v1
       buildType: MinSizeRel
       settings:
-        CONFIG: holybro_kakuteh7-wing_default
-    holybro_kakuteh7dualimu_default:
-      short: holybro_kakuteh7dualimu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7dualimu_default
-    matek_h743-slim_default:
-      short: matek_h743-slim
-      buildType: MinSizeRel
-      settings:
-        CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
-    micoair_h743_bootloader:
-      short: micoair_h743_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743_bootloader
-    micoair_h743_default:
-      short: micoair_h743
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743_default
-    micoair_h743-aio_bootloader:
-      short: micoair_h743-aio_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-aio_bootloader
-    micoair_h743-aio_default:
-      short: micoair_h743-aio
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-aio_default
-    micoair_h743-v2_bootloader:
-      short: micoair_h743-v2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-v2_bootloader
-    micoair_h743-v2_default:
-      short: micoair_h743-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-v2_default
-    micoair_h743-lite_bootloader:
-      short: micoair_h743-lite_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_bootloader
-    micoair_h743-lite_default:
-      short: micoair_h743-lite
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_default
+        CONFIG: intel_aerofc-v1_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v1_default
-    modalai_fc-v2_default:
-      short: modalai_fc-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v2_default
-    modalai_voxl2-io_default:
-      short: modalai_voxl2-io
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_voxl2-io_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7
       buildType: MinSizeRel
       settings:
         CONFIG: mro_ctrl-zero-f7_default
-    mro_pixracerpro_bootloader:
-      short: mro_pixracerpro_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_bootloader
-    mro_pixracerpro_default:
-      short: mro_pixracerpro_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_default
     mro_x21-777_default:
       short: mro_x2.1-777
       buildType: MinSizeRel
@@ -486,73 +121,3 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
-    nxp_mr-canhubk3_default:
-      short: nxp_mr-canhubk3_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_default
-    nxp_mr-canhubk3_fmu:
-      short: nxp_mr-canhubk3_fmu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_fmu
-    nxp_mr-tropic_default:
-      short: nxp_mr-tropic_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_default
-    nxp_mr-tropic_bootloader:
-      short: nxp_mr-tropic_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_bootloader
-    nxp_tropic-community_default:
-      short: nxp_tropic-community_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_tropic-community_default
-    raspberrypi_pico_default:
-      short: raspberrypi_pico
-      buildType: MinSizeRel
-      settings:
-        CONFIG: raspberrypi_pico_default
-    zeroone_x6_default:
-      short: zeroone_x6
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_default
-    zeroone_x6_bootloader:
-      short: zeroone_x6_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_bootloader
-    x-mav_ap-h743v2_bootloader:
-      short: x-mav_ap-h743v2-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_bootloader
-    x-mav_ap-h743v2_default:
-      short: x-mav_ap-h743v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_default
-    svehicle_e2_bootloader:
-      short: svehicle_e2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_bootloader
-    svehicle_e2_default:
-      short: svehicle_e2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default

.vscode/extensions.json

@@ -4,7 +4,6 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
         "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",
@@ -19,7 +18,6 @@
         "twxs.cmake",
         "uavcan.dsdl",
         "wholroyd.jinja",
-        "zixuanwang.linkerscript",
-        "ms-vscode.makefile-tools"
+        "zixuanwang.linkerscript"
     ]
 }

.vscode/settings.json

@@ -2,6 +2,7 @@
         "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
         "astyle.c.enable": true,
         "astyle.cpp.enable": true,
+        "breadcrumbs.enabled": true,
         "C_Cpp.autoAddFileAssociations": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
         "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
@@ -13,23 +14,27 @@
         "C_Cpp.workspaceParsingPriority": "low",
         "cmake.buildBeforeRun": true,
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
         "cmake.skipConfigureIfCachePresent": true,
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,
         "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
         "cSpell.allowCompoundWords": true,
         "cSpell.diagnosticLevel": "Hint",
         "cSpell.showStatus": false,
         "cSpell.words": [
                 "acro",
+                "rattitude",
                 "nuttx",
                 "esc"
         ],
         "debug.toolBarLocation": "docked",
+        "editor.acceptSuggestionOnEnter": "off",
         "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
         "editor.insertSpaces": false,
         "editor.minimap.maxColumn": 120,
         "editor.minimap.renderCharacters": false,
@@ -43,7 +48,7 @@
         "files.watcherExclude": {
                 "**/build/**": true
         },
-        "git.detectSubmodulesLimit": 25,
+        "git.detectSubmodulesLimit": 20,
         "git.ignoreLimitWarning": true,
         "githubPullRequests.defaultMergeMethod": "squash",
         "githubPullRequests.telemetry.enabled": false,
@@ -117,16 +122,22 @@
                 "utility": "cpp",
                 "valarray": "cpp",
                 "variant": "cpp",
-                "vector": "cpp",
-                "Jenkinsfile*": "groovy",
-                "*.sdf": "xml"
+                "vector": "cpp"
         },
         "search.exclude": {
                 "${workspaceFolder}/build": true
         },
         "search.showLineNumbers": true,
-        "terminal.integrated.scrollback": 15000,
+        "search.smartCase": true,
+        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
+        "terminal.integrated.scrollback": 5000,
+        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
+        "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
+        "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
+        }
 }

