Update docs_crowdin_upload.yml

This reverts commit 64ad0ebe87.

.gitattributes

@@ -72,6 +72,7 @@ Makefile.* text eol=lf
 *.tar    binary
 *.tgz    binary
 *.zip    binary
+*.hex    binary
 
 # everything else
 .gitattributes text eol=lf

.github/workflows/build_all_targets.yml

@@ -14,9 +14,15 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   group_targets:
@@ -94,7 +100,7 @@ jobs:
 
       - name: Building [${{ matrix.group }}]
         run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
 
       - name: Arrange Build Artifacts
         run: |
@@ -140,12 +146,10 @@ jobs:
 
   release:
     name: Create Release and Upload Artifacts
-    permissions:
-      contents: write
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/')
+    if: startsWith(github.ref, 'refs/tags/v')
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4

.github/workflows/checks.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/clang-tidy.yml

@@ -4,10 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
-
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/compile_macos.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/compile_ubuntu.yml

@@ -7,9 +7,15 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build_and_test:

.github/workflows/dev_container.yml

@@ -10,19 +10,21 @@ on:
       - 'release/**'
     tags:
       - 'v*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
-    name: Build and Push Container (${{ matrix.arch }})
-    strategy:
-      matrix:
-        arch: [x64, arm64]
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.arch }}","image=ubuntu24-full-${{ matrix.arch }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    name: Build and Push Container
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     steps:
-      - uses: runs-on/action@v1
       - uses: actions/checkout@v4
         with:
           fetch-tags: true
@@ -36,14 +38,13 @@ jobs:
 
       - name: Login to Docker Hub
         uses: docker/login-action@v3
-        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        if: github.event_name != 'pull_request'
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
-        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
@@ -69,11 +70,12 @@ jobs:
           context: Tools/setup
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
-          platforms: linux/${{ matrix.arch == 'x64' && 'amd64' || 'arm64' }}
+          platforms: |
+            linux/amd64
           load: true
           push: false
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
 
       - name: Get Tag Name
         id: tag_name
@@ -93,13 +95,13 @@ jobs:
 
       - name: Push container image
         uses: docker/build-push-action@v6
-        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
         with:
           context: Tools/setup
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
-          platforms: linux/${{ matrix.arch == 'x64' && 'amd64' || 'arm64' }}
+          platforms: |
+            linux/amd64
           provenance: mode=max
-          push: true
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
+          push: ${{ github.event_name != 'pull_request' }}
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/docs_crowdin_download.yml

@@ -0,0 +1,43 @@
+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
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: crowdin action
+        uses: crowdin/github-action@v2
+        with:
+          config: 'docs/crowdin_docs.yml'
+          upload_sources: false
+          upload_translations: false
+          download_translations: true
+          commit_message: New Crowdin translations
+          localization_branch_name: l10n_crowdin_docs_translations
+          crowdin_branch_name: main
+          create_pull_request: true
+          pull_request_base_branch_name: 'main'
+          pull_request_title: New PX4 guide translations (Crowdin)
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action)'
+        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

@@ -0,0 +1,44 @@
+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

@@ -0,0 +1,96 @@
+name: Docs - Deploy PX4 User Guide
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    tags:
+      - 'v*'
+    paths:
+      - 'docs/en/**'
+  pull_request:
+    branches:
+      - '*'
+    paths:
+      - 'docs/en/**'
+
+  # Allows you to run this workflow manually from the Actions tab
+  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: ${{ github.head_ref || github.ref_name }}
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    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: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ 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 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
+          rm -rf docs.px4.io/${BRANCH_NAME}
+          mkdir -p docs.px4.io/${BRANCH_NAME}
+          cp -r ~/_book/* docs.px4.io/${BRANCH_NAME}/
+          cd docs.px4.io
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+          git add ${BRANCH_NAME}
+          git commit -a -m "PX4 docs build update (vitepress) `date`"
+          #git add .
+          #git commit --amend -m "PX4 docs build update (vitepress) `date`"
+          #git commit --allow-empty -m "Empty commit to force rebuild"
+          git push origin main -f

.github/workflows/docs_flaw_checker.yml

@@ -0,0 +1,74 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '16'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v35.9.2
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.134
+          markdown_link_checker_sc -r ${{ github.workspace }} -d en -f ./docs/logs/prFiles.json -i assets -u docs.px4.io/main/ > ./docs/logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./docs/logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "${{ steps.read-errors-by-page.outputs.content }}"
+
+      - name: Save PR number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+        run: |
+          #mkdir -p ./pr
+          echo $PR_NUMBER > ./pr/pr_number
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -0,0 +1,107 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "${{ steps.read-errors-by-page.outputs.content }}"
+          echo "${{ steps.read-error-pr-number.outputs.content }}"
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -4,6 +4,9 @@ on:
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/ekf_update_change_indicator.yml

@@ -1,6 +1,10 @@
 name: EKF Update Change Indicator
 
-on: push
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/failsafe_sim.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/flash_analysis.yml

@@ -9,9 +9,15 @@ on:
   push:
     branches:
       - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50

.github/workflows/mavros_mission_tests.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/mavros_offboard_tests.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/nuttx_env_config.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/python_checks.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_translation_node.yml

@@ -3,9 +3,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 defaults:
   run:
     shell: bash

.github/workflows/sitl_tests.yml

@@ -9,9 +9,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

CMakeLists.txt

@@ -99,7 +99,7 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.10 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)

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -44,7 +44,7 @@ param set-default FW_R_LIM 30
 
 param set-default FW_MAN_R_MAX 30
 
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -12,13 +12,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-
-
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -13,9 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 # TODO: Enable motor failure detection when the

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -14,10 +14,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 # Commander Parameters
 param set-default COM_DISARM_LAND 0.5
 

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 param set-default FW_LND_ANG 8

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

@@ -45,12 +45,6 @@ param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_MIN1 70

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

@@ -11,11 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 

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

@@ -44,12 +44,6 @@ param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
 param set-default SIM_GZ_WH_MIN1 0

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

@@ -45,10 +45,7 @@ param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
 # Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front

ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter

@@ -13,12 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-
 param set-default MAV_TYPE 20
 
 param set-default CA_AIRFRAME 4

ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor

@@ -13,11 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
 param set-default MAV_TYPE 21
 
 param set-default CA_AIRFRAME 3

ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Gazebo x500 with downward optical flow and distance sensor
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+echo "Disabling Sim GPS"
+param set-default SYS_HAS_GPS 0
+param set-default SIM_GPS_USED 0
+param set-default EKF2_GPS_CTRL 0

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

@@ -15,8 +15,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -83,9 +83,6 @@ param set-default CA_ROTOR7_AY -0.211325
 param set-default CA_ROTOR7_AZ -0.57735
 
 param set-default SIM_GZ_EN 1
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 
 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102

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

@@ -91,6 +91,7 @@ px4_add_romfs_files(
 	4018_gz_quadtailsitter
 	4019_gz_x500_gimbal
 	4020_gz_tiltrotor
+	4021_gz_x500_flow
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -73,13 +73,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			exit 1
 		fi
 
-		# look for running ${gz_command} gazebo world
+		# Look for an already running world
 		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
 		# shellcheck disable=SC2153
 		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
 
-			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+			# Setup gz environment variables
 			if [ -f ./gz_env.sh ]; then
 				. ./gz_env.sh
 
@@ -87,62 +87,127 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 				. ../gz_env.sh
 			fi
 
-			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+			echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
 
-			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+			${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
 			if [ -z "${HEADLESS}" ]; then
-				# HEADLESS not set, starting gui
-				${gz_command} ${gz_sub_command} -g &
+				echo "INFO  [init] Starting gz gui"
+				${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
 			fi
 
+			# Wait for Gazebo world to be ready before proceeding
+			check_scene_info() {
+				SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
+				if echo "$SERVICE_INFO" | grep -q "Service providers"; then
+					return 0
+				else
+					return 1
+				fi
+			}
+
+			ATTEMPTS=30
+			while [ $ATTEMPTS -gt 0 ]; do
+				if check_scene_info; then
+					echo "INFO  [init] Gazebo world is ready"
+					break
+				fi
+				ATTEMPTS=$((ATTEMPTS-1))
+				if [ $ATTEMPTS -eq 0 ]; then
+					echo "ERROR [init] Timed out waiting for Gazebo world"
+					exit 1
+				fi
+				echo "INFO  [init] Waiting for Gazebo world..."
+				sleep 1
+			done
+
 		else
-			# Gazebo is already running, do not start the simulator, nor the GUI
+			# Gazebo is already running
 			echo "INFO  [init] gazebo already running world: ${gz_world}"
 			PX4_GZ_WORLD=${gz_world}
 		fi
+
 	else
 		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
 	fi
 
-	# start gz_bridge
+	# Start gz_bridge - either spawn a model or connect to existing one
 	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# model specified, gz_bridge will spawn model
+		# Spawn a model
+		MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
+		MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
 
+		POSE_ARG=""
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-			# model pose provided: [x, y, z, roll, pitch, yaw]
+			pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+			pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+			pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+			pos_x=${pos_x:-0}
+			pos_y=${pos_y:-0}
+			pos_z=${pos_z:-0}
 
