battery: improve remaining flight time estimation

makes the remaining flight time estimation based on SoC and it's derivative s.t. it also works without setting battery capacity
battery: add flight time estimation to battery log replay
2026-06-02 03:40:05 +08:00 · 2025-03-26 12:11:18 +01:00 · 2025-03-26 12:09:38 +01:00 · 2025-03-25 21:00:08 -04:00 · 2025-03-26 11:06:37 +11:00 · 2025-03-25 15:13:18 -04:00
5478 changed files with 566455 additions and 3234 deletions
@@ -72,6 +72,7 @@ Makefile.* text eol=lf
 *.tar    binary
 *.tgz    binary
 *.zip    binary
+*.hex    binary

 # everything else
 .gitattributes text eol=lf
@@ -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
@@ -4,9 +4,15 @@ on:
  push:
    branches:
    - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
    - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'

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

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

 jobs:
  build_and_test:
@@ -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
@@ -0,0 +1,55 @@
+name: Docs - Crowdin - Download Guide Translations
+
+# https://github.com/crowdin/github-action/tree/master
+
+on:
+  schedule:
+    - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  synchronize-with-crowdin:
+    name: Synchronize with Crowdin
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      max-parallel: 1 # Should be 1 to avoid parallel builds
+      matrix:
+        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Debug Environment Variables
+        run: |
+          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
+          echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
+      - name: Matrix
+        uses: crowdin/github-action@v2
+        with:
+          config: 'docs/crowdin_docs.yml'
+          upload_sources: false
+          upload_translations: false
+          download_translations: true
+          commit_message: New Crowdin translations - ${{ matrix.lc }}
+          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
+          crowdin_branch_name: main
+          create_pull_request: true
+          pull_request_base_branch_name: 'main'
+          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_labels: Documentation
+          pull_request_reviewers: hamishwillee
+          download_language: ${{ matrix.lc }}
+        env:
+          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
+          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
+
+          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
+          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
+
+          # Visit https://crowdin.com/settings#api-key to create this token
+          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
@@ -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 }}
@@ -0,0 +1,94 @@
+name: Docs - Deploy PX4 User Guide
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    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: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ 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
@@ -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 $PR_NUMBER > ./pr/pr_number
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/
@@ -0,0 +1,107 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${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
@@ -4,6 +4,9 @@ on:
  pull_request:
    branches:
    - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'

 jobs:
  unit_tests:
@@ -1,6 +1,10 @@
 name: EKF Update Change Indicator

-on: push
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'

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

 jobs:
  build:
@@ -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
@@ -89,62 +95,61 @@ jobs:
          echo "$EOF" >> $GITHUB_OUTPUT

  # TODO:
-  # This part of the workflow is causing errors, we should find a way to fix this and enable this test again
+  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
-  #
-  #post_pr_comment:
-    #name: Publish Results
-    #runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    #needs: [analyze_flash]
-    #env:
-      #V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
-      #V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
-      #V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
-      #V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    #if: ${{ github.event.pull_request }}
-    #steps:
-      #- name: Find Comment
-        #uses: peter-evans/find-comment@v3
-        #id: fc
-        #with:
-          #issue-number: ${{ github.event.pull_request.number }}
-          #comment-author: 'github-actions[bot]'
-          #body-includes: FLASH Analysis
+  post_pr_comment:
+    name: Publish Results
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [analyze_flash]
+    env:
+      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
+      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
+      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
+      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
+    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    steps:
+      - name: Find Comment
+        uses: peter-evans/find-comment@v3
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          comment-author: 'github-actions[bot]'
+          body-includes: FLASH Analysis

-      #- name: Set Build Time
-        #id: bt
-        #run: |
-          #echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
+      - name: Set Build Time
+        id: bt
+        run: |
+          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT

-      #- name: Create or update comment
-        ## This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
-        #if: |
-          #steps.fc.outputs.comment-id != '' ||
-          #env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          #env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          #env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          #env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        #uses: peter-evans/create-or-update-comment@v4
-        #with:
-          #comment-id: ${{ steps.fc.outputs.comment-id }}
-          #issue-number: ${{ github.event.pull_request.number }}
-          #body: |
-            ### 🔎 FLASH Analysis
-            #<details>
-              #<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+      - name: Create or update comment
+        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
+        if: |
+          steps.fc.outputs.comment-id != '' ||
+          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: |
+            ## 🔎 FLASH Analysis
+            <details>
+              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>

-              #```
-              #${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              #```
-            #</details>
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              ```
+            </details>