.vscode/tasks.json

@@ -50,64 +50,41 @@
             }
         },
         {
-            "label": "jmavsim kill",
+            "label": "jmavsim build",
             "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+            "command": "ant create_run_jar copy_res",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
             },
             "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "gazebo-classic build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo-classic",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
+            "presentation":{
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
                 "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
+            }
         },
         {
-            "label": "gazebo-classic start",
+            "label": "jmavsim",
             "type": "shell",
-            "dependsOn": "gazebo-classic build",
+            "dependsOn": "jmavsim build",
+            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
             "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -128,28 +105,57 @@
             ]
         },
         {
-            "label": "gazebo-classic",
+            "label": "jmavsim kill",
             "type": "shell",
-            "dependsOn": "gazebo-classic start",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "presentation": {
+                "echo": false,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "gazebo build",
+            "type": "shell",
+            "command": "make px4_sitl_default sitl_gazebo",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "always",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
+        },
+        {
+            "label": "gazebo start",
+            "type": "shell",
+            "dependsOn": "gazebo build",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -172,75 +178,109 @@
         {
             "label": "gazebo",
             "type": "shell",
+            "dependsOn": "gazebo start",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "revealProblems": "onProblem",
-                "focus": true,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
-        },
-        {
-            "label": "gazebo-classic kill",
-            "type": "shell",
-            "command": "pkill -9 -f gzserver || true",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo client",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzclient --verbose",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
         },
         {
             "label": "gazebo kill",
             "type": "shell",
-            "command": "pkill -9 -f 'gz sim' || true",
+            "command": "killall gzserver",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [],
             "dependsOn":["px4_sitl_cleanup"]
         },
-
         {
             "label": "px4_sitl_cleanup",
             "type": "shell",
-            "command": "rm -rfv /tmp/px4* || true",
+            "command": "rm -rfv /tmp/px4*",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [],
             "dependsOn":["px4_kill"]
@@ -248,16 +288,14 @@
         {
             "label": "px4_kill",
             "type": "shell",
-            "command": "pkill -9 px4 || true",
+            "command": "killall px4 || true",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": []
         },
@@ -299,12 +337,37 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "gzWorld",
-            "description": "gz world",
+            "id": "vehicleModel",
+            "description": "gazebo model",
             "options": [
-                "default"
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
             ],
-            "default": "default"
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
         }
     ]
 }

