feat: pushing modularity

rft: spacecraft into a single module with multiple controllers
rft: remove commented section
2026-06-01 20:20:05 +08:00 · 2025-02-05 18:28:08 +01:00 · 2025-02-05 17:18:45 +01:00 · 2025-02-05 16:36:37 +01:00 · 2025-02-05 16:29:59 +01:00 · 2025-02-05 16:27:04 +01:00
372 changed files with 9033 additions and 12903 deletions
@@ -94,7 +94,7 @@ 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 +140,10 @@ 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
@@ -16,13 +16,9 @@ on:

 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 +32,13 @@ 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 +64,12 @@ 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 +89,13 @@ 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
+          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
@@ -1,10 +1,5 @@
 name: FLASH usage analysis

-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
 on:
  push:
    branches:
@@ -88,63 +83,59 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$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
-  # 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 }}
+    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
@@ -1,52 +0,0 @@
-name: ROS Translation Node Tests
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-defaults:
-  run:
-    shell: bash
-jobs:
-  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {ros_version: "humble", ubuntu: "jammy"}
-          - {ros_version: "jazzy", ubuntu: "noble"}
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
-    steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Check .msg file versioning
-        if: github.event_name == 'pull_request'
-        run: |
-          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
-
-      - name: Build and test
-        run: |
-          ros_ws=/ros_ws
-          mkdir -p $ros_ws/src
-          ./Tools/copy_to_ros_ws.sh $ros_ws
-          cd $ros_ws
-          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests
@@ -235,9 +235,9 @@ pipeline {
              sh('rm -f px4_msgs/srv/*.srv')
              sh('rm -f px4_msgs/srv/versioned/*.srv')
              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
              sh('cp srv/*.srv px4_msgs/srv/')
-              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
              sh('rm -rf px4_msgs')
@@ -73,6 +73,13 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

+    config BOARD_ROOTFSDIR
+        string "Root directory"
+        depends on PLATFORM_POSIX
+        default "."
+        help
+            Configure the root directory in the file system for PX4 files
+
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -1,42 +0,0 @@
-Maintainers
-===========
-
-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
-
-**Active Maintainers**
-
-| Name                    | Sector | GitHub | Chat | email
-|-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
-| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
-| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
-| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
-| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
-
-
-**Documentation Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
-
-**Release Managers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-
-**Retired Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-|  |  |  |
@@ -404,7 +404,7 @@ check_newlines:

 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
 .PHONY: rostest python_coverage

 tests:
@@ -457,6 +457,10 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test

+tests_avoidance: rostest
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
+
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
@@ -17,19 +17,17 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
  * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)

-## Releases
-
-Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).

 ## Building a PX4 based drone, rover, boat or robot

-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


-## Changing Code and Contributing
+## Changing code and contributing

 This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

@@ -37,7 +35,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
 See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


-## Weekly Dev Call
+### Weekly Dev Call

 The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).

@@ -46,17 +44,96 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
+Note: This is the source of truth for the active maintainers of PX4 ecosystem.

-For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
+| Sector | Maintainer |
+|---|---|
+| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
+| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
+| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
+| OS/NuttX | [David Sidrane](https://github.com/davids5) |
+| Drivers | [Daniel Agar](https://github.com/dagar) |
+| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
+| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
+| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
+| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
+
+| Vehicle Type | Maintainer |
+|---|---|
+| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
+| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
+| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
+| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
+| Boat | x |
+
+
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.

 ## Supported Hardware

-For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
+
+For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+
+### Pixhawk Standard Boards
+
+These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+
+* FMUv6X and FMUv6C
+  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
+  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
+  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
+  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
+* FMUv5 and FMUv5X (STM32F7, 2019/20)
+  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
+* FMUv4 (STM32F4, 2015)
+  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+* FMUv3 (STM32F4, 2014)
+  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+* FMUv2 (STM32F4, 2013)
+  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+
+### Manufacturer supported
+
+These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
+
+* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
+* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
+* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+
+### Community supported
+
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
+
+### Experimental
+
+These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
+
+* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+
+## Project Roadmap
+
+**Note: Outdated**
+
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

 ## Project Governance

 The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.