-			# Clean potential input line formatting.
-			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
-
-		else
-			# model pose not provided, origin will be used
-
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
-			model_pose="0,0,0,0,0,0"
+			POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+			echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
 		fi
 
-		# start gz bridge with pose arg.
-		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+		echo "INFO  [init] Spawning model"
+
+		# Spawn model
+		${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+
+		# Wait for model to spawn
+		sleep 1
+
+		# Start gz_bridge
+		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
 			echo "ERROR [init] gz_bridge failed to start and spawn model"
 			exit 1
 		fi
 
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-		# model name specificed, gz_bridge will attach to existing model
+		# Set physics parameters for faster-than-realtime simulation if needed
+		if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
+			echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
+			${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
+						--reptype gz.msgs.Boolean --timeout 5000 \
+						--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
+		fi
 
+		# Set up camera to follow the model if requested
+		if [ -n "${PX4_GZ_FOLLOW}" ]; then
+
+			echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
+
+			# Set camera to follow the model
+			${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
+			# Set default camera offset if not specified
+			follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
+			follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
+			follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
+
+			# Set camera offset
+			${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+
+			echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
+		fi
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+		# Connect to existing model
 		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
 			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
 			exit 1
 		fi
-
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+		echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
 		exit 1
 	fi
-
 	# Start the sensor simulator modules
 	if param compare -s SENS_EN_BAROSIM 1
 	then

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -22,11 +22,6 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -232,9 +232,12 @@ then
 
 	# compasses
 	hmc5883 -T -X -q start
+	if ! iis2mdc -X -q start
+	then
+		lis2mdl -X -q start
+	fi
 	ist8308 -X -q start
 	ist8310 -X -q start
-	lis2mdl -X -q start
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start

ROMFS/px4fmu_common/init.d/rcS

@@ -488,11 +488,14 @@ else
 	rc_input start $RC_INPUT_ARGS
 
 	# Manages USB interface
-	if ! cdcacm_autostart start
+	if param greater -s SYS_USB_AUTO -1
 	then
-		sercon
-		echo "Starting MAVLink on /dev/ttyACM0"
-		mavlink start -d /dev/ttyACM0
+		if ! cdcacm_autostart start
+		then
+			sercon
+			echo "Starting MAVLink on /dev/ttyACM0"
+			mavlink start -d /dev/ttyACM0
+		fi
 	fi
 
 	#

Tools/astyle/check_newlines.sh

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

Tools/ci/generate_board_targets_json.py

@@ -87,17 +87,20 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         # get the container based on the platform and toolchain
-        container = 'ghcr.io/px4/px4-dev:main'
         if platform == 'posix':
+            container = 'px4io/px4-dev-base-focal:2021-09-08'
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
+                    container = 'px4io/px4-dev-aarch64:2022-08-12'
                     group = 'aarch64'
                 elif toolchain == 'arm-linux-gnueabihf':
+                    container = 'px4io/px4-dev-armhf:2023-06-26'
                     group = 'armhf'
                 else:
                     if verbose: print(f'unmatched toolchain: {toolchain}')
         elif platform == 'nuttx':
+            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
             group = 'nuttx'
         else:
             if verbose: print(f'unmatched platform: {platform}')
@@ -121,7 +124,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:main'
+grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets

Tools/ci/package_build_artifacts.sh

@@ -4,9 +4,8 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
-  build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
-  target_name=$build_dir
+  build_dir=${build_dir::${#build_dir}-1}
   mkdir artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
   # Airframe
@@ -27,23 +26,21 @@ for build_dir_path in build/*/ ; do
   echo "----------"
 done
 
-if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata
-  mkdir artifacts/_general/
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  # Airframe
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  # Parameters
-  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-  # Actuators
-  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-  # Events
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # ROS 2 msgs
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # Module Docs
-  ls -la artifacts/_general/
-fi
+# general metadata
+mkdir artifacts/_general/
+cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+# Airframe
+cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+# Parameters
+cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+# Actuators
+cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+# Events
+cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+# ROS 2 msgs
+cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+# Module Docs
+ls -la artifacts/_general/

Tools/ecl_ekf/analyse_logdata_ekf.py

@@ -111,13 +111,13 @@ def find_checks_that_apply(
         innov_fail_checks.append('yaw')
 
     # Velocity Sensor Checks
-    if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_gnss_vel']) > 0.5):
         sensor_checks.append('vel')
         innov_fail_checks.append('velh')
         innov_fail_checks.append('velv')
 
     # Position Sensor Checks
-    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
+    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gnss_pos']) > 0.5)
         or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
         sensor_checks.append('pos')
         innov_fail_checks.append('posh')

Tools/ecl_ekf/plotting/pdf_report.py

@@ -185,7 +185,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         # plot control mode summary A
         data_plot = ControlModeSummaryPlot(
             status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
-            ['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
+            ['cs_gnss_pos', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
              'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
             x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
             annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',

Tools/msg/px_generate_uorb_topic_files.py

@@ -173,7 +173,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
 
 def generate_by_template(output_file, template_file, em_globals):
     """
-    Invokes empy intepreter to geneate output_file by the
+    Invokes empy intepreter to generate output_file by the
     given template_file and predefined em_globals dict
     """
     # check if folder exists:

Tools/px4airframes/rcout.py

@@ -47,7 +47,7 @@ class RCOutput():
                     continue
 
                 if post_start:
-                    # Path to post-start sript
+                    # Path to post-start script
                     path = airframe.GetPostPath()
                 else:
                     # Path to start script

Tools/px_uploader.py

@@ -296,7 +296,7 @@ class uploader:
         if c != self.OK:
             raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
 
-    # The control flow for reciving Sync is on the order of 16 Ms per Sync
+    # The control flow for receiving Sync is on the order of 16 Ms per Sync
     # This will validate all the SYNC,<results> for a window of programing
     # in about 13.81 Ms for 256 blocks written
     def __ackSyncWindow(self, count):

Tools/setup/docker-entrypoint.sh

@@ -1,27 +1,19 @@
 #!/bin/bash
 
-GREEN='\033[0;32m'
-NC='\033[0m' # No Color
-FILE_DESCRIPTOR="${GREEN}[docker-entrypoint.sh]${NC}"
-
-echo -e "$FILE_DESCRIPTOR Starting"
-
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo -e "$FILE_DESCRIPTOR Starting Xvfb"
+	echo "[docker-entrypoint.sh] Starting Xvfb"
 	Xvfb :99 -screen 0 1600x1200x24+32 &
 fi
 
 # Check if the ROS_DISTRO is passed and use it
 # to source the ROS environment
 if [ -n "${ROS_DISTRO}" ]; then
-	echo -e "$FILE_DESCRIPTOR ROS: ${ROS_DISTRO}"
+	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-echo -e "$FILE_DESCRIPTOR ($( uname -m ))"
-
 exec "$@"

Tools/setup/ubuntu.sh

@@ -27,12 +27,9 @@ do
 	fi
 done
 
-echo "[ubuntu.sh] Starting..."
-echo "[ubuntu.sh] arch: ${GREEN}$INSTALL_ARCH${NC}"
-
 # detect if running in docker
 if [ -f /.dockerenv ]; then
-	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
+	echo "Running within docker, installing initial dependencies";
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
@@ -50,7 +47,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
 	return 1
 fi
 
@@ -58,8 +55,10 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "[ubuntu.sh] Ubuntu ${GREEN}${UBUNTU_RELEASE}${NC}"
-echo "[ubuntu.sh] Installing PX4 general dependencies"
+echo "Ubuntu ${UBUNTU_RELEASE}"
+
+echo
+echo "Installing PX4 general dependencies"
 
 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -92,7 +91,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 
 # Python3 dependencies
 echo
-echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
+echo "Installing PX4 Python3 dependencies"
 PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
 REQUIRED_VERSION="3.11"
 if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
@@ -110,8 +109,8 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	echo
-	echo "[ubuntu.sh] NuttX Installing Dependencies"
-	sudo apt-get update -y --quiet
+	echo "Installing NuttX dependencies"
+
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
@@ -119,6 +118,9 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		build-essential \
 		curl \
 		flex \
+		g++-multilib \
+		gcc-arm-none-eabi \
+		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -145,25 +147,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;
 
-
-	echo
-	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
-
-	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			g++-multilib \
-			gcc-arm-none-eabi \
-			gcc-multilib \
-			;
-	fi
-
-	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			g++-aarch64-linux-gnu \
-			g++-arm-linux-gnueabihf \
-			;
-	fi
-
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
@@ -174,7 +157,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then
 
 	echo
-	echo "[ubuntu.sh] Installing PX4 simulation dependencies"
+	echo "Installing PX4 simulation dependencies"
 
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -199,8 +182,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-		echo "[ubuntu.sh] Earlier versions will be removed"
+		echo "Gazebo (Harmonic) will be installed"
+		echo "Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

boards/ark/fmu-v6x/src/board_config.h

@@ -420,6 +420,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+/* This board has 4 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
+
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/fpv/src/board_config.h