.ycm_extra_conf.py

@@ -0,0 +1,172 @@
+# This file is NOT licensed under the GPLv3, which is the license for the rest
+# of YouCompleteMe.
+#
+# Here's the license text for this file:
+#
+# This is free and unencumbered software released into the public domain.
+#
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+#
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+# For more information, please refer to <http://unlicense.org/>
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+flags = [
+'-Wall',
+'-Wextra',
+'-Werror',
+#'-Wc++98-compat',
+'-Wno-long-long',
+'-Wno-variadic-macros',
+'-fexceptions',
+'-DNDEBUG',
+# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
+# source code needs it.
+#'-DUSE_CLANG_COMPLETER',
+# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
+# language to use when compiling headers. So it will guess. Badly. So C++
+# headers will be compiled as C headers. You don't want that so ALWAYS specify
+# a "-std=<something>".
+# For a C project, you would set this to something like 'c99' instead of
+# 'c++14'.
+'-std=c++14',
+# ...and the same thing goes for the magic -x option which specifies the
+# language that the files to be compiled are written in. This is mostly
+# relevant for c++ headers.
+# For a C project, you would set this to 'c' instead of 'c++'.
+'-x',
+'c++',
+'-undef', # get rid of standard definitions to allow us to include arm math header
+'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
+'-I', './NuttX/nuttx/arch/arm/include',
+'-include', './src/include/visibility.h',
+'-I', './src',
+'-I', './src/modules',
+'-I', './src/include',
+'-I', './src/lib',
+'-I', './NuttX',
+]
+
+
+# Set this to the absolute path to the folder (NOT the file!) containing the
+# compile_commands.json file to use that instead of 'flags'. See here for
+# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
+#
+# Most projects will NOT need to set this to anything; you can just change the
+# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
+compilation_database_folder = ''
+
+if os.path.exists( compilation_database_folder ):
+  database = ycm_core.CompilationDatabase( compilation_database_folder )
+else:
+  database = None
+
+SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
+
+def DirectoryOfThisScript():
+  return os.path.dirname( os.path.abspath( __file__ ) )
+
+
+def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
+  if not working_directory:
+    return list( flags )
+  new_flags = []
+  make_next_absolute = False
+  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
+  for flag in flags:
+    new_flag = flag
+
+    if make_next_absolute:
+      make_next_absolute = False
+      if not flag.startswith( '/' ):
+        new_flag = os.path.join( working_directory, flag )
+
+    for path_flag in path_flags:
+      if flag == path_flag:
+        make_next_absolute = True
+        break
+
+      if flag.startswith( path_flag ):
+        path = flag[ len( path_flag ): ]
+        new_flag = path_flag + os.path.join( working_directory, path )
+        break
+
+    if new_flag:
+      new_flags.append( new_flag )
+  return new_flags
+
+
+def IsHeaderFile( filename ):
+  extension = os.path.splitext( filename )[ 1 ]
+  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
+
+
+def GetCompilationInfoForFile( filename ):
+  # The compilation_commands.json file generated by CMake does not have entries
+  # for header files. So we do our best by asking the db for flags for a
+  # corresponding source file, if any. If one exists, the flags for that file
+  # should be good enough.
+  if IsHeaderFile( filename ):
+    basename = os.path.splitext( filename )[ 0 ]
+    for extension in SOURCE_EXTENSIONS:
+      replacement_file = basename + extension
+      if os.path.exists( replacement_file ):
+        compilation_info = database.GetCompilationInfoForFile(
+          replacement_file )
+        if compilation_info.compiler_flags_:
+          return compilation_info
+    return None
+  return database.GetCompilationInfoForFile( filename )
+
+
+def FlagsForFile( filename, **kwargs ):
+  if database:
+    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+    # python list, but a "list-like" StringVec object
+    compilation_info = GetCompilationInfoForFile( filename )
+    if not compilation_info:
+      return None
+
+    final_flags = MakeRelativePathsInFlagsAbsolute(
+      compilation_info.compiler_flags_,
+      compilation_info.compiler_working_dir_ )
+
+    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
+    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
+    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
+    #try:
+    #  final_flags.remove( '-stdlib=libc++' )
+    #except ValueError:
+    #  pass
+  else:
+    relative_to = DirectoryOfThisScript()
+    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
+
+  return {
+    'flags': final_flags,
+    'do_cache': True
+  }

CITATION.cff

@@ -1,27 +0,0 @@
-cff-version: 1.2.0
-title: "PX4 Autopilot"
-message: "If you use PX4 in your research, please cite it using this metadata."
-type: software
-authors:
-  - family-names: Meier
-    given-names: Lorenz
-  - name: "The PX4 Contributors"
-repository-code: "https://github.com/PX4/PX4-Autopilot"
-url: "https://px4.io"
-abstract: >-
-  PX4 is an open-source autopilot stack for drones and
-  unmanned vehicles. It supports multirotors, fixed-wing,
-  VTOL, rovers, and many more platforms. PX4 runs on both
-  RTOS and POSIX-compatible operating systems.
-keywords:
-  - autopilot
-  - drone
-  - uav
-  - flight-controller
-  - robotics
-  - ros2
-license: BSD-3-Clause
-identifiers:
-  - type: doi
-    value: "10.5281/zenodo.595432"
-    description: "Zenodo concept DOI (resolves to latest version)"

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 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
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -99,10 +99,10 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 include(px4_parse_function_args)
@@ -113,114 +113,38 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
+	COMMAND git describe --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
-	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-
-# if proper git tag unavilable default to v0.0.0
-if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
-	set(PX4_GIT_TAG "v0.0.0")
-endif()
-
-message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
-
-# git describe to X.Y.Z version
-string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
-
-# major version
-list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
-string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
-# minor version
-list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
-# patch version
-list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
-string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
-list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
-
-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
 
-define_property(GLOBAL PROPERTY PX4_SRC_FILES
-                 BRIEF_DOCS "src files from all PX4 modules & libs"
-                 FULL_DOCS "SRC files from px4_add_{module,library}"
-                 )
-
 #=============================================================================
 # configuration
 #
 