-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
 <div style="padding:10px">&nbsp;</div>
@@ -1,68 +0,0 @@
-#!/bin/sh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
-# PX4FMU startup script.
-#
-# NOTE: environment variable references:
-#    If the dollar sign ('$') is followed by a left bracket ('{') then the
-#    variable name is terminated with the right bracket character ('}').
-#    Otherwise, the variable name goes to the end of the argument.
-#
-#
-# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-#------------------------------------------------------------------------------
-set R /
-
-#
-# Print full system version.
-#
-ver all
-
-#
-# Set the parameter file the board supports params on
-# MTD device.
-#
-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-#
-# Load parameters.
-#
-# if the board has a storage for (factory) calibration data
-if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
-then
-	param load /fs/mtd_caldata
-fi
-
-#
-# Load parameters.
-#
-param select $PARAM_FILE
-if ! param load
-then
-	param reset_all
-fi
-
-#
-# Try to mount the microSD card.
-#
-mount -t vfat /dev/mmcsd0 /fs/microsd
-if [ $? = 0 ]
-then
-	echo "SD card mounted at /fs/microsd"
-else
-	echo "No SD card found"
-fi
-
-unset R
-
-echo ""
-echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
-echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
-echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
-echo ""
@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set-default COM_OBS_AVOID 1
@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
@@ -19,6 +19,7 @@ param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1

 # Commander Parameters
+param set-default COM_OBS_AVOID 0
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -11,39 +11,29 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_DECEL 10
+param set-default RD_MAX_JERK 30
 param set-default RD_MAX_THR_YAW_R 1.5
+param set-default RD_YAW_RATE_P 0.25
+param set-default RD_YAW_RATE_I 0.01
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_SPEED 2
+param set-default RD_MAX_THR_SPD 2.15
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
+param set-default RD_MAX_YAW_RATE 180
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_MAX_YAW_ACCEL 1000

-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 5
-param set-default RO_DECEL_LIM 10
-param set-default RO_JERK_LIM 30
-param set-default RO_MAX_THR_SPEED 2.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 120
-param set-default RO_YAW_DECEL_LIM 1000
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-
-# Pure Pursuit parameters
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1

 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
@@ -11,33 +11,23 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

+# Rover parameters
 param set-default NAV_ACC_RAD 0.5
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LAT_ACCEL_I 0.01
+param set-default RA_LAT_ACCEL_P 0.1
+param set-default RA_MAX_ACCEL 3
+param set-default RA_MAX_DECEL 6
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_LAT_ACCEL 4
+param set-default RA_MAX_SPEED 3
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 3
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
-param set-default RO_SPEED_P 1
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MAX_THR_SPEED 3.1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 0.1
+param set-default RA_WHEEL_BASE 0.321

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -11,38 +11,28 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-param set-default NAV_ACC_RAD 0.5
-
-# Mecanum Parameters
+# Rover parameters
 param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_YAW_RATE_I 0.1
+param set-default RM_YAW_RATE_P 0.1
+param set-default RM_MAX_ACCEL 3
+param set-default RM_MAX_DECEL 5
+param set-default RM_MAX_JERK 5
+param set-default RM_MAX_SPEED 2
+param set-default RM_MAX_THR_SPD 2.2
 param set-default RM_MAX_THR_YAW_R 1.2
-param set-default RM_MISS_SPD_GAIN 1
+param set-default RM_YAW_P 5
+param set-default RM_YAW_I 0.1
+param set-default RM_MAX_YAW_RATE 120
+param set-default RM_MAX_YAW_ACCEL 240
+param set-default RM_MISS_VEL_GAIN 1
+param set-default RM_SPEED_I 0.01
+param set-default RM_SPEED_P 0.1