@@ -307,6 +307,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+/* This board has 3 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
+
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/fpv/src/timer_config.cpp

@@ -58,7 +58,7 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {

boards/ark/pi6x/src/board_config.h

@@ -309,6 +309,9 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+/* This board has 4 DMA channels available for bidirectional dshot */
+#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
+
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/bitcraze/crazyflie/syslink/syslink_main.h

@@ -139,7 +139,7 @@ private:
 
 	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
 	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
-	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE};
 
 	int32_t _rssi;
 	battery_state _bstate;

boards/holybro/kakutef7/default.px4board

@@ -17,7 +17,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -47,6 +46,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 # CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
-CONFIG_SYSTEMCMDS_DMESG=y
+# CONFIG_SYSTEMCMDS_DMESG is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_TOP=y
+# CONFIG_SYSTEMCMDS_TOP is not set

boards/holybro/kakuteh7/nuttx-config/nsh/defconfig

@@ -196,7 +196,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y

boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig

@@ -195,7 +195,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32_RTC_HSECLOCK=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -195,7 +195,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y

boards/modalai/voxl2-slpi/default.px4board

@@ -2,6 +2,9 @@ CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp

@@ -207,15 +207,15 @@ void GhstRc::Run()
 
 	if (new_bytes > 0) {
 		_bytes_rx += new_bytes;
-		int8_t ghst_rssi = -1;
-		bool rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], new_bytes, &_raw_rc_values[0], &ghst_rssi,
+		ghstLinkStatistics_t link_stats = { .rssi_pct = -1, .rssi_dbm = NAN, .link_quality = 0 };
+		bool rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], new_bytes, &_raw_rc_values[0], &link_stats,
 					     &_raw_rc_count, GHST_MAX_NUM_CHANNELS);
 
 		if (rc_updated) {
 			_last_packet_seen = time_now_us;
 			// we have a new GHST frame. Publish it.
 			_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
-			fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
+			fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, link_stats.rssi_pct);
 
 			// ghst telemetry works on fmu-v5
 			// on other Pixhawk (-related) boards we cannot write to the RC UART

boards/px4/fmu-v6xrt/default.px4board

@@ -16,6 +16,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y

boards/px4/fmu-v6xrt/rover.px4board

@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n

boards/px4/sitl/default.px4board

@@ -50,7 +50,9 @@ CONFIG_MODULES_ROVER_MECANUM=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=y
 CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
 CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y

docs/.gitignore

@@ -0,0 +1,21 @@
+# vitepress - user guide
+node_modules/
+.vitepress/cache/
+.vitepress/dist/
+.vitepress/.temp/
+
+# Book build output
+_book
+
+#log folder
+logs
+
+#backup files
+*.bak
+
+#Yarn log
+yarn-error.log
+
+
+# Generated alternative _summary.md
+# **/*/_summary.md

docs/.vitepress/config.mjs

@@ -0,0 +1,248 @@
+import { defineConfig } from "vitepress";
+const getSidebar = require("./get_sidebar.js");
+
+import openEditor from "open-editor"; // Open file locally via edit
+
+// Tabs: https://github.com/Red-Asuka/vitepress-plugin-tabs
+import tabsPlugin from "@red-asuka/vitepress-plugin-tabs";
+
+// https://vitepress.dev/reference/site-config
+export default defineConfig({
+  title: "PX4 Guide (main)",
+  description: "PX4 User and Developer Guide",
+  base: process.env.BRANCH_NAME
+    ? "/" + process.env.BRANCH_NAME + "/"
+    : "/px4_user_guide/",
+  srcExclude: [
+    "de/**/*.md",
+    "ja/**/*.md",
+    "ru/**/*.md",
+    "tr/**/*.md",
+    //"kr/**/*.md",
+    //"zh/**/*.md",
+    //"uk/**/*.md",
+    "**/_*.md", //Remove source docs that start with "_" (included/not rendered)
+  ],
+  ignoreDeadLinks: true,
+  markdown: {
+    math: true,
+    config: (md) => {
+      // use more markdown-it plugins!
+      tabsPlugin(md); //https://github.com/Red-Asuka/vitepress-plugin-tabs
+    },
+  },
+
+  vite: {
+    plugins: [
+      {
+        // Open file locally via edit
+        name: "open-in-editor",
+        configureServer(server) {
+          server.middlewares.use("/__open-in-editor", (req, res, next) => {
+            if (!req.url) return next();
+            const q = new URL(req.url, "http://a.com").searchParams;
+            const file = q.get("file");
+            if (!file) return next();
+            const line = Number.parseInt(q.get("line")) || 1;
+            const column = Number.parseInt(q.get("column")) || 1;
+            // Open editor if EDITOR environment variable is set
+            if (typeof process.env.EDITOR !== "undefined") {
+              openEditor([{ file, line, column }]);
+            } else {
+              console.warn(
+                "EDITOR environment variable is not set. Skipping opening file."
+              );
+            }
+            res.statusCode = 204;
+            res.end();
+          });
+        },
+      },
+    ],
+  },
+
+  locales: {
+    en: {
+      label: "English",
+      // other locale specific properties...
+      themeConfig: {
+        sidebar: getSidebar.sidebar("en"),
+        editLink: {
+          text:
+            /* We get a github link if CI env is defined,
+            or if it isn't defined and a local editor isn't defined) */
+            typeof process.env.CI !== "undefined" ||
+            typeof process.env.EDITOR === "undefined"
+              ? "Edit on GitHub"
+              : "Open in your editor",
+          pattern:
+            typeof process.env.CI !== "undefined" ||
+            typeof process.env.EDITOR === "undefined"
+              ? ({ filePath, frontmatter }) => {
+                  if (frontmatter.newEditLink) {
+                    //newEditLink defines a frontmatter key you can use to append a path to main
+                    return `https://github.com/PX4/PX4-Autopilot/edit/main/${frontmatter.newEditLink}`;
+                  } else {
+                    return `https://github.com/PX4/PX4-Autopilot/edit/main/${filePath}`;
+                  }
+                }
+              : (c) =>
+                  `${
+                    window.location.origin
+                  }/__open-in-editor?file=${encodeURIComponent(c.filePath)}`,
+        },
+      },
+    },
+
+    zh: {
+      label: "中文 (Chinese)",
+      lang: "zh-CN", // optional, will be added  as `lang` attribute on `html` tag
+      themeConfig: {
+        sidebar: getSidebar.sidebar("zh"),
+      },
+      // other locale specific properties...
+    },
+    ko: {
+      label: "한국어 (Korean)",
+      lang: "ko-KR", // optional, will be added  as `lang` attribute on `html` tag
+      themeConfig: {
+        sidebar: getSidebar.sidebar("ko"),
+      },
+
+      // other locale specific properties...
+    },
+
+    uk: {
+      label: "Мови (Ukrainian)",
+      lang: "uk-UA", // optional, will be added  as `lang` attribute on `html` tag
+      themeConfig: {
+        sidebar: getSidebar.sidebar("uk"),
+      },
+
+      // other locale specific properties...
+    },
+  },
+  //Logs every page loaded on build. Good way to catch errors not caught by other things.
+  async transformPageData(pageData, { siteConfig }) {
+    console.log(pageData.filePath);
+  },
+
+  //
+
+  themeConfig: {
+    // https://vitepress.dev/reference/default-theme-config
+    logo: "/px4-logo.svg",
+    sidebar: getSidebar.sidebar("en"),
+
+    editLink: {
+      pattern: "https://crowdin.com/project/px4-user-guide",
+      text: "Edit translation on Crowdin",
+    },
+
+    search: {
+      provider: "local",
+      /*
+      provider: process.env.BRANCH_NAME ? "algolia" : "local",
+      options: {
+        appId: "HHWW7I44JO",
+        apiKey: "48919e1dffc6e0ce4c0d6331343d2c0e",
+        indexName: "px4",
+        searchParameters: {
+          facetFilters: [`version:${process.env.BRANCH_NAME}`],
+        },
+      },
+      */
+    },
+
+    nav: [
+      {
+        text: "PX4",
+        items: [
+          {
+            text: "Website",
+            link: "https://px4.io/",
+            ariaLabel: "PX4 website link",
+          },
+          {
+            text: "Autopilot Source Code",
+            link: "https://github.com/PX4/PX4-Autopilot",
+          },
+          {
+            text: "Docs Source Code",
+            link: "https://github.com/PX4/PX4-Autopilot/docs/",
+          },
+        ],
+      },
+      {
+        text: "Dronecode",
+        items: [
+          {
+            text: "QGroundControl",
+            link: "http://qgroundcontrol.com/",
+          },
+          {
+            text: "MAVSDK",
+            link: "https://mavsdk.mavlink.io/",
+          },
+          {
+            text: "MAVLINK",
+            link: "https://mavlink.io/en/",
+          },
+          {
+            text: "QGroundControl Guide",
+            link: "https://docs.qgroundcontrol.com/master/en/qgc-user-guide/",
+          },
+          {
+            text: "Dronecode Camera Manager",
+            link: "https://camera-manager.dronecode.org/en/",
+          },
+        ],
+      },
+      {
+        text: "Support",
+        link: "https://docs.px4.io/main/en/contribute/support.html",
+      },
+      {
+        text: "Version",
+        items: [
+          { text: "main", link: "https://docs.px4.io/main/en/" },
+          { text: "v1.15", link: "https://docs.px4.io/v1.15/en/" },
+          { text: "v1.14", link: "https://docs.px4.io/v1.14/en/" },
+          { text: "v1.13", link: "https://docs.px4.io/v1.13/en/" },
+          { text: "v1.12", link: "https://docs.px4.io/v1.12/en/" },
+          { text: "v1.11", link: "https://docs.px4.io/v1.11/en/" },
+        ],
+      },
+    ],
+
+    socialLinks: [
+      { icon: "github", link: "https://github.com/PX4/PX4-Autopilot" },
+    ],
+  },
+
+  head: [
+    [
+      "script",
+      {
+        async: "",
+        src: "https://www.googletagmanager.com/gtag/js?id=G-91EWVWRQ93",
+      },
+    ],
+    [
+      "script",
+      {},
+      `window.dataLayer = window.dataLayer || [];
+      function gtag(){dataLayer.push(arguments);}
+      gtag('js', new Date());
+      gtag('config', 'G-91EWVWRQ93');`,
+    ],
+  ],
+
+  vue: {
+    template: {
+      compilerOptions: {
+        isCustomElement: (tag) => tag === "lite-youtube",
+      },
+    },
+  },
+});