+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+
 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)
-
-# Find Python
-#
-# Force FindPython3 to prefer the interpreter on PATH (and any activated
-# virtualenv/conda/pyenv environment) so downstream tooling runs under
-# the same Python the developer invoked the build with. On Linux these
-# are already the CMake defaults; the settings exist to normalize
-# behavior on macOS and Windows:
-#
-#   - FIND_FRAMEWORK=LAST prevents FindPython3 from preferring a macOS
-#     Python.framework install (e.g. Homebrew's
-#     /opt/homebrew/Frameworks/Python.framework/...) over a pyenv shim
-#     or venv on PATH, which would otherwise pick an interpreter that
-#     lacks PX4's Python deps (kconfiglib, empy, jinja2, etc.).
-#   - FIND_REGISTRY=NEVER skips the Windows registry lookup for the
-#     same reason.
-#   - FIND_STRATEGY and FIND_VIRTUALENV are set explicitly to make the
-#     intent obvious and insulate us from future default changes.
-set(Python3_FIND_STRATEGY LOCATION)
-set(Python3_FIND_VIRTUALENV FIRST)
-set(Python3_FIND_FRAMEWORK LAST)
-set(Python3_FIND_REGISTRY NEVER)
-find_package(Python3 COMPONENTS Interpreter)
-# We have a custom error message to tell users how to install python3.
-if(NOT Python3_Interpreter_FOUND)
-	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-		"    macOS: brew install python")
-endif()
-# Alias to the legacy variable so downstream CMakeLists keep working.
-set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
-
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()
 
 include(px4_config)
-include(kconfig)
+include(px4_add_board)
+include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
-if($ENV{CLION_IDE})
-	# CLion automatically executes some compiler commands after configuring the
-	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
-	# include nuttx/config.h, which at that point does not exist yet
-	add_definitions(-DPX4_DISABLE_GCC_POISON)
-endif()
-
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
 		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
@@ -246,11 +170,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 	include(init)
 endif()
 
-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -262,19 +181,10 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
-if(CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN)
-	set(PX4_DEBUG_OPT_LEVEL -Og)
-	message(STATUS "fortified toolchain support enabled: PX4_DEBUG_OPT_LEVEL=${PX4_DEBUG_OPT_LEVEL}")
-else()
-	set(PX4_DEBUG_OPT_LEVEL -O0)
-endif()
-
 if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL ${PX4_DEBUG_OPT_LEVEL})
+	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
-elseif(CMAKE_BUILD_TYPE MATCHES "Release")
-	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -286,25 +196,28 @@ endif()
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
-# Check if LTO option and check if toolchain supports it
-if(LTO)
-    include(CheckIPOSupported)
-    check_ipo_supported()
-    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
+endif()
 
 #=============================================================================
 
@@ -336,10 +249,7 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 	set(CMAKE_ENABLE_EXPORTS ON)
 
-	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
-		include(coverage)
-	endif()
-
+	include(coverage)
 	include(sanitizers)
 
 	# Define GNU standard installation directories
@@ -352,6 +262,42 @@ endif()
 
 include(ccache)
 
+#=============================================================================
+# find programs and packages
+#
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+endif()
+
+# Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -363,33 +309,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-# (Needs to be before setting the common compile flags)
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
-	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
-		set(FUZZTEST_FUZZING_MODE ON)
-	endif()
-	add_subdirectory(test)
-	fuzztest_setup_fuzzing_flags()
-endif()
-
 #=============================================================================
 # build flags
 #
@@ -442,19 +361,52 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+# if testing is enabled download and configure gtest
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	include(gtest)
+
+	add_custom_target(test_results
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			DEPENDS
+				px4
+				examples__dyn_hello
+				test_mixer_multirotor
+			USES_TERMINAL
+			COMMENT "Running tests"
+			WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
+endif()
+
+
 #=============================================================================
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)
-add_library(events_interface INTERFACE)
-add_library(kernel_events_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -464,23 +416,9 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
-add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-# metadata needs PX4_MODULE_CONFIG_FILES
-add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
-
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-	target_link_libraries(parameters_interface INTERFACE usr_parameters)
-	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE usr_events)
-	target_link_libraries(kernel_events_interface INTERFACE events)
-else()
-	target_link_libraries(parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE events)
-endif()
+target_link_libraries(parameters_interface INTERFACE parameters)
 
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -497,10 +435,8 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list} --src-path src/lib
-		--merge-depends
+		${graph_module_list}
 		--exclude-path src/examples
-		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -508,20 +444,14 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
 
-include(bloaty)
-
-
+include(doxygen)
 include(metadata)
 include(package)
-include(sbom)
 
-# install python requirements using configured python
-add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
-	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
-)
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
-endif()
+	)

CODE_OF_CONDUCT.md

@@ -2,82 +2,45 @@
 
 ## Our Pledge
 
-We as members, contributors, and leaders pledge to make participation in our community a harassment-free experience for everyone, regardless of age, body size, visible or invisible disability, ethnicity, sex characteristics, gender identity and expression, level of experience, education, socio-economic status, nationality, personal appearance, race, caste, color, religion, or sexual identity and orientation.
-
-We pledge to act and interact in ways that contribute to an open, welcoming, diverse, inclusive, and healthy community.
+In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
 