-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 5
-param set-default RO_JERK_LIM 30
-param set-default RO_MAX_THR_SPEED 2.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 120
-param set-default RO_YAW_ACCEL_LIM 240
-param set-default RO_YAW_DECEL_LIM 1000
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 0.5
+# Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 0.5

 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
@@ -13,7 +13,7 @@ param set-default CA_AIRFRAME 15
 param set-default MAV_TYPE 99

 param set-default CA_THRUSTER_CNT 12
-param set-default CA_R_REV 0
+param set-default CA_R_REV 255

 # param set-default FW_ARSP_MODE 1

@@ -129,18 +129,18 @@ param set-default CA_THRUSTER11_AX 0.0
 param set-default CA_THRUSTER11_AY 0.0
 param set-default CA_THRUSTER11_AZ -1.0

-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-param set-default PWM_MAIN_FUNC9 109
-param set-default PWM_MAIN_FUNC10 110
-param set-default PWM_MAIN_FUNC11 111
-param set-default PWM_MAIN_FUNC12 112
+param set-default PWM_MAIN_FUNC1 501
+param set-default PWM_MAIN_FUNC2 502
+param set-default PWM_MAIN_FUNC3 503
+param set-default PWM_MAIN_FUNC4 504
+param set-default PWM_MAIN_FUNC5 505
+param set-default PWM_MAIN_FUNC6 506
+param set-default PWM_MAIN_FUNC7 507
+param set-default PWM_MAIN_FUNC8 508
+param set-default PWM_MAIN_FUNC9 509
+param set-default PWM_MAIN_FUNC10 510
+param set-default PWM_MAIN_FUNC11 511
+param set-default PWM_MAIN_FUNC12 512

 # PWM Simulation
 param set PWM_SIM_PWM_MAX 10000
@@ -25,12 +25,12 @@ param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 99

 param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
+param set-default CA_R_REV 255

 # param set-default FW_ARSP_MODE 1

 # Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
+param set-default CA_METHOD 3  # 0 is PseudoInverse, 3 is Metric

 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -108,14 +108,14 @@ param set-default CA_THRUSTER7_AX 0.0
 param set-default CA_THRUSTER7_AY -1.0
 param set-default CA_THRUSTER7_AZ 0.0

-param set-default SIM_GZ_TH_FUNC1 101
-param set-default SIM_GZ_TH_FUNC2 102
-param set-default SIM_GZ_TH_FUNC3 103
-param set-default SIM_GZ_TH_FUNC4 104
-param set-default SIM_GZ_TH_FUNC5 105
-param set-default SIM_GZ_TH_FUNC6 106
-param set-default SIM_GZ_TH_FUNC7 107
-param set-default SIM_GZ_TH_FUNC8 108
+param set-default SIM_GZ_TH_FUNC1 501
+param set-default SIM_GZ_TH_FUNC2 502
+param set-default SIM_GZ_TH_FUNC3 503
+param set-default SIM_GZ_TH_FUNC4 504
+param set-default SIM_GZ_TH_FUNC5 505
+param set-default SIM_GZ_TH_FUNC6 506
+param set-default SIM_GZ_TH_FUNC7 507
+param set-default SIM_GZ_TH_FUNC8 508

 param set-default SIM_GZ_TH_MIN1 0
 param set-default SIM_GZ_TH_MIN2 0
@@ -39,6 +39,8 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
+	1014_gazebo-classic_iris_obs_avoid
+	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
@@ -337,11 +337,6 @@ then
 	payload_deliverer start
 fi

-if param compare -s ICE_EN 1
-then
-	internal_combustion_engine_control start
-fi
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -12,6 +12,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Commander Parameters
+param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -12,6 +12,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Commander Parameters
+param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -21,37 +21,26 @@ param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels

-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_ACCEL 3
+param set-default RD_MAX_DECEL 4
+param set-default RD_MAX_JERK 5
+param set-default RD_MAX_SPEED 1.6
+param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
+param set-default RD_MAX_YAW_ACCEL 600
+param set-default RD_MAX_YAW_RATE 250
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0.01