docs/.vitepress/get_sidebar.js

@@ -0,0 +1,267 @@
+// .vuepress/get_sidebar.js
+
+import path from "path";
+import fs from "fs";
+import readline from "readline";
+
+function getEntryArray(parent) {
+  let returnEntryArray = null;
+  //console.log("getEntryArray(): parent");
+  //console.log(parent);
+  //Gets returns the child array
+  //if (parent === "undefined") {
+  //  return [];
+  //}
+
+  if (Array.isArray(parent)) {
+    //This parent is an array, so return it (it is the sidebar top level)
+    returnEntryArray = parent;
+    //console.log("isArray");
+  }
+  parent.items = parent?.items ? parent.items : [];
+  //console.log("isNotArray");
+  //console.log("returnEntryArray:");
+  returnEntryArray = parent.items;
+  //console.log(returnEntryArray);
+  return returnEntryArray;
+}
+
+function parseGitbookSidebarToVuepress(sidebarContent, lang) {
+  const lines = sidebarContent.split("\n");
+
+  const newSidebar = [];
+
+  let first_iteration = true;
+  let indent_divider = 0;
+
+  const parents = [];
+  //console.log("parents - empty after creaton");
+  //console.log(parents);
+
+  const topLevelParent = {
+    title: "DUMMY",
+    path: "DUMMY",
+    //level: "0",
+    //items: [],
+  };
+  topLevelParent.items = [];
+  //console.log("topLevelParent - empty after creaton");
+  //console.log(topLevelParent);
+
+  parents.push(topLevelParent); // So last item is always the sidebar
+  //console.log("parents after pushing topLevelParent:");
+  //console.log(parents);
+
+  let current_parent;
+
+  let lastlevel = 0;
+  let last_item;
+
+  //let currentSection;
+  //let currentLevel = 0;
+
+  lines.forEach((line) => {
+    if (line.startsWith("#") || line.trim() === "") {
+      // Ignore lines that start with "#" or are empty
+      // Note, we should perhaps create sections for these. TBD.
+      return;
+    }
+
+    //console.log("DEBUG: Line: " + line);
+
+    let regex = /(\s*?)[\*-]\s\[(.*?)\]\((.*?)\)/g;
+
+    let indent_level = "";
+    let link_title = "";
+    let link_url = "";
+    let link_path = "";
+
+    try {
+      //console.log(`DEBUG: Lastitem at start:  ${JSON.stringify(last_item)}`);
+      let match = regex.exec(line);
+      //console.log('0: '+ match[0])
+      indent_level = match[1].length;
+      link_title = match[2];
+      link_url = match[3].trim();
+      link_path = link_url;
+    } catch (err) {
+      //Just skip empty lines that don't match
+      console.log(err);
+      console.log("DEBUG: Couldn't match line, skip line using return");
+      return;
+    }
+
+    try {
+      /*
+      if (link_url.endsWith("README.md")) {
+        link_url = link_url.replace("README.md", "");
+      }
+      */
+      if (link_url.endsWith(".md")) {
+        link_url = link_url.replace(".md", ".html");
+        //link_path = link_path.replace(".md", ".html");
+      }
+
+      if (!link_url.startsWith("http")) {
+        if (lang) {
+          link_url = `/${lang}/${link_url}`;
+        } else {
+          link_url = `/${link_url}`;
+        }
+      }
+
+      //Tidy up some of the title escaping that isn't used by VuePress
+      link_title = link_title.replace("\\(", "(");
+      link_title = link_title.replace("\\)", ")");
+      link_title = link_title.replace("\\_", "_");
+
+      //set indent_divider level (easier to think in levels, numbers of zero prefixes)
+      if ((indent_divider == 0) & (indent_level > 0.0)) {
+        indent_divider = indent_level;
+      }
+      if (indent_divider > 0) {
+        indent_level = indent_level / indent_divider;
+      }
+
+      let entry = {
+        text: link_title,
+        link: link_url,
+        //collapsed: true,
+        //link_path,
+        //level: indent_level,
+        //collapsible: true,
+      };
+      //console.log("entry:");
+      //console.log(entry);
+
+      //console.log("parents:");
+      //console.log(parents);
+      //console.log("current_parent - before pop");
+      //console.log(current_parent);
+      current_parent = parents.pop();
+      //console.log("current_parent - after pop");
+      //console.log(current_parent);
+
+      //console.log(`XX ST: indent: ${indent_level} lastlevel: ${lastlevel}`);
+      if (indent_level == lastlevel) {
+        //console.log(`XX EQ:`);
+        //console.log(current_parent);
+        const parentArray = getEntryArray(current_parent);
+        parentArray.push(entry);
+        //console.log("current_parent after pushing last entry");
+        //console.log(current_parent);
+
+        //console.log("eq parents before pushing back current parent");
+        //console.log(parents);
+        parents.push(current_parent);
+        //console.log("EQ parents after pushing current parent");
+        //console.log(parents);
+
+        //console.log("XX EQ3");
+      } else if (indent_level > lastlevel) {
+        //console.log("XX NEST");
+        //console.log(
+        //  `  DEBUG:NEST: lastlev: ${lastlevel}/indent lev: ${indent_level}`
+        // );
+        // This is a child of the last element added to current parent
+
+        //console.log(current_parent);
+        //console.log("NEST: current_parent - after pop");
+        //console.log("NEST: parents before");
+        //console.log(parents);
+
+        const parentArray = getEntryArray(current_parent);
+
+        //console.log(
+        //  "parentArray - we want to add entry to last entry in this array."
+        //);
+        //console.log(parentArray);
+
+        //Get the last element
+        //console.log(`how many elements in array ${parentArray.length}`);
+        //
+        const lastElement = parentArray.pop();
+        lastElement.collapsed = true;
+        //console.log(`NEST: last element in array:`);
+        //console.log(lastElement);
+        const lastElementArray = getEntryArray(lastElement);
+        //console.log(`NEST: last element array:`);
+        lastElementArray.push(entry);
+        //console.log(`NEST: last element after pushing event:`);
+        //console.log(lastElement);
+        // Push the last element back on to the parentArray
+        parentArray.push(lastElement);
+        //push current parent onto the parents array
+        parents.push(current_parent);
+        // push the element we just edited back onto the array so it can be current parent.
+        parents.push(lastElement);
+        //console.log("NEST: parents after");
+        //console.log(parents);
+      } else if (indent_level < lastlevel) {
+        // gone up a level
+        //console.log(`XX UP`);
+        while (indent_level < lastlevel--) {
+          //console.log(`pop ${lastlevel}`);
+          //Here we have no item. Group has finished (with a group)
+          //So add the current parent (finished) to its parent.
+          //console.log('DEBUG: Gone UP from level: '+ indent_level + ' TO: ' + lastlevel)
+
+          current_parent = parents.pop();
+        }
+        const parentArray = getEntryArray(current_parent);
+        parentArray.push(entry);
+        //console.log("current_parent after pushing last entry");
+        //console.log(current_parent);
+
+        //console.log("eq parents before pushing back current parent");
+        //console.log(parents);
+        parents.push(current_parent);
+      }
+
+      //console.log("AFTER ADDING Entry:");
+      //console.log("entry:");
+      //console.log(entry);
+      //console.log("parents:");
+      //console.log(parents);
+    } catch (err) {
+      console.log(err);
+      console.log(` DEBUG SOME ACTUAL PROBLEMXX2: ${err}`);
+    }
+
+    //last_item = entry;
+
+    lastlevel = indent_level; //reset
+    //console.log(`END OF ONE LINE:${indent_level} lastlevel: ${lastlevel}`);
+    //console.log("PARENTS");
+    //console.log(JSON.stringify(parents));
+  });
+
+  //all lines done
+  //console.log("All lines done parents:");
+  //console.log(JSON.stringify(parents));
+
+  //console.log("topLevelParent");
+  //console.log(topLevelParent);
+  return topLevelParent.items;
+}
+
+module.exports = {
+  sidebar: function (lang) {
+    const summaryfile_path = path.resolve(__dirname, "..", lang, "SUMMARY.md");
+    //console.log("DEBUG: summaryfile_path: " + summaryfile_path);
+    let data = "";
+
+    try {
+      // read contents of the file
+      data = fs.readFileSync(summaryfile_path, "UTF-8");
+    } catch (err) {
+      console.log(`DEBUG: ${lang} - SIDEBAR  DEFINITION NOT FOUND`);
+    }
+
+    const module_sidebar = parseGitbookSidebarToVuepress(data, lang);
+    //console.log(`DEBUG: Before`);
+    //console.log(`DEBUG: ${JSON.stringify(module_sidebar)}`);
+    //console.log(`DEBUG: After`);
+    return module_sidebar;
+  },
+};