 ## Our Standards
 
-Examples of behavior that contributes to a positive environment for our community include:
+Examples of behavior that contributes to creating a positive environment include:
 
-* Demonstrating empathy and kindness toward other people
-* Being respectful of differing opinions, viewpoints, and experiences
-* Giving and gracefully accepting constructive feedback
-* Accepting responsibility and apologizing to those affected by our mistakes, and learning from the experience
-* Focusing on what is best not just for us as individuals, but for the overall community
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
 
-Examples of unacceptable behavior include:
+Examples of unacceptable behavior by participants include:
 
-* The use of sexualized language or imagery, and sexual attention or advances of any kind
-* Trolling, insulting or derogatory comments, and personal or political attacks
+* The use of sexualized language or imagery and unwelcome sexual attention or advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
 * Public or private harassment
-* Publishing others' private information, such as a physical or email address, without their explicit permission
+* Publishing others' private information, such as a physical or electronic address, without explicit permission
 * Other conduct which could reasonably be considered inappropriate in a professional setting
 
-## Enforcement Responsibilities
+## Our Responsibilities
 
-Community leaders are responsible for clarifying and enforcing our standards of acceptable behavior and will take appropriate and fair corrective action in response to any behavior that they deem inappropriate, threatening, offensive, or harmful.
+Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
 
-Community leaders have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, and will communicate reasons for moderation decisions when appropriate.
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
 
 ## Scope
 
-This Code of Conduct applies within all community spaces, and also applies when an individual is officially representing the community in public spaces. Examples of representing our community include using an official e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event.
+This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
 
 ## Enforcement
 
-Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at coc@dronecode.org. All complaints will be reviewed and investigated promptly and fairly.
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
 
-All community leaders are obligated to respect the privacy and security of the reporter of any incident.
-
-## Enforcement Guidelines
-
-Community leaders will follow these Community Impact Guidelines in determining the consequences for any action they deem in violation of this Code of Conduct:
-
-### 1. Correction
-
-**Community Impact**: Use of inappropriate language or other behavior deemed unprofessional or unwelcome in the community.
-
-**Consequence**: A private, written warning from community leaders, providing clarity around the nature of the violation and an explanation of why the behavior was inappropriate. A public apology may be requested.
-
-### 2. Warning
-
-**Community Impact**: A violation through a single incident or series of actions.
-
-**Consequence**: A warning with consequences for continued behavior. No interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, for a specified period of time. This includes avoiding interactions in community spaces as well as external channels like social media. Violating these terms may lead to a temporary or permanent ban.
-
-### 3. Temporary Ban
-
-**Community Impact**: A serious violation of community standards, including sustained inappropriate behavior.
-
-**Consequence**: A temporary ban from any sort of interaction or public communication with the community for a specified period of time. No public or private interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, is allowed during this period. Violating these terms may lead to a permanent ban.
-
-### 4. Permanent Ban
-
-**Community Impact**: Demonstrating a pattern of violation of community standards, including sustained inappropriate behavior, harassment of an individual, or aggression toward or disparagement of classes of individuals.
-
-**Consequence**: A permanent ban from any sort of public interaction within the community.
+Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
 
 ## Attribution
 
-This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 2.1, available at [https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
 
-Community Impact Guidelines were inspired by [Mozilla's code of conduct enforcement ladder][Mozilla CoC].
-
-For answers to common questions about this code of conduct, see the FAQ at [https://www.contributor-covenant.org/faq][FAQ]. Translations are available at [https://www.contributor-covenant.org/translations][translations].
-
-[homepage]: https://www.contributor-covenant.org
-[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
-[Mozilla CoC]: https://github.com/mozilla/diversity
-[FAQ]: https://www.contributor-covenant.org/faq
-[translations]: https://www.contributor-covenant.org/translations
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/

CONTRIBUTING.md

@@ -1,170 +1,44 @@
-# Contributing to PX4-Autopilot
+# Contributing to PX4 Firmware
 
-We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
 
-## Fork the project, then clone your repo
+### Fork the project, then clone your repo
 
-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
 
-## Create a feature branch
+### Create a feature branch
 
-Always branch off `main` for new features.
+*Always* branch off master for new features.
 
 ```
 git checkout -b mydescriptivebranchname
 ```
 
-## Edit and build the code
+### Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
 
-### Coding standards
+### Commit your changes
 
-All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
+Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
 
-Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
-
-## Commit message convention
-
-PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
-
-### Format
+**Example:**
 
 ```
-type(scope): short description of the change
+Change how the attitude controller works
+
+- Fixes rate feed forward
+- Allows a local body rate override
+
+Fixes issue #123
 ```
 