-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 4
-param set-default RO_JERK_LIM 5
-param set-default RO_MAX_THR_SPEED 1.9
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 600
-param set-default RO_YAW_DECEL_LIM 600
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 1.6
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
+# Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 1
@@ -14,33 +14,24 @@
 . ${R}etc/init.d/rc.rover_ackermann_defaults

 param set-default BAT1_N_CELLS 3
-param set-default NAV_ACC_RAD 0.5

-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LAT_ACCEL_I 0.01
+param set-default RA_LAT_ACCEL_P 0.1
+param set-default RA_MAX_ACCEL 1.5
+param set-default RA_MAX_DECEL 10
+param set-default RA_MAX_JERK 20
+param set-default RA_MAX_LAT_ACCEL 3
+param set-default RA_MAX_SPEED 2.5
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 270
-
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 1.5
-param set-default RO_DECEL_LIM 10
-param set-default RO_JERK_LIM 20
-param set-default RO_MAX_THR_SPEED 2.8
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0
-param set-default RO_YAW_RATE_P 0
-param set-default RO_YAW_RATE_LIM 0
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 0
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
+param set-default RA_MAX_STR_RATE 270
+param set-default RA_MAX_THR_SPEED 2.8
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 0.1
+param set-default RA_WHEEL_BASE 0.321

 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -10,11 +10,11 @@

 . ${R}etc/init.d/rc.sc_defaults

-param set-default CA_AIRFRAME 14
+param set-default CA_AIRFRAME 13
 param set-default MAV_TYPE 99

 param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
+param set-default CA_R_REV 255

 # Auto to be provided by Custom Airframe
 param set-default CA_METHOD 0
@@ -31,6 +31,7 @@ param set-default COM_POSCTL_NAVL 2
 param set EKF2_EV_CTRL 15
 param set EKF2_HGT_REF 3

+
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
@@ -5,9 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-# Start Spacecraft App
-spacecraft start
-
 # Estimator Group Selection
 # ekf2 start &

@@ -555,11 +555,6 @@ else
 		payload_deliverer start
 	fi

-	if param compare -s ICE_EN 1
-	then
-		internal_combustion_engine_control start
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -136,6 +136,9 @@ class TestHardwareMethods(unittest.TestCase):
    def test_atomic_bitset(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))

+    def test_bezier(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
+
    def test_bitset(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))

@@ -8,12 +8,10 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
-    -path msg/translation_node -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/ins/vectornav/libvnc -prune -o \
    -path src/drivers/uavcan/libdronecan -prune -o \
-    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/cyphal/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -1,76 +0,0 @@
-#! /bin/bash
-# Copy a git diff between two commits if msg versioning is added
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-PX4_SRC_DIR="$DIR/.."
-
-BASE_COMMIT="$1"
-HEAD_COMMIT="$2"
-if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
-then
-  echo "Usage: $0 <base_commit> <head_commit>"
-  exit 1
-fi
-
-failed=0
-
-# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
-modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
-all_files="$(     git --no-pager diff --no-color --name-only                 "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
-for file in ${modified_files}
-do
-  if [[ "$file" == msg/versioned/*.msg ]]; then
-    echo "Modified msg file: ${file}"
-    # A modified versioned .msg file requires:
-    # - Incrementing the version
-    # - An old .msg version exists
-    # - A translation header exists and is included
-
-    # Ignore changes to comments or constants
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    if [ "${content_a}" == "${content_b}" ]; then
-      echo "No version update required for ${file}"
-      continue
-    fi
-
-    diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
-    old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
-    new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
-
-    # Check that the version is incremented
-    if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
-      echo "ERROR: Missing version update for ${file}"
-      failed=1
-    else
-      if [ $((new_version-old_version)) -ne 1 ]; then
-        echo "ERROR: Version not incremented by +1 for ${file}"
-        failed=1
-      fi
-    fi
-
-    # Check that an old version exists
-    filename=$(basename -- "$file")
-    filename="${filename%.*}"
-    old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
-    if [[ "${all_files}" != *"${old_version_file}"* ]]; then
-      echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
-      failed=1
-    fi
-
-    # Check that a translation header got added by checking for a modification to all_translations.h
-    # If it is changed, we assume a new header got added too, so we don't explicitly check for that
-    if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
-      echo "ERROR: missing modification to translations/all_translations.h"
-      failed=1
-    fi
-  fi
-done
-
-if [ ${failed} -ne 0 ]; then
-  echo ""
-  echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
-  echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
-  exit 1
-fi
@@ -69,7 +69,7 @@ def process_target(px4board_file, target_name):
    group = None