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

@@ -0,0 +1,19 @@
+<template>
+</template>
+
+
+<script>
+    /** Redirects to the given 'to' url, which is relative to the current location. Originates from https://github.com/vuejs/vuepress/issues/239#issuecomment-632567115 */
+    export default {
+        name: 'Redirect',
+        props: {
+            to: {
+                type: String,
+                required: true
+            }
+        },
+        beforeMount() {
+            document.location.replace(this.to);
+        }
+    }
+</script>

docs/.vitepress/theme/index.js

@@ -0,0 +1,58 @@
+// https://vitepress.dev/guide/custom-theme
+import { h } from "vue";
+
+import DefaultTheme from "vitepress/theme";
+import "./style.css";
+
+// To support medium-zoom - like setup()
+import { onMounted, watch, nextTick } from "vue";
+import { useRoute } from "vitepress";
+import mediumZoom from "medium-zoom";
+
+// For https://www.npmjs.com/package/lite-youtube-embed
+import { inBrowser } from "vitepress";
+import "lite-youtube-embed/src/lite-yt-embed.css";
+if (inBrowser) {
+  // @ts-ignore
+  import("lite-youtube-embed");
+}
+
+// Support redirect plugin
+import Redirect from "./components/Redirect.vue";
+
+// Tabs: https://github.com/Red-Asuka/vitepress-plugin-tabs
+import { Tab, Tabs } from "vue3-tabs-component";
+import "@red-asuka/vitepress-plugin-tabs/dist/style.css";
+
+/** @type {import('vitepress').Theme} */
+export default {
+  extends: DefaultTheme,
+  Layout: () => {
+    return h(DefaultTheme.Layout, null, {
+      // https://vitepress.dev/guide/extending-default-theme#layout-slots
+    });
+  },
+  enhanceApp({ app, router, siteData }) {
+    app.component("Redirect", Redirect); //Redirect plugin
+    //Tabs: https://github.com/Red-Asuka/vitepress-plugin-tabs
+    app.component("Tab", Tab);
+    app.component("Tabs", Tabs);
+  },
+
+  // to support medium zoom: https://github.com/vuejs/vitepress/issues/854
+  setup() {
+    const route = useRoute();
+    const initZoom = () => {
+      //mediumZoom("[data-zoomable]", { background: "var(--vp-c-bg)" });
+      mediumZoom(".main img", { background: "var(--vp-c-bg)" });
+    };
+    onMounted(() => {
+      initZoom();
+    });
+    watch(
+      () => route.path,
+      () => nextTick(() => initZoom())
+    );
+  },
+  //end to support medium zoom
+};

docs/.vitepress/theme/style.css

@@ -0,0 +1,162 @@
+/**
+ * Customize default theme styling by overriding CSS variables:
+ * https://github.com/vuejs/vitepress/blob/main/src/client/theme-default/styles/vars.css
+ */
+
+/**
+ * Colors
+ *
+ * Each colors have exact same color scale system with 3 levels of solid
+ * colors with different brightness, and 1 soft color.
+ *
+ * - `XXX-1`: The most solid color used mainly for colored text. It must
+ *   satisfy the contrast ratio against when used on top of `XXX-soft`.
+ *
+ * - `XXX-2`: The color used mainly for hover state of the button.
+ *
+ * - `XXX-3`: The color for solid background, such as bg color of the button.
+ *   It must satisfy the contrast ratio with pure white (#ffffff) text on
+ *   top of it.
+ *
+ * - `XXX-soft`: The color used for subtle background such as custom container
+ *   or badges. It must satisfy the contrast ratio when putting `XXX-1` colors
+ *   on top of it.
+ *
+ *   The soft color must be semi transparent alpha channel. This is crucial
+ *   because it allows adding multiple "soft" colors on top of each other
+ *   to create a accent, such as when having inline code block inside
+ *   custom containers.
+ *
+ * - `default`: The color used purely for subtle indication without any
+ *   special meanings attched to it such as bg color for menu hover state.
+ *
+ * - `brand`: Used for primary brand colors, such as link text, button with
+ *   brand theme, etc.
+ *
+ * - `tip`: Used to indicate useful information. The default theme uses the
+ *   brand color for this by default.
+ *
+ * - `warning`: Used to indicate warning to the users. Used in custom
+ *   container, badges, etc.
+ *
+ * - `danger`: Used to show error, or dangerous message to the users. Used
+ *   in custom container, badges, etc.
+ * -------------------------------------------------------------------------- */
+
+ :root {
+  --vp-c-default-1: var(--vp-c-gray-1);
+  --vp-c-default-2: var(--vp-c-gray-2);
+  --vp-c-default-3: var(--vp-c-gray-3);
+  --vp-c-default-soft: var(--vp-c-gray-soft);
+
+  --vp-c-brand-1: var(--vp-c-indigo-1);
+  --vp-c-brand-2: var(--vp-c-indigo-2);
+  --vp-c-brand-3: var(--vp-c-indigo-3);
+  --vp-c-brand-soft: var(--vp-c-indigo-soft);
+
+  --vp-c-tip-1: var(--vp-c-brand-1);
+  --vp-c-tip-2: var(--vp-c-brand-2);
+  --vp-c-tip-3: var(--vp-c-brand-3);
+  --vp-c-tip-soft: var(--vp-c-brand-soft);
+
+  --vp-c-warning-1: var(--vp-c-yellow-1);
+  --vp-c-warning-2: var(--vp-c-yellow-2);
+  --vp-c-warning-3: var(--vp-c-yellow-3);
+  --vp-c-warning-soft: var(--vp-c-yellow-soft);
+
+  --vp-c-danger-1: var(--vp-c-red-1);
+  --vp-c-danger-2: var(--vp-c-red-2);
+  --vp-c-danger-3: var(--vp-c-red-3);
+  --vp-c-danger-soft: var(--vp-c-red-soft);
+}
+
+/**
+ * Component: Button
+ * -------------------------------------------------------------------------- */
+
+:root {
+  --vp-button-brand-border: transparent;
+  --vp-button-brand-text: var(--vp-c-white);
+  --vp-button-brand-bg: var(--vp-c-brand-3);
+  --vp-button-brand-hover-border: transparent;
+  --vp-button-brand-hover-text: var(--vp-c-white);
+  --vp-button-brand-hover-bg: var(--vp-c-brand-2);
+  --vp-button-brand-active-border: transparent;
+  --vp-button-brand-active-text: var(--vp-c-white);
+  --vp-button-brand-active-bg: var(--vp-c-brand-1);
+}
+
+/**
+ * Component: Home
+ * -------------------------------------------------------------------------- */
+
+:root {
+  --vp-home-hero-name-color: transparent;
+  --vp-home-hero-name-background: -webkit-linear-gradient(
+    120deg,
+    #bd34fe 30%,
+    #41d1ff
+  );
+
+  --vp-home-hero-image-background-image: linear-gradient(
+    -45deg,
+    #bd34fe 50%,
+    #47caff 50%
+  );
+  --vp-home-hero-image-filter: blur(44px);
+}
+
+@media (min-width: 640px) {
+  :root {
+    --vp-home-hero-image-filter: blur(56px);
+  }
+}
+
+@media (min-width: 960px) {
+  :root {
+    --vp-home-hero-image-filter: blur(68px);
+  }
+}
+
+/**
+ * Component: Custom Block
+ * -------------------------------------------------------------------------- */
+
+:root {
+  --vp-custom-block-tip-border: transparent;
+  --vp-custom-block-tip-text: var(--vp-c-text-1);
+  --vp-custom-block-tip-bg: var(--vp-c-brand-soft);
+  --vp-custom-block-tip-code-bg: var(--vp-c-brand-soft);
+}
+
+/**
+ * Component: Algolia
+ * -------------------------------------------------------------------------- */
+
+.DocSearch {
+  --docsearch-primary-color: var(--vp-c-brand-1) !important;
+}
+
+
+
+
+/**
+ * Component: Medium Zoom: https://github.com/vuejs/vitepress/issues/854
+ * -------------------------------------------------------------------------- */
+
+.medium-zoom-overlay {
+  z-index: 20;
+}
+
+.medium-zoom-image {
+  z-index: 21;
+}
+
+
+/**
+ * Override styles as needed
+ * -------------------------------------------------------------------------- */
+
+ .vp-doc img {
+  display: inline; /* block by default set by vitepress */
+}