-| Part | Rule |
-|------|------|
-| **type** | Category of change (see types table below) |
-| **scope** | The module, driver, board, or area of PX4 affected |
-| **`!`** (optional) | Append before `:` to mark a breaking change |
-| **description** | What the change does, at least 5 characters, written in imperative form |
+### Test your changes
 
-### Types
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
 
-| Type | Description |
-|------|-------------|
-| `feat` | A new feature |
-| `fix` | A bug fix |
-| `docs` | Documentation only changes |
-| `style` | Formatting, whitespace, no code change |
-| `refactor` | Code change that neither fixes a bug nor adds a feature |
-| `perf` | Performance improvement |
-| `test` | Adding or correcting tests |
-| `build` | Build system or external dependencies |
-| `ci` | CI configuration files and scripts |
-| `chore` | Other changes that don't modify src or test files |
-| `revert` | Reverts a previous commit |
+### Push your changes
 
-### Scopes
-
-The scope identifies which part of PX4 is affected. Common scopes:
-
-| Scope | Area |
-|-------|------|
-| `ekf2` | Extended Kalman Filter (state estimation) |
-| `mavlink` | MAVLink messaging protocol |
-| `commander` | Commander and mode management |
-| `navigator` | Mission, RTL, Land, and other navigation modes |
-| `sensors` | Sensor drivers and processing |
-| `drivers` | Hardware drivers |
-| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
-| `mc_att_control` | Multicopter attitude control |
-| `mc_pos_control` | Multicopter position control |
-| `fw_att_control` | Fixed-wing attitude control |
-| `vtol` | VTOL-specific logic |
-| `actuators` | Mixer and actuator output |
-| `battery` | Battery monitoring and estimation |
-| `logger` | On-board logging |
-| `param` | Parameter system |
-| `simulation` | SITL, Gazebo, SIH |
-| `ci` | Continuous integration and workflows |
-| `docs` | Documentation |
-| `build` | CMake, toolchain, build system |
-| `uorb` | Inter-module messaging |
-
-For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
-
-### Breaking changes
-
-Append `!` before the colon to indicate a breaking change:
-
-```
-feat(ekf2)!: remove deprecated height fusion API
-```
-
-### Good commit messages
-
-```
-feat(ekf2): add height fusion timeout
-fix(mavlink): correct BATTERY_STATUS_V2 parsing
-refactor(navigator): simplify RTL altitude logic
-ci(workflows): migrate to reusable workflows
-docs(ekf2): update tuning guide
-feat(boards/px4_fmu-v6x)!: remove deprecated driver API
-perf(mc_rate_control): reduce loop latency
-```
-
-### Commits to avoid
-
-These will be flagged by CI and should be squashed or reworded before merging:
-
-```
-fix                                    # too vague, no type or scope
-update                                 # too vague, no type or scope
-ekf2: fix something                   # missing type prefix
-apply suggestions from code review     # squash into parent commit
-do make format                         # squash into parent commit
-WIP: trying something                  # not ready for main
-oops                                   # not descriptive
-```
-
-### PR titles
-
-The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
-
-### Merge policy
-
-Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
-
-### Cleaning up commits
-
-If CI flags your commit messages, you can fix them with an interactive rebase:
-
-```bash
-# Squash all commits into one:
-git rebase -i HEAD~N   # replace N with the number of commits
-# mark all commits except the first as 'squash' or 'fixup'
-# reword the remaining commit to follow the format
-git push --force-with-lease
-
-# Or reword specific commits:
-git rebase -i HEAD~N
-# mark the bad commits as 'reword'
-git push --force-with-lease
-```
-
-## Test your changes
-
-PX4 is safety-critical software. All contributions must include adequate testing where practical:
-
-- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
-- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
-- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
-
-### Types of tests
-
-| Test type | When to use | How to run |
-|-----------|-------------|------------|
-| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
-| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
-| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
-
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
-
-## Push your changes
-
-Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
+Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
 
 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

CTestConfig.cmake

@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)

Firmware.sublime-project

@@ -0,0 +1,83 @@
+{
+	"folders":
+	[
+		{
+			"path": ".",
+			"file_exclude_patterns":
+			[
+				"*.o",
+				"*.a",
+				"*.d",
+				".built",
+				".context",
+				".depend",
+				".config",
+				".version",
+				"Make.dep",
+				".configured",
+				"*.sublime-project",
+				"*.sublime-workspace",
+				".project",
+				".cproject",
+				"cscope.out"
+			],
+			"folder_exclude_patterns":
+			[
+				".settings",
+				"nuttx/arch/arm/src/board",
+				"nuttx/arch/arm/src/chip",
+				"build_*"
+			]
+		}
+	],
+	"settings":
+	{
+		"tab_size": 8,
+		"translate_tabs_to_spaces": false,
+		"highlight_line": true,
+		"AStyleFormatter":
+		{
+			"options_c":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			},
+			"options_c++":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			}
+		}
+	},
+	"build_systems":
+	[
+		{
+			"name": "PX4: make all",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload px4_fmu-v2_default -j8"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make posix",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make posix"],
+			"shell": true
+		},
+		{
+			"name": "MindPX_V2: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload mindpx-v2_default -j8"],
+			"shell": true
+		}
+	]
+}