    if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("performance-test.px4board") or \
+        px4board_file.endswith("recovery.px4board") or \
        px4board_file.endswith("bootloader.px4board"):
        kconf.load_config(px4board_file, replace=True)
    else: # Merge config with default.px4board
@@ -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/
@@ -1,33 +0,0 @@
-#! /bin/bash
-# Copy msgs and the message translation node into a ROS workspace directory
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-PX4_SRC_DIR="$DIR/.."
-
-WS_DIR="$1"
-if [ ! -e "${WS_DIR}" ]
-then
-	echo "Usage: $0 <ros_ws_dir>"
-	exit 1
-fi
-WS_DIR="$WS_DIR"/src
-if [ ! -e "${WS_DIR}" ]
-then
-	echo "'src' directory not found inside ROS workspace (${WS_DIR})"
-	exit 1
-fi
-
-cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
-cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
-PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
-if [ ! -e "${PX4_MSGS_DIR}" ]
-then
-  git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
-  rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
-  rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
-  rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
-fi
-cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
-cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg
-cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv
@@ -47,7 +47,6 @@ CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"

 docker run -it --rm -w "${SRC_DIR}" \
-	--user="$(id -u):$(id -g)" \
 	--env=AWS_ACCESS_KEY_ID \
 	--env=AWS_SECRET_ACCESS_KEY \
 	--env=BRANCH_NAME \
@@ -55,6 +54,7 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--env=CI \
 	--env=CODECOV_TOKEN \
 	--env=COVERALLS_REPO_TOKEN \
+	--env=LOCAL_USER_ID="$(id -u)" \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
@@ -53,7 +53,6 @@ exception_list = [
    'SYSTEMCMDS_I2C_LAUNCHER', #  undefined reference to `system',
    'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
    'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
-    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]

 exception_list_sitl = [
@@ -74,8 +73,6 @@ exception_list_sitl = [
    'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
    'SYSTEMCMDS_DMESG', # Not supported in SITL
    'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
-    'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
-    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]

 def main():
@@ -364,6 +364,8 @@ def get_mixers(yaml_config, output_functions, verbose):
                    actuator['group-label'] = 'Motors'
                elif actuator_conf['actuator_type'] == 'servo':
                    actuator['group-label'] = 'Servos'
+                elif actuator_conf['actuator_type'] == 'thruster':
+                    actuator['group-label'] = 'Thrusters'
                else:
                    raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))

@@ -708,7 +708,7 @@ class uploader:
                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144

                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
+                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
        else:
            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
            # have the silicon errata and therefore need to flash px4_fmu-v2
@@ -1,27 +1,33 @@
 #!/bin/bash

-GREEN='\033[0;32m'
-NC='\033[0m' # No Color
-FILE_DESCRIPTOR="${GREEN}[docker-entrypoint.sh]${NC}"
-
-echo -e "$FILE_DESCRIPTOR Starting"
-
+echo "[docker-entrypoint.sh] Starting entrypoint"
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(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 ))"
+echo "[docker-entrypoint.sh] Working Directory: ${pwd}"