-            #<details>
-              #<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+            <details>
+              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>

-              #```
-              #${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              #```
-            #</details>
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              ```
+            </details>

-            #**Updated: _${{ steps.bt.outputs.timestamp }}_**
-          #edit-mode: replace
+            **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          edit-mode: replace
@@ -4,9 +4,15 @@ on:
  push:
    branches:
    - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
    - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'

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

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

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

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

 jobs:
  build:
@@ -121,7 +127,7 @@ jobs:
          path: |
            logs/**/**/**/*.log
            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg

      - name: Look at Core files
        if: failure() && ${{ hashFiles('px4.core') != '' }}
@@ -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)
@@ -35,8 +35,11 @@ add_subdirectory(airframes)

 px4_add_romfs_files(
 	px4-rc.mavlink
-	px4-rc.params
 	px4-rc.simulator
+	px4-rc.gzsim
+	px4-rc.jmavsim
+	px4-rc.mavlinksim
+	px4-rc.sihsim
 	rc.replay
 	rcS
 )
@@ -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

@@ -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

@@ -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
@@ -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
@@ -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

@@ -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
@@ -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
@@ -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

@@ -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
@@ -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
@@ -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
@@ -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
@@ -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}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+echo "Disabling Sim GPS"
+param set-default SYS_HAS_GPS 0
+param set-default SIM_GPS_USED 0
+param set-default EKF2_GPS_CTRL 0
@@ -15,8 +15,6 @@ PX4_SIM_MODEL=${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?
@@ -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
@@ -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
@@ -0,0 +1,180 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+echo "INFO  [init] Gazebo simulator"
+
+# Enforce minimum gz version as Harmonic (gz-sim8)
+MIN_GZ_VERSION="8.0.0"
+GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
+
+if [ -z "$GZ_SIM_VERSION" ]; then
+    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+    exit 1
+fi
+
+# Use sort compare, check that MIN_GZ_VERSION is ordered last
+if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
+	gz_command="gz"
+	gz_sub_command="sim"
+
+	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+	fi
+else
+    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+    exit 1
+fi
+
+# If not standalone
+if [ -z "${PX4_GZ_STANDALONE}" ]; then
+
+	# 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
+
+		# Setup gz environment variables
+		if [ -f ./gz_env.sh ]; then
+			. ./gz_env.sh
+
+		elif [ -f ../gz_env.sh ]; then
+			. ../gz_env.sh
+		fi
+
+		echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${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
+			echo "INFO  [init] Starting gz gui"
+			${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
+		fi
+
+	else
+		# 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
+
+# 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 [ $ATTEMPTS -eq 0 ]; then
+		echo "ERROR [init] Timed out waiting for Gazebo world"
+		exit 1
+	fi
+	echo "INFO  [init] Waiting for Gazebo world..."
+	sleep 1
+done
+
+# Start gz_bridge - either spawn a model or connect to existing one
+if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+	# Spawn a model
+	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
+	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
+
+	POSE_ARG=""
+	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+		pos_x=$(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}
+
+		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
+
+	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
+
+	# 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 -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 either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+	exit 1
+fi
+
+# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
+# the magnetometer sensor in the model.sdf.
+if param compare -s SENS_EN_MAGSIM 1
+then
+	sensor_mag_sim start
+fi
+# NOTE: new gz has airspeed sensor, remove once added
+if param compare -s SENS_EN_ARSPDSIM 1
+then
+	sensor_airspeed_sim start
+fi
@@ -0,0 +1,14 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+echo "INFO  [init] jMAVSim simulator"
+
+if jps | grep -i jmavsim; then
+	kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+	sleep 1
+fi
+
+param set IMU_INTEG_RATE 250
+./jmavsim_run.sh -l -r 250 &
+
+simulator_mavlink start -h localhost $((4560+px4_instance))
@@ -0,0 +1,27 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+# EKF2 specifics
+param set-default EKF2_GPS_DELAY 10
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+	if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+		echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+		simulator_mavlink start -c $simulator_tcp_port
+	else
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+	fi
+
+else
+	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+fi
@@ -1,5 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-#param set-default MAV_SYS_ID $((px4_instance+1))
-#param set-default IMU_INTEG_RATE 250
@@ -0,0 +1,38 @@
+#!/bin/sh
+
+echo "INFO  [init] SIH simulator"
+
+if [ -n "${PX4_HOME_LAT}" ]; then
+	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+fi
+
+if [ -n "${PX4_HOME_LON}" ]; then
+	param set SIH_LOC_LON0 ${PX4_HOME_LON}
+fi
+if [ -n "${PX4_HOME_ALT}" ]; then
+	param set SIH_LOC_H0 ${PX4_HOME_ALT}
+fi
+
+if simulator_sih start; then
+
+	if param compare -s SENS_EN_BAROSIM 1
+	then
+		sensor_baro_sim start
+	fi
+	if param compare -s SENS_EN_GPSSIM 1
+	then
+		sensor_gps_sim start
+	fi
+	if param compare -s SENS_EN_MAGSIM 1
+	then
+		sensor_mag_sim start
+	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
+
+else
+	echo "ERROR [init] simulator_sih failed to start"
+	exit 1
+fi
@@ -8,203 +8,18 @@ param set-default IMU_INTEG_RATE 250
 param set-default COM_MODE_ARM_CHK 1