Jenkinsfile

@@ -7,20 +7,90 @@ pipeline {
     stage('Analysis') {
       when {
         anyOf {
-          branch 'main'
-          branch 'master' // should be removed, but in case there is something going on...
+          branch 'master'
           branch 'pr-jenkins' // for testing
         }
       }
       parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/bouncy/setup.sh;
+              source /opt/ros/melodic/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make distclean'
             sh 'make airframe_metadata'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -29,38 +99,36 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make distclean'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
-              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
+              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
             }
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make distclean'
             sh 'make module_documentation'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'modules/*.md')
@@ -69,57 +137,7 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('msg file docs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
-            dir('build') {
-              archiveArtifacts(artifacts: 'msg_docs/*.md')
-              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            git checkout 4.0.15;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            git fetch --all --tags;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
@@ -127,23 +145,22 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
             sh 'export'
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
+            sh 'make distclean'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_*.json')
-              stash includes: 'graph_*.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
+              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
             }
           }
           post {
             always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
             }
           }
         }
@@ -155,35 +172,58 @@ pipeline {
 
       parallel {
 
-        stage('Userguide') {
+        stage('Devguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
             unstash 'metadata_airframes'
             unstash 'metadata_parameters'
             unstash 'metadata_module_documentation'
-            unstash 'msg_documentation'
-            unstash 'failsafe_sim'
-            unstash 'uorb_graph'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
-              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
-              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
-              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd PX4-user_guide; git push origin main || true')
-              sh('rm -rf PX4-user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
+              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
+              sh('cp -R modules/*.md Devguide/en/middleware/')
+              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd Devguide; git push origin master || true')
+              sh('rm -rf Devguide')
             }
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
+        stage('Userguide') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
+              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
+              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd px4_user_guide; git push origin master || true')
+              sh('rm -rf px4_user_guide')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -194,7 +234,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -211,8 +251,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -221,9 +260,111 @@ pipeline {
           }
         }
 
+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'master' branch
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin master || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
+              // deploy uORB RTPS ID map
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              // deploy uORB RTPS required tools
+              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -233,13 +374,11 @@ pipeline {
             withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
             }
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -262,7 +401,7 @@ pipeline {
     GIT_COMMITTER_NAME = "PX4BuildBot"
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
   }
 }