-exec "$@"
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+
+	# run as user
+	# exec gosu user "$@"
+	exec "$@"
+else
+	exec "$@"
+fi
@@ -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
@@ -110,15 +109,17 @@ 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 \
 		bison \
 		build-essential \
-		curl \
 		flex \
+		g++-multilib \
+		gcc-arm-none-eabi \
+		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -145,25 +146,6 @@ 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 +156,7 @@ 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 +181,8 @@ 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
@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -7,7 +7,7 @@ param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
 param set-default GPS_1_GNSS 63
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -3,7 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0

 pwm_out start
@@ -150,13 +150,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -145,13 +145,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -32,7 +32,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x003A
+CONFIG_CDCACM_PRODUCTID=0x0039
 CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -76,7 +76,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x003A
+CONFIG_CDCACM_PRODUCTID=0x0039
 CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -141,13 +141,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

 safety_button start
@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

 tone_alarm start
@@ -94,13 +94,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -142,13 +142,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -113,13 +113,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -113,13 +113,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -104,13 +104,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -104,13 +104,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -102,13 +102,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -100,13 +100,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -100,13 +100,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -144,13 +144,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -124,13 +124,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -129,13 +129,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -127,13 +127,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -127,13 +127,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -143,13 +143,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -94,13 +94,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
-CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -94,13 +94,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -141,13 +141,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -139,13 +139,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -13,7 +13,6 @@ CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
-CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
@@ -1,7 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
-CONFIG_BOARD_ROOT_PATH="/data/px4"
+CONFIG_BOARD_ROOTFSDIR="/data/px4"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
@@ -74,49 +74,49 @@ print_config_settings(){
 while getopts "bcdhfmorwz" flag
 do
    case "${flag}" in
-        b)
+        b) 
            echo "[INFO] Holybro GPS selected"
            GPS=HOLYBRO
            ;;
-        c)
+        c) 
            echo "[INFO] Wiping old config file"
            if [ -f "$CONFIG_FILE" ]; then
                rm -rf ${CONFIG_FILE}
            fi
            exit 0
            ;;
-        d)
+        d) 
            echo "[INFO] Disabling daemon mode"
            DAEMON_MODE=DISABLE
            ;;
-        h)
+        h) 
            print_usage
            ;;
-        f)
+        f) 
            echo "[INFO] Setting RC to FAKE_RC_INPUT"
            RC=FAKE_RC_INPUT
            ;;
-        m)
+        m) 
            echo "[INFO] Matek GPS selected"
            GPS=MATEK
            ;;
-        o)
+        o) 
            echo "[INFO] OSD module selected"
            OSD=ENABLE
            ;;
-        r)
+        r) 
            echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
            RC=CRSF_MAV
            ;;
-        w)
+        w) 
            echo "[INFO] TBS Crossfire RC receiver, raw selected"
            RC=CRSF_RAW
            ;;
-        z)
+        z) 
            echo "[INFO] Fake sensor calibration values selected"
            SENSOR_CAL=FAKE
            ;;
-        *)
+        *) 
            print_usage
            ;;
    esac
@@ -130,9 +130,9 @@ else
 fi

 if [ $SENSOR_CAL == "FAKE" ]; then
-    /bin/echo "[INFO] Setting up fake sensor calibration values"
-    px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
-    /bin/sync
+   /bin/echo "[INFO] Setting up fake sensor calibration values"
+   px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
+   /bin/sync
 fi

 print_config_settings
@@ -35,9 +35,9 @@ fi
 /bin/sleep 1

 if [ ! -f /data/px4/param/hitl_parameters ]; then
-    echo "[INFO] Setting default parameters for PX4 on voxl"
+   echo "[INFO] Setting default parameters for PX4 on voxl"
    . /etc/modalai/voxl-px4-hitl-set-default-parameters.config
-    /bin/sync
+   /bin/sync
 else
    param select /data/px4/param/hitl_parameters
    param load
@@ -13,7 +13,7 @@ echo "OSD: $OSD"
 echo "EXTRA STEPS:"
 for i in "${EXTRA_STEPS[@]}"
 do
-    echo -e "\t$i"
+	echo -e "\t$i"
 done
 echo -e "*************************\n"