docs/CNAME

@@ -0,0 +1 @@
+docs.px4.io

docs/LICENSE

@@ -0,0 +1,101 @@
+CC BY 4.0
+
+Licence: https://creativecommons.org/licenses/by/4.0/legalcode
+Human-readable format: https://creativecommons.org/licenses/by/4.0/
+
+Creative Commons Attribution 4.0 International Public License
+==============================================================
+
+Creative Commons Attribution 4.0 International Public License
+By exercising the Licensed Rights (defined below), You accept and agree to be bound by the terms and conditions of this Creative Commons Attribution 4.0 International Public License ("Public License"). To the extent this Public License may be interpreted as a contract, You are granted the Licensed Rights in consideration of Your acceptance of these terms and conditions, and the Licensor grants You such rights in consideration of benefits the Licensor receives from making the Licensed Material available under these terms and conditions.
+
+Section 1 – Definitions.
+
+a.	Adapted Material means material subject to Copyright and Similar Rights that is derived from or based upon the Licensed Material and in which the Licensed Material is translated, altered, arranged, transformed, or otherwise modified in a manner requiring permission under the Copyright and Similar Rights held by the Licensor. For purposes of this Public License, where the Licensed Material is a musical work, performance, or sound recording, Adapted Material is always produced where the Licensed Material is synched in timed relation with a moving image.
+b.	Adapter's License means the license You apply to Your Copyright and Similar Rights in Your contributions to Adapted Material in accordance with the terms and conditions of this Public License.
+c.	Copyright and Similar Rights means copyright and/or similar rights closely related to copyright including, without limitation, performance, broadcast, sound recording, and Sui Generis Database Rights, without regard to how the rights are labeled or categorized. For purposes of this Public License, the rights specified in Section 2(b)(1)-(2) are not Copyright and Similar Rights.
+d.	Effective Technological Measures means those measures that, in the absence of proper authority, may not be circumvented under laws fulfilling obligations under Article 11 of the WIPO Copyright Treaty adopted on December 20, 1996, and/or similar international agreements.
+e.	Exceptions and Limitations means fair use, fair dealing, and/or any other exception or limitation to Copyright and Similar Rights that applies to Your use of the Licensed Material.
+f.	Licensed Material means the artistic or literary work, database, or other material to which the Licensor applied this Public License.
+g.	Licensed Rights means the rights granted to You subject to the terms and conditions of this Public License, which are limited to all Copyright and Similar Rights that apply to Your use of the Licensed Material and that the Licensor has authority to license.
+h.	Licensor means the individual(s) or entity(ies) granting rights under this Public License.
+i.	Share means to provide material to the public by any means or process that requires permission under the Licensed Rights, such as reproduction, public display, public performance, distribution, dissemination, communication, or importation, and to make material available to the public including in ways that members of the public may access the material from a place and at a time individually chosen by them.
+j.	Sui Generis Database Rights means rights other than copyright resulting from Directive 96/9/EC of the European Parliament and of the Council of 11 March 1996 on the legal protection of databases, as amended and/or succeeded, as well as other essentially equivalent rights anywhere in the world.
+k.	You means the individual or entity exercising the Licensed Rights under this Public License. Your has a corresponding meaning.
+
+Section 2 – Scope.
+
+a.	License grant.
+  1.	Subject to the terms and conditions of this Public License, the Licensor hereby grants You a worldwide, royalty-free, non-sublicensable, non-exclusive, irrevocable license to exercise the Licensed Rights in the Licensed Material to:
+    A.	reproduce and Share the Licensed Material, in whole or in part; and
+    B.	produce, reproduce, and Share Adapted Material.
+  2.	Exceptions and Limitations. For the avoidance of doubt, where Exceptions and Limitations apply to Your use, this Public License does not apply, and You do not need to comply with its terms and conditions.
+  3.	Term. The term of this Public License is specified in Section 6(a).
+  4.	Media and formats; technical modifications allowed. The Licensor authorizes You to exercise the Licensed Rights in all media and formats whether now known or hereafter created, and to make technical modifications necessary to do so. The Licensor waives and/or agrees not to assert any right or authority to forbid You from making technical modifications necessary to exercise the Licensed Rights, including technical modifications necessary to circumvent Effective Technological Measures. For purposes of this Public License, simply making modifications authorized by this Section 2(a)(4) never produces Adapted Material.
+  5.	Downstream recipients.
+    A.	Offer from the Licensor – Licensed Material. Every recipient of the Licensed Material automatically receives an offer from the Licensor to exercise the Licensed Rights under the terms and conditions of this Public License.
+    B.	No downstream restrictions. You may not offer or impose any additional or different terms or conditions on, or apply any Effective Technological Measures to, the Licensed Material if doing so restricts exercise of the Licensed Rights by any recipient of the Licensed Material.
+  6.	No endorsement. Nothing in this Public License constitutes or may be construed as permission to assert or imply that You are, or that Your use of the Licensed Material is, connected with, or sponsored, endorsed, or granted official status by, the Licensor or others designated to receive attribution as provided in Section 3(a)(1)(A)(i).
+b.	Other rights.
+  1.	Moral rights, such as the right of integrity, are not licensed under this Public License, nor are publicity, privacy, and/or other similar personality rights; however, to the extent possible, the Licensor waives and/or agrees not to assert any such rights held by the Licensor to the limited extent necessary to allow You to exercise the Licensed Rights, but not otherwise.
+  2.	Patent and trademark rights are not licensed under this Public License.
+  3.	To the extent possible, the Licensor waives any right to collect royalties from You for the exercise of the Licensed Rights, whether directly or through a collecting society under any voluntary or waivable statutory or compulsory licensing scheme. In all other cases the Licensor expressly reserves any right to collect such royalties.
+
+
+Section 3 – License Conditions.
+
+Your exercise of the Licensed Rights is expressly made subject to the following conditions.
+a.	Attribution.
+  1.	If You Share the Licensed Material (including in modified form), You must:
+    A.	retain the following if it is supplied by the Licensor with the Licensed Material:
+      i.	identification of the creator(s) of the Licensed Material and any others designated to receive attribution, in any reasonable manner requested by the Licensor (including by pseudonym if designated);
+      ii.	a copyright notice;
+      iii.	a notice that refers to this Public License;
+      iv.	a notice that refers to the disclaimer of warranties;
+      v.	a URI or hyperlink to the Licensed Material to the extent reasonably practicable;
+    B.	indicate if You modified the Licensed Material and retain an indication of any previous modifications; and
+    C.	indicate the Licensed Material is licensed under this Public License, and include the text of, or the URI or hyperlink to, this Public License.
+      2.	You may satisfy the conditions in Section 3(a)(1) in any reasonable manner based on the medium, means, and context in which You Share the Licensed Material. For example, it may be reasonable to satisfy the conditions by providing a URI or hyperlink to a resource that includes the required information.
+      3.	If requested by the Licensor, You must remove any of the information required by Section 3(a)(1)(A) to the extent reasonably practicable.
+      4.	If You Share Adapted Material You produce, the Adapter's License You apply must not prevent recipients of the Adapted Material from complying with this Public License.
+
+
+Section 4 – Sui Generis Database Rights.
+
+Where the Licensed Rights include Sui Generis Database Rights that apply to Your use of the Licensed Material:
+a.	for the avoidance of doubt, Section 2(a)(1) grants You the right to extract, reuse, reproduce, and Share all or a substantial portion of the contents of the database;
+b.	if You include all or a substantial portion of the database contents in a database in which You have Sui Generis Database Rights, then the database in which You have Sui Generis Database Rights (but not its individual contents) is Adapted Material; and
+c.	You must comply with the conditions in Section 3(a) if You Share all or a substantial portion of the contents of the database.
+For the avoidance of doubt, this Section 4 supplements and does not replace Your obligations under this Public License where the Licensed Rights include other Copyright and Similar Rights.
+
+
+Section 5 – Disclaimer of Warranties and Limitation of Liability.
+
+a.	Unless otherwise separately undertaken by the Licensor, to the extent possible, the Licensor offers the Licensed Material as-is and as-available, and makes no representations or warranties of any kind concerning the Licensed Material, whether express, implied, statutory, or other. This includes, without limitation, warranties of title, merchantability, fitness for a particular purpose, non-infringement, absence of latent or other defects, accuracy, or the presence or absence of errors, whether or not known or discoverable. Where disclaimers of warranties are not allowed in full or in part, this disclaimer may not apply to You.
+b.	To the extent possible, in no event will the Licensor be liable to You on any legal theory (including, without limitation, negligence) or otherwise for any direct, special, indirect, incidental, consequential, punitive, exemplary, or other losses, costs, expenses, or damages arising out of this Public License or use of the Licensed Material, even if the Licensor has been advised of the possibility of such losses, costs, expenses, or damages. Where a limitation of liability is not allowed in full or in part, this limitation may not apply to You.
+c.	The disclaimer of warranties and limitation of liability provided above shall be interpreted in a manner that, to the extent possible, most closely approximates an absolute disclaimer and waiver of all liability.
+
+
+Section 6 – Term and Termination.
+
+a.	This Public License applies for the term of the Copyright and Similar Rights licensed here. However, if You fail to comply with this Public License, then Your rights under this Public License terminate automatically.
+b.	Where Your right to use the Licensed Material has terminated under Section 6(a), it reinstates:
+  1.	automatically as of the date the violation is cured, provided it is cured within 30 days of Your discovery of the violation; or
+  2.	upon express reinstatement by the Licensor.
+For the avoidance of doubt, this Section 6(b) does not affect any right the Licensor may have to seek remedies for Your violations of this Public License.
+c.	For the avoidance of doubt, the Licensor may also offer the Licensed Material under separate terms or conditions or stop distributing the Licensed Material at any time; however, doing so will not terminate this Public License.
+d.	Sections 1, 5, 6, 7, and 8 survive termination of this Public License.
+
+
+Section 7 – Other Terms and Conditions.
+
+a.	The Licensor shall not be bound by any additional or different terms or conditions communicated by You unless expressly agreed.
+b.	Any arrangements, understandings, or agreements regarding the Licensed Material not stated herein are separate from and independent of the terms and conditions of this Public License.
+
+
+Section 8 – Interpretation.
+
+a.	For the avoidance of doubt, this Public License does not, and shall not be interpreted to, reduce, limit, restrict, or impose conditions on any use of the Licensed Material that could lawfully be made without permission under this Public License.
+b.	To the extent possible, if any provision of this Public License is deemed unenforceable, it shall be automatically reformed to the minimum extent necessary to make it enforceable. If the provision cannot be reformed, it shall be severed from this Public License without affecting the enforceability of the remaining terms and conditions.
+c.	No term or condition of this Public License will be waived and no failure to comply consented to unless expressly agreed to by the Licensor.
+d.	Nothing in this Public License constitutes or may be interpreted as a limitation upon, or waiver of, any privileges and immunities that apply to the Licensor or You, including from the legal processes of any jurisdiction or authority.