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-
-	echo "INFO  [init] SIH simulator"
-
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIH_LOC_LON0 ${PX4_HOME_LON}
-	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi
-
-	if simulator_sih start; then
-
-		if param compare -s SENS_EN_BAROSIM 1
-		then
-			sensor_baro_sim start
-		fi
-		if param compare -s SENS_EN_GPSSIM 1
-		then
-			sensor_gps_sim start
-		fi
-		if param compare -s SENS_EN_MAGSIM 1
-		then
-			sensor_mag_sim start
-		fi
-		if param compare -s SENS_EN_AGPSIM 1
-		then
-			sensor_agp_sim start
-		fi
-
-	else
-		echo "ERROR [init] simulator_sih failed to start"
-		exit 1
-	fi
+    # Run SIH
+    . px4-rc.sihsim

 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-	# Use Gazebo
-
-	echo "INFO  [init] Gazebo simulator"
-
-	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
-	if [ -z "${PX4_GZ_STANDALONE}" ]; then
-
-		# "gz sim" only available in Garden and later
-		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
-		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
-		then
-			# "gz sim" from Garden on
-			gz_command="gz"
-			gz_sub_command="sim"
-
-			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-			fi
-		else
-			echo "ERROR [init] Gazebo gz please install gz-garden"
-			exit 1
-		fi
-
-		# look for running ${gz_command} gazebo world
-		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-		# shellcheck disable=SC2153
-		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
-			if [ -f ./gz_env.sh ]; then
-				. ./gz_env.sh
-
-			elif [ -f ../gz_env.sh ]; then
-				. ../gz_env.sh
-			fi
-
-			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}/${PX4_GZ_WORLD}.sdf" &
-
-			if [ -z "${HEADLESS}" ]; then
-				# HEADLESS not set, starting gui
-				${gz_command} ${gz_sub_command} -g &
-			fi
-
-		else
-			# Gazebo is already running, do not start the simulator, nor the GUI
-			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
-	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# model specified, gz_bridge will spawn model
-
-		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-			# model pose provided: [x, y, z, roll, pitch, yaw]
-
-			# Clean potential input line formatting.
-			model_pose="$( 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: ${model_pose}"
-
-		else
-			# model pose not provided, origin will be used
-
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
-			model_pose="0,0,0,0,0,0"
-		fi
-
-		# start gz bridge with pose arg.
-		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			echo "ERROR [init] gz_bridge failed to start and spawn model"
-			exit 1
-		fi
-
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-		# model name specificed, gz_bridge will attach to existing model
-
-		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
-			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"
-		exit 1
-	fi
-
-	# Start the sensor simulator modules
-	if param compare -s SENS_EN_BAROSIM 1
-	then
-		sensor_baro_sim start
-	fi
-	if param compare -s SENS_EN_GPSSIM 1
-	then
-		sensor_gps_sim start
-	fi
-	if param compare -s SENS_EN_MAGSIM 1
-	then
-		sensor_mag_sim start
-	fi
-	if param compare -s SENS_EN_ARSPDSIM 1
-	then
-		sensor_airspeed_sim start
-	fi
-	if param compare -s SENS_EN_AGPSIM 1
-	then
-		sensor_agp_sim start
-	fi
+    # Run Gazebo (gz)
+    . px4-rc.gzsim