@@ -83,17 +83,17 @@ qshell ist8310 start -R 10 -X -b 1

 # GPS and magnetometer
 if [ "$GPS" != "NONE" ]; then
-    # On M0052 the GPS driver runs on the apps processor
-    if [ $PLATFORM = "M0052" ]; then
-        gps start -d /dev/ttyHS2
-    # On M0054 and M0104 the GPS driver runs on SLPI DSP
-    else
-        qshell gps start -d 6
-    fi
+	# On M0052 the GPS driver runs on the apps processor
+	if [ $PLATFORM = "M0052" ]; then
+	    gps start -d /dev/ttyHS2
+	# On M0054 and M0104 the GPS driver runs on SLPI DSP
+	else
+	    qshell gps start -d 6
+	fi
 fi

 # Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
-# fail but not cause any harm.
+# fail but not cause any harm. 
 /bin/echo "Looking for ncp5623c RGB LED"
 qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

@@ -107,17 +107,17 @@ param touch SYS_AUTOSTART
 # ESC driver
 if [ "$ESC" == "VOXL_ESC" ]; then
    /bin/echo "Starting VOXL ESC driver"
-    qshell voxl_esc start
+	qshell voxl_esc start
 elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
-    if [ "$RC" == "M0065_SBUS" ]; then
-        /bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
-        qshell voxl2_io start
-    else
-        /bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
-        qshell voxl2_io start -e
-    fi
+	if [ "$RC" == "M0065_SBUS" ]; then
+		/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
+		qshell voxl2_io start
+	else
+		/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
+		qshell voxl2_io start -e
+	fi
 else
-    /bin/echo "No ESC type specified, not starting an ESC driver"
+	/bin/echo "No ESC type specified, not starting an ESC driver"
 fi


@@ -133,41 +133,41 @@ elif [ "$RC" == "CRSF_MAV" ]; then
    qshell mavlink_rc_in start -m -p 7 -b 115200
 elif [ "$RC" == "SPEKTRUM" ]; then
    /bin/echo "Starting Spektrum RC"
-    # On M0052 the RC driver runs on the apps processor
-    if [ $PLATFORM = "M0052" ]; then
+	# On M0052 the RC driver runs on the apps processor
+	if [ $PLATFORM = "M0052" ]; then
        rc_input start -d /dev/ttyHS1
-    # On M0054 and M0104 the RC driver runs on SLPI DSP
-    else
+	# On M0054 and M0104 the RC driver runs on SLPI DSP
+	else
        qshell spektrum_rc start
-    fi
+	fi
 elif [ "$RC" == "GHST" ]; then
    /bin/echo "Starting GHST RC driver"
    qshell ghst_rc start -d 7
 elif [ "$RC" == "M0065_SBUS" ]; then
-    if [ $PLATFORM = "M0052" ]; then
-        apps_sbus start
-    elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
-        /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
-        qshell dsp_sbus start
-        retVal=$?
-        if [ $retVal -ne 0 ]; then
-            /bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
-            /bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
-            qshell voxl2_io start -d -p 7
-        fi
-    else
-        /bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
-    fi
+	if [ $PLATFORM = "M0052" ]; then
+		apps_sbus start
+	elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
+    	/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
+    	qshell dsp_sbus start
+		retVal=$?
+		if [ $retVal -ne 0 ]; then
+	    	/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
+	    	/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
+			qshell voxl2_io start -d -p 7
+		fi
+	else
+    	/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
+	fi
 fi

 if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
-    # Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
-    qshell lightware_laser_serial start -d 7
+	# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
+	qshell lightware_laser_serial start -d 7
 fi

 if [ "$POWER_MANAGER" == "VOXLPM" ]; then
-    # APM power monitor
-    qshell voxlpm start -X -b 2
+	# APM power monitor
+	qshell voxlpm start -X -b 2
 fi

 # Optional distance sensor on spare i2c
@@ -191,7 +191,7 @@ qshell load_mon start
 # is publishing input_rc topics. Otherwise for external RC
 # over Mavlink this isn't needed.
 if [ "$RC" != "EXTERNAL" ]; then
-    qshell rc_update start
+	qshell rc_update start
 fi

 qshell commander start
@@ -214,7 +214,7 @@ voxl_save_cal_params start
 # On M0052 there is only one IMU. So, PX4 needs to
 # publish IMU samples externally for VIO to use.
 if [ $PLATFORM = "M0052" ]; then
-    imu_server start
+	imu_server start
 fi