docs/README.md

@@ -0,0 +1,6 @@
+# PX4 User Guide
+
+This repo contains the source code for the [PX4 User Guide](https://docs.px4.io/main/en/).
+
+> [!NOTE]
+> [Contributions](https://docs.px4.io/main/en/contribute/docs.html) and [Translations](https://docs.px4.io/main/en/contribute/translation.html) to this guide are very welcome!

docs/_link_checker_sc/ignore_errors.json

@@ -0,0 +1,960 @@
+[
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/position_fw.html",
+      "text": "Position"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/altitude_fw.html",
+      "text": "Altitude"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/stabilized_fw.html",
+      "text": "Stabilized"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/acro_fw.html",
+      "text": "Acro"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/manual_fw.html",
+      "text": "Manual"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/takeoff.html",
+      "text": "Takeoff"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/land.html",
+      "text": "Land"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/hold.html",
+      "text": "Hold"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/return.html",
+      "text": "Return"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/mission.html",
+      "text": "Mission"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flying/missions.html",
+      "text": "predefined mission/flight plan"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/offboard.html",
+      "text": "Offboard"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/position_mc.html",
+      "text": "Position"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/altitude_mc.html",
+      "text": "Altitude"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/manual_stabilized_mc.html",
+      "text": "Manual/ Stabilized"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/acro_mc.html",
+      "text": "Acro"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/orbit.html",
+      "text": "Orbit"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/takeoff.html",
+      "text": "Takeoff"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/land.html",
+      "text": "Land"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/hold.html",
+      "text": "Hold"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/return.html",
+      "text": "Return"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/mission.html",
+      "text": "Mission"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flying/missions.html",
+      "text": "predefined mission/flight plan"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/follow_me.html",
+      "text": "Follow Me"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/offboard.html",
+      "text": "Offboard"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "LinkedInternalPageMissing",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flying/fixed_wing_landing.html",
+      "text": "fixed-wing landing"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\README.md",
+    "link": {
+      "url": "tailsitter.html",
+      "text": "<big>Tailsitter</big>"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\README.md",
+    "link": {
+      "url": "tiltrotor.html",
+      "text": "<big>Tiltrotor</big>"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\README.md",
+    "link": {
+      "url": "standardvtol.html",
+      "text": "<big>Standard VTOL</big>"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\tailsitter.md",
+    "link": {
+      "url": "../airframes/airframe_reference.html#vtol-tailsitter",
+      "text": "VTOL Duo Tailsitter"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\tailsitter.md",
+    "link": {
+      "url": "../airframes/airframe_reference.html#vtol-tailsitter",
+      "text": "VTOL Tailsitter"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\tailsitter.md",
+    "link": {
+      "url": "../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.html",
+      "text": "TBS Caipiroshka"
+    },
+    "hideReason": "Needs to be .html on Vuepress to render inside HTML"
+  },
+  {
+    "type": "LocalImageNotFound",
+    "fileRelativeToRoot": "en\\contribute\\docs.md",
+    "link": {
+      "url": "../../assets/path_to_file/filename.jpg",
+      "text": "Image Description"
+    },
+    "hideReason": "Filename is demonstration inside code block"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\airframes\\airframe_reference.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html",
+      "text": "HolyBro QAV250"
+    },
+    "hideReason": "Absolute link in docs generated from code."
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\contribute\\dev_call.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/contribute/dev_call.html",
+      "text": "can be found here"
+    },
+    "hideReason": "This is only displayed in old build versions, and so can be ignored."
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\contribute\\README.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/contribute/",
+      "text": "can be found here"
+    },
+    "hideReason": "This is only displayed in old build versions, and so can be ignored."
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\contribute\\support.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/contribute/support.html",
+      "text": "can be found here"
+    },
+    "hideReason": "This is only displayed in old build versions, and so can be ignored."
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\modules\\modules_driver.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/advanced/gimbal_control.html",
+      "text": "gimbal_control"
+    },
+    "hideReason": "Absolute link in docs generated from code."
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\modules\\modules_estimator.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html",
+      "text": "ECL/EKF Overview & Tuning"
+    },
+    "hideReason": "Absolute link in docs generated from code."
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\modules\\modules_system.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/debug/system_wide_replay.html",
+      "text": "System-wide Replay"
+    },
+    "hideReason": "Absolute link in docs generated from code."
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\test_and_ci\\test_flights.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/test_and_ci/test_flights.html",
+      "text": "can be found here"
+    },
+    "hideReason": "This is only displayed in old build versions, and so can be ignored."
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\middleware\\micrortps.md",
+    "hideReason": "This is deliberately omitted"
+  },
+  {
+    "type": "PageNotLinkedInternally",
+    "fileRelativeToRoot": "en\\middleware\\micrortps.md",
+    "hideReason": "This is deliberately omitted"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes/mission.html#fw-mission-landing",
+      "text": "fixed-wing landing"
+    },
+    "hideReason": "Is in HTML"
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\advanced_features\\README.md",
+    "hideReason": "Its a redirect, or should be."
+  },
+  {
+    "type": "PageNotLinkedInternally",
+    "fileRelativeToRoot": "en\\advanced_features\\README.md",
+    "hideReason": "Its a redirect"
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\gps_compass\\rtk_gps_drotek_xl.md",
+    "hideReason": "It's a redirect in case someone ends up here"
+  },
+  {
+    "type": "PageNotLinkedInternally",
+    "fileRelativeToRoot": "en\\gps_compass\\rtk_gps_drotek_xl.md",
+    "hideReason": "Intended orphan"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/position.html",
+      "text": "Position"
+    },
+    "hideReason": "Link exists"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/altitude.html",
+      "text": "Altitude"
+    },
+    "hideReason": "Has to be html link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_fw/stabilized.html",
+      "text": "Stabilized"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/acro.html",
+      "text": "Acro"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_fw/manual.html",
+      "text": "Manual"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/position.html",
+      "text": "Position"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/altitude.html",
+      "text": "Altitude"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/manual_stabilized.html",
+      "text": "Manual/ Stabilized"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/acro.html",
+      "text": "Acro"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/orbit.html",
+      "text": "Orbit"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/follow_me.html",
+      "text": "Follow Me"
+    },
+    "hideReason": "HTML link in table"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_fw/takeoff.html",
+      "text": "Takeoff"
+    },
+    "hideReason": "md file linked from inside html"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_fw/land.html",
+      "text": "Land"
+    },
+    "hideReason": "md file linked from inside html"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_fw/hold.html",
+      "text": "Hold"
+    },
+    "hideReason": "md file linked from inside html"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/takeoff.html",
+      "text": "Takeoff"
+    },
+    "hideReason": "md file linked from inside html"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/land.html",
+      "text": "Land"
+    },
+    "hideReason": "md file linked from inside html"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/hold.html",
+      "text": "Hold"
+    },
+    "hideReason": "md file linked from inside html"
+  },
+  {
+    "type": "OrphanedImage",
+    "fileRelativeToRoot": "assets\\simulation\\gazebo_classic\\gazebo_offboard.webm",
+    "hideReason": "Its fine"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_fw/mission.html#mission-landing",
+      "text": "fixed-wing landing"
+    },