Kconfig

@@ -1,232 +0,0 @@
-# PX4 Firmware Configuration
-
-
-mainmenu "PX4 Firmware Configuration"
-
-comment "Vendor: $(VENDOR)"
-comment "Model: $(MODEL)"
-comment "Label: $(LABEL)"
-
-menu "Toolchain"
-    choice
-        prompt "Platform"
-        default PLATFORM_NUTTX
-        config PLATFORM_NUTTX
-            bool "nuttx"
-        config PLATFORM_POSIX
-            bool "posix"
-        config PLATFORM_QURT
-            bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
-    endchoice
-
-    config BOARD_PLATFORM
-        string
-        default "nuttx" if PLATFORM_NUTTX
-        default "posix" if PLATFORM_POSIX
-        default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2
-
-    config BOARD_LOCKSTEP
-        bool "Force enable lockstep"
-        depends on PLATFORM_POSIX
-        help
-            forces lockstep behaviour, despite REPLAY env variable
-
-    config BOARD_NOLOCKSTEP
-        bool "Force disable lockstep"
-        depends on PLATFORM_POSIX
-        help
-            forces nolockstep behaviour, despite REPLAY env variable
-
-    config BOARD_LINUX_TARGET
-        bool "Linux OS Target"
-        depends on PLATFORM_POSIX
-        help
-            Board Platform is running the Linux operating system
-
-    config BOARD_TOOLCHAIN
-        string "Toolchain"
-        default ""
-
-    config BOARD_ARCHITECTURE
-        string "Architecture"
-        default ""
-
-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
-    config BOARD_FULL_OPTIMIZATION
-        bool "Full optmization (O3)"
-        default n
-        help
-            Enables Cmake Release for -O3 optimization
-
-    config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
-        bool "Fortified toolchain support"
-        default n
-        help
-            Enable compatibility with toolchains that define
-            _FORTIFY_SOURCE.
-
-            This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
-            disabled unless the fortified toolchain requires optimization.
-
-    config BOARD_ROMFSROOT
-        string "ROMFSROOT"
-        default "px4fmu_common"
-        help
-            relative path to the ROMFS root directory
-
-    config BOARD_ADDITIONAL_INIT
-        string "Additional init file"
-        help
-            additional configurable init file to include in the ROMFS
-
-    config BOARD_IO
-        string "IO board name"
-        default "px4_io-v2_default"
-        depends on DRIVERS_PX4IO
-        help
-            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
-
-    config BOARD_CONSTRAINED_FLASH
-        bool "Contrained flash"
-        help
-            flag to enable constrained flash options (eg limit init script status text)
-
-    config BOARD_NO_HELP
-        bool "No help"
-        help
-            optional condition flag to disable help text on constrained flash systems
-
-    config BOARD_CONSTRAINED_MEMORY
-        bool "Contrained memory"
-        help
-            flag to enable constrained memory options (eg limit maximum number of uORB publications)
-
-    config BOARD_EXTERNAL_METADATA
-        bool "External metadata"
-        help
-            flag to exclude metadata to reduce flash
-
-    config BOARD_LINKER_PREFIX
-        string "linker prefix"
-        help
-            optional to prefix on the Linker script.
-
-    config BOARD_COMPILE_DEFINITIONS
-        string "add custom compile definitions"
-        help
-            add custom compile defitions to this specific target
-endmenu #Toolchain
-
-config BOARD_TESTING
-    bool "Testing"
-    select SYSTEMCMDS_TESTS
-    help
-        flag to enable automatic inclusion of PX4 testing modules
-
-
-config BOARD_ETHERNET
-    bool "Ethernet"
-    help
-        flag to indicate that ethernet is enabled
-
-config BOARD_CRYPTO
-    bool "Crypto support"
-    help
-        Enable PX4 Crypto Support. Select the implementation under drivers
-
-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
-menu "Serial ports"
-
-    config BOARD_SERIAL_URT6
-        string "URT6 tty port"
-
-    config BOARD_SERIAL_GPS1
-        string "GPS1 tty port"
-
-    config BOARD_SERIAL_GPS2
-        string "GPS2 tty port"
-
-    config BOARD_SERIAL_GPS3
-        string "GPS3 tty port"
-
-    config BOARD_SERIAL_GPS4
-        string "GPS4 tty port"
-
-    config BOARD_SERIAL_GPS5
-        string "GPS5 tty port"
-
-    config BOARD_SERIAL_TEL1
-        string "TEL1 tty port"
-
-    config BOARD_SERIAL_TEL2
-        string "TEL2 tty port"
-
-    config BOARD_SERIAL_TEL3
-        string "TEL3 tty port"
-
-    config BOARD_SERIAL_TEL4
-        string "TEL4 tty port"
-
-    config BOARD_SERIAL_TEL5
-        string "TEL5 tty port"
-
-    config BOARD_SERIAL_RC
-        string "RC tty port"
-
-    config BOARD_SERIAL_WIFI
-        string "WIFI tty port"
-
-    config BOARD_SERIAL_EXT2
-        string "EXT2 tty port"
-endmenu
-
-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
-endmenu
-
-menu "drivers"
-source "src/drivers/Kconfig"
-endmenu
-
-menu "modules"
-source "src/modules/Kconfig"
-endmenu
-
-menu "systemcmds"
-source "src/systemcmds/Kconfig"
-endmenu
-
-menu "examples"
-source "src/examples/Kconfig"
-endmenu
-
-menu "templates"
-source "src/templates/Kconfig"
-endmenu
-
-menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
-source "platforms/Kconfig"
-endmenu
-
-source "src/lib/*/Kconfig"

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2025, PX4 Development Team
+Copyright (c) 2012 - 2020, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MAINTAINERS.md

@@ -1,54 +0,0 @@
-Maintainers
-===========
-
-PX4 is maintained by a group of contributors trusted to steward the project. All maintainers listed below are members of the @PX4/dev-team, have write access, and participate in maintainer decisions. We recognize two types: **Code Owners**, responsible for specific components, and **Reviewers**, who help across the project without a fixed component.
-
-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers) to learn about the role of the maintainers and the process to become one.
-
-**Code Owners**
-
-| Name                    | Sector | GitHub | Chat | email
-|-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
-| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
-| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
-| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
-| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
-
-
-**Reviewers**
-
-Reviewers help maintain PX4 across the project without ownership of a specific component.
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| _No reviewers yet._ | | |
-
-
-**Documentation Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
-
-**Release Managers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
-
-**Retired Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-|  |  |  |