 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-
-	echo "INFO  [init] jMAVSim simulator"
-
-	if jps | grep -i jmavsim; then
-		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
-		sleep 1
-	fi
-
-	param set IMU_INTEG_RATE 250
-	./jmavsim_run.sh -l -r 250 &
-
-	simulator_mavlink start -h localhost $((4560+px4_instance))
+    # Run jMAVSim
+    . px4-rc.jmavsim

 else
-	# otherwise start simulator (mavlink) module
-
-	# EKF2 specifics
-	param set-default EKF2_GPS_DELAY 10
-	param set-default EKF2_MULTI_IMU 3
-	param set-default SENS_IMU_MODE 0
-
-	simulator_tcp_port=$((4560+px4_instance))
-
-	# Check if PX4_SIM_HOSTNAME environment variable is empty
-	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-	# If both are empty use localhost for simulator
-	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
-			simulator_mavlink start -c $simulator_tcp_port
-		else
-			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
-			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
-		fi
-
-	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
-		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-	fi
-
+    # Run simulator_mavlink module for interface with gazebo-classic
+    . px4-rc.mavlinksim
 fi
@@ -227,9 +227,6 @@ then
 	exit 1
 fi

-#user defined params for instances can be in PATH
-. px4-rc.params
-
 dataman start

 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -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
@@ -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
@@ -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

 	#
@@ -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
@@ -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
@@ -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/
@@ -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')
@@ -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',
@@ -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:
@@ -59,7 +59,7 @@ from sys import platform as _platform

 def get_version():
    """
-        Get PX4 Firmware latest Git tag.
+        Get PX4-Autopilot Latest Git Tag.
    """
    px4_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))

@@ -74,7 +74,7 @@ def get_version():
            exit(1)
    else:
        # Else, get it from remote repo tags (requires network access)
-        cmd = "git ls-remote --tags git://github.com/PX4/Firmware.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"
+        cmd = "git ls-remote --tags git@github.com:PX4/PX4-Autopilot.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"

        try:
            version = subprocess.check_output(
@@ -94,7 +94,7 @@ else:


 def main():
-    print("PX4 release", get_version())
+    print("PX4 Release", get_version())


 if __name__ == '__main__':
@@ -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
@@ -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):
@@ -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 "$@"
@@ -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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
@@ -70,7 +70,7 @@ export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
 if [[ -n "$HEADLESS" ]]; then
 	echo "not running flightgear gui"
 else
-	export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"
+	export FG_AIRCRAFT="${src_path}/Tools/simulation/jsbsim/jsbsim_bridge/models"

 	$FG_BINARY --fdm=null \
 		--native-fdm=socket,in,60,,5550,udp \
@@ -15,6 +15,7 @@ CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -20,6 +20,7 @@ CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -21,6 +21,7 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -36,6 +36,7 @@ CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -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
@@ -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
@@ -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] = {
@@ -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
@@ -17,6 +17,7 @@ CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
@@ -59,7 +59,6 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE

 #define FLASH_BASED_PARAMS
-#define RAM_BASED_MISSIONS

 // Hacks for MAVLink RC button input
 #define ATL_MANTIS_RC_INPUT_HACKS
@@ -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;
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -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
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -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
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -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
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -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
@@ -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
@@ -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
@@ -152,16 +152,11 @@ void task_main(int argc, char *argv[])
 		newbytes = read(uart_fd, &rx_buf[0], sizeof(rx_buf));
 #endif

-		uint8_t protocol_version = rx_buf[1] & 0x0F;
-
 		if (newbytes <= 0) {
 			if (print_msg) { PX4_INFO("Spektrum RC: Read no bytes from UART"); }

-		} else if (((newbytes != DSM_FRAME_SIZE) ||
-			    ((protocol_version != 0x02) && (protocol_version != 0x01))) &&
-			   (! first_correct_frame_received)) {
-			PX4_ERR("Spektrum RC: Invalid DSM frame. %d bytes. Protocol byte 0x%.2x",
-				newbytes, rx_buf[1]);
+		} else if ((newbytes != DSM_FRAME_SIZE) && (! first_correct_frame_received)) {
+			PX4_ERR("Invalid DSM frame size: %d bytes", newbytes);

 		} else {
 			if (print_msg) { PX4_INFO("Spektrum RC: Read %d bytes from UART", newbytes); }
@@ -12,6 +12,7 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -64,6 +64,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -76,6 +76,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -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
@@ -76,6 +77,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -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
@@ -41,6 +41,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=10000
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_REPLAY=y
@@ -50,7 +51,9 @@ 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
@@ -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
@@ -0,0 +1,235 @@
+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",
+    //"ko/**/*.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: "Dronecode",
+        items: [
+          {
+            text: "PX4",
+            link: "https://px4.io/",
+            ariaLabel: "PX4 website link",
+          },
+          {
+            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 (stable)", 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",
+      },
+    },
+  },
+});
@@ -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;
+  },
+};
@@ -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>
--- a/Show More
+++ b/Show More