+    "hideReason": "Expected"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_fw/mission.html",
+      "text": "Mission"
+    },
+    "hideReason": "Expected"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/mission.html",
+      "text": "Mission"
+    },
+    "hideReason": "Expected"
+  },
+  {
+    "type": "LinkedFileMissingAnchor",
+    "fileRelativeToRoot": "en\\config_heli\\README.md",
+    "link": {
+      "url": "../airframes/airframe_reference.md#copter_helicopter_generic_helicopter_%28tail_esc%29",
+      "text": "Generic Helicopter - with Tail ESC"
+    },
+    "hideReason": "Link OK. Deferring tool fix."
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\flight_modes\\README.md",
+    "link": {
+      "url": "../flight_modes_mc/position_slow.html",
+      "text": "Position Slow"
+    },
+    "hideReason": "Link OK. Is inside HTML"
+  },
+  {
+    "type": "LinkedFileMissingAnchor",
+    "fileRelativeToRoot": "en\\frames_rover\\traxxas_stampede.md",
+    "link": {
+      "url": "../airframes/airframe_reference.md#rover_rover_generic_ground_vehicle_(ackermann",
+      "text": "Generic ground vehicle (Ackermann)"
+    },
+    "hideReason": "Link OK. Deferring tool fix."
+  },
+  {
+    "type": "LinkedFileMissingAnchor",
+    "fileRelativeToRoot": "en\\frames_sub\\README.md",
+    "link": {
+      "url": "../airframes/airframe_reference.md#underwater_robot_underwater_robot_hippocampus_uuv_%28unmanned_underwater_vehicle%29",
+      "text": "Airframe Reference"
+    },
+    "hideReason": "Link OK. Deferring tool fix."
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\complete_vehicles\\README.md",
+    "hideReason": "Split into per-vehicle. Could be deleted probably."
+  },
+  {
+    "type": "LinkedFileMissingAnchor",
+    "fileRelativeToRoot": "en\\computer_vision\\visual_inertial_odometry.md",
+    "link": {
+      "url": "../advanced_config/parameter_reference.md#MAV_ODOM_LP",
+      "text": "MAV_ODOM_LP"
+    },
+    "hideReason": "Known issue"
+  },
+  {
+    "type": "LinkedFileMissingAnchor",
+    "fileRelativeToRoot": "en\\config_heli\\index.md",
+    "link": {
+      "url": "../airframes/airframe_reference.md#copter_helicopter_generic_helicopter_%28tail_esc%29",
+      "text": "Generic Helicopter - with Tail ESC"
+    },
+    "hideReason": "known issue"
+  },
+  {
+    "type": "LinkedFileMissingAnchor",
+    "fileRelativeToRoot": "en\\frames_sub\\index.md",
+    "link": {
+      "url": "../airframes/airframe_reference.md#underwater_robot_underwater_robot_hippocampus_uuv_%28unmanned_underwater_vehicle%29",
+      "text": "Airframe Reference"
+    },
+    "hideReason": "known issue"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\index.md",
+    "link": {
+      "url": "tailsitter.html",
+      "text": "<big>Tailsitter</big>"
+    },
+    "hideReason": "known issue - inside html"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\index.md",
+    "link": {
+      "url": "tiltrotor.html",
+      "text": "<big>Tiltrotor</big>"
+    },
+    "hideReason": "known issue - inside html"
+  },
+  {
+    "type": "InternalLinkToHTML",
+    "fileRelativeToRoot": "en\\frames_vtol\\index.md",
+    "link": {
+      "url": "standardvtol.html",
+      "text": "<big>Standard VTOL</big>"
+    },
+    "hideReason": "Known issue - inside HTML"
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\advanced_features\\index.md",
+    "hideReason": "Chose to hide it"
+  },
+  {
+    "type": "PageNotLinkedInternally",
+    "fileRelativeToRoot": "en\\advanced_features\\index.md",
+    "hideReason": "why not"
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\complete_vehicles\\index.md",
+    "hideReason": "Chose to hide it. No longer used redirect"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\complete_vehicles_mc\\intel_aero.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html",
+      "text": "see here for legacy docs"
+    },
+    "hideReason": "Fixed URL"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\complete_vehicles_mc\\px4_vision_kit.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/complete_vehicles/px4_vision_kit.html#what-is-inside",
+      "text": "PX4 v1.13 Docs here"
+    },
+    "hideReason": "Fixed URL"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\concept\\control_allocation.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/concept/mixing.html",
+      "text": "Mixing & Actuators"
+    },
+    "hideReason": "Fixed URL"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\concept\\control_allocation.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/concept/geometry_files.html",
+      "text": "Geometry Files"
+    },
+    "hideReason": "Fixed URL"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\concept\\control_allocation.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/dev_airframes/adding_a_new_frame.html",
+      "text": "Adding a New Airframe Configuration"
+    },
+    "hideReason": "Fixed URL"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\concept\\events_interface.md",
+    "link": {
+      "url": "https://docs.px4.io",
+      "text": "https://docs.px4.io"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\contribute\\index.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/contribute/",
+      "text": "See the latest version"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\flight_controller\\dropix.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/flight_controller/dropix.html",
+      "text": "PX4 v1.13 Documentation > DroPix Flight Controller"
+    },
+    "hideReason": "intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\flight_controller\\ocpoc_zynq.md",
+    "link": {
+      "url": "http://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq.html#aerotenna-ocpoc-zynq-mini-flight-controller",
+      "text": "PX4v1.11 docs"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\flight_controller\\snapdragon_flight.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html",
+      "text": "PX4 User Guide v1.11"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\gps_compass\\rtk_gps_drotek_xl.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl.html",
+      "text": "PX4 v1.13 here"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\gps_compass\\rtk_gps_hex_hereplus.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus.html",
+      "text": "PX4v1.11 docs"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\middleware\\micrortps.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/middleware/micrortps.html#rtps-dds-interface-px4-fast-rtps-dds-bridge",
+      "text": "Fast-RTPS Bridge"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\middleware\\uxrce_dds.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/middleware/micrortps.html#rtps-dds-interface-px4-fast-rtps-dds-bridge",
+      "text": "Fast-RTPS Bridge"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\middleware\\uxrce_dds.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/ros/ros2_comm.html",
+      "text": "ROS 2 applications written for PX4 v1.13"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\middleware\\uxrce_dds.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent",
+      "text": "directly"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\middleware\\uxrce_dds.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/dev_setup/fast-dds-installation.html",
+      "text": "Fast DDS Installation"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\middleware\\uxrce_dds.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent",
+      "text": "Fast DDS Interface ROS-Independent"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\releases\\1.14.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/simulation/ignition_gazebo.html",
+      "text": "Ignition Gazebo"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\releases\\1.14.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/simulation/gazebo.html",
+      "text": "Gazebo"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\releases\\1.14.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/middleware/micrortps.html",
+      "text": "Fast-RTPS"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\robotics\\dronekit.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.12/en/robotics/dronekit.html",
+      "text": "PX4 v1.12 > DroneKit"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\ros\\ros2_comm.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/ros/ros2_comm.html",
+      "text": "PX4 v1.13 Docs"
+    },
+    "hideReason": "intentional"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\sensor\\px4flow.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/sensor/px4flow.html",
+      "text": "Legacy Docs for PX4Flow in v1.13"
+    },
+    "hideReason": "Intentional"
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\msg_docs\\README.md",
+    "hideReason": "Because I'm goign to delete it"
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\camera\\camera_intel_realsense_t265_vio.md",
+    "hideReason": null
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\assembly\\_assembly.md",
+    "hideReason": "A convenience generated summary for use by docsify"
+  },
+  {
+    "type": "PageNotLinkedInternally",
+    "fileRelativeToRoot": "en\\assembly\\_assembly.md",
+    "hideReason": "Its a convenience file"
+  },
+  {
+    "type": "LinkedFileMissingAnchor",
+    "fileRelativeToRoot": "en\\frames_plane\\reptile_dragon_2.md",
+    "link": {
+      "url": "../config/autotune_fw.md#enable-disable-autotune-switch",
+      "text": "autotuning switch"
+    },
+    "hideReason": "The link is in an imported document. Link checker doesn't know about imports."
+  },
+  {
+    "type": "PageNotInTOC",
+    "fileRelativeToRoot": "en\\config\\_autotune.md",
+    "hideReason": "It is not intended to be built"
+  },
+  {
+    "type": "PageNotLinkedInternally",
+    "fileRelativeToRoot": "en\\config\\_autotune.md",
+    "hideReason": "Page is intended to be an orphan"
+  }
+]

docs/_link_checker_sc/ignorefile.json

@@ -0,0 +1 @@
+["en/_sidebar.md"]