 # start the onboard fast link to connect to voxl-mavlink-server
@@ -250,5 +250,5 @@ fi
 # Start optional EXTRA_STEPS
 for i in "${EXTRA_STEPS[@]}"
 do
-    $i
+	$i
 done
@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -132,13 +132,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -132,13 +132,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -106,13 +106,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
+	/**
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
 	 */
+
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -120,13 +120,8 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -120,13 +120,8 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -134,13 +134,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -143,13 +143,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -1,31 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
-CONFIG_BOARD_ROMFSROOT="performance-test"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_MFT_CFG=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -145,13 +145,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -137,13 +137,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -144,13 +144,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -1,31 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
-CONFIG_BOARD_ROMFSROOT="performance-test"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_MFT_CFG=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -145,13 +145,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -153,13 +153,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}

-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }

@@ -80,4 +80,3 @@ CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
-CONFIG_MODULES_SPACECRAFT=n
@@ -11,9 +11,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_MODULES_ROVER_ACKERMANN=n
-CONFIG_MODULES_ROVER_DIFFERENTIAL=n
-CONFIG_MODULES_ROVER_MECANUM=n
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=n
 CONFIG_MODULES_SPACECRAFT=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Pedro-Roque	05e5700da6	feat: pushing modularity	2025-02-05 18:28:08 +01:00
Pedro-Roque	fa4189f669	rft: spacecraft into a single module with multiple controllers	2025-02-05 17:18:45 +01:00
Pedro-Roque	202f424aed	rft: remove commented section	2025-02-05 16:36:37 +01:00
Pedro-Roque	2a7fef852c	feat: latest version of gazebo models	2025-02-05 16:29:59 +01:00
Pedro-Roque	1a87f65058	Merge remote-tracking branch 'origin/main' into pr-spacecraft-allocator-and-board	2025-02-05 16:27:04 +01:00
Pedro-Roque	bb5d6a01b8	fix: adding thruster definition to actuators	2025-01-30 17:00:47 +01:00
Pedro-Roque	d7c89effc8	add: thruster function to actuator motors	2025-01-30 16:54:11 +01:00
Pedro-Roque	993993462f	fix: added header for thrusters	2025-01-30 16:44:08 +01:00
Pedro-Roque	775c85ed23	add: definition of thruster function as output function	2025-01-30 16:33:05 +01:00
Pedro-Roque	52a29e9696	add: function of thrusters	2025-01-30 16:31:12 +01:00
Pedro-Roque	a916f50718	feat: addition of functions	2025-01-30 16:30:56 +01:00
Pedro-Roque	e7bc64ea97	fix: remove gazebo classic spacecraft	2025-01-30 16:15:35 +01:00
Pedro-Roque	c697710547	fix: define alias for max thruster count	2025-01-30 16:13:22 +01:00
Pedro-Roque	b12f0a9de8	fix: module yamls gotten mixed	2025-01-30 16:10:59 +01:00
Pedro-Roque	7488fde328	feat: moving airframe to original allocator	2025-01-30 16:05:21 +01:00
Pedro-Roque	38dca755f5	fix: format	2025-01-29 00:11:46 +01:00
Pedro-Roque	2cda9059a6	fix: removed unnecessary files and vscode extras	2025-01-28 23:59:33 +01:00
Pedro-Roque	d4b6d75d35	feat: spacecraft build	2025-01-20 15:57:11 +01:00
Pedro-Roque	33620b3e80	feat: adding spacecraft build target	2025-01-20 15:57:11 +01:00
Pedro-Roque	e2cdb74ff4	add: actual files	2025-01-20 15:57:11 +01:00
Pedro-Roque	5310dbdd52	add: metric allocation	2025-01-20 15:57:11 +01:00