docs: update release notes from list of prs

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

.github/workflows/build_all_targets.yml

@@ -54,13 +54,7 @@ jobs:
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        run: |
-          echo "branchname=${{
-            github.event_name == 'pull_request' &&
-            format('pr-{0}', github.event.pull_request.number) ||
-            github.head_ref ||
-            github.ref_name
-          }}" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
 
       - name: Debug Matrix Output
         if: runner.debug == '1'

.github/workflows/docs_metadata_check.yml

@@ -1,47 +0,0 @@
-name: Docs Metadata
-
-permissions:
-  contents: write
-
-on:
-  pull_request: {}
-
-jobs:
-  metadata-check:
-    name: ${{ matrix.name }}
-    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=true]
-    container:
-      image: ghcr.io/px4/px4-dev:v1.16.0-ondemand
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - name: uORB Graphs
-            script: Tools/ci/metadata_uorb_graph.sh
-          - name: Failsafe Web
-            script: Tools/ci/metadata_failsafe_web.sh --debug
-          - name: uORB Messages
-            script: Tools/ci/metadata_msg_docs.sh
-          - name: Parameter Reference
-            script: Tools/ci/metadata_parameters.sh
-          - name: Airframe Reference
-            script: Tools/ci/metadata_airframe.sh
-          - name: Module Reference
-            script: Tools/ci/metadata_modules.sh
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-          persist-credentials: true
-
-      - name: Mark all directories safe for Git
-        run: git config --system --add safe.directory '*'
-
-      - name: Run ${{ matrix.name }} metadata check
-        run: ${{ matrix.script }} --test-only
-
-      - name: Setup tmate session
-        if: ${{ failure() }}
-        uses: mxschmitt/action-tmate@v3

.gitignore

@@ -109,6 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata dependencies
-_emscripten_sdk/

Makefile

@@ -379,10 +379,7 @@ module_documentation:
 extract_events:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
 
-msg_docs:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_msg_documentation ver_gen
-
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events msg_docs
+px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name HexarotorX SITL for SIH
-#
-# @type Hexarotor x
-# @class Copter
-#
-# @maintainer Matthias Grob <maetugr@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-param set SIH_VEHICLE_TYPE 4
-
-# Symmetric hexacopter X clockwise motor numbering
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.866
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 1
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.866
-param set-default CA_ROTOR2_PY 0.5
-param set-default CA_ROTOR3_PX -0.866
-param set-default CA_ROTOR3_PY -0.5
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_PX 0
-param set-default CA_ROTOR4_PY -1
-param set-default CA_ROTOR5_PX 0.866
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_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 PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-param set-default EKF2_GPS_DELAY 0

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

@@ -109,7 +109,6 @@ px4_add_romfs_files(
 	10041_sihsim_airplane
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
-	10044_sihsim_hex
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -295,15 +295,10 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
-	# Override, as variable is set (empty or not)
-	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
-		# Override namespace if environment variable is non-empty
-		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
-	else
-		# Clear namespace if variable is empty
-		uxrce_dds_ns=""
-	fi
+if [ -n "$PX4_UXRCE_DDS_NS" ]
+then
+	# Override namespace if environment variable is defined
+	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -15,8 +15,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_mode_manager start
-fw_lat_lon_control start
+fw_pos_control start
 airspeed_selector start
 
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -13,6 +13,8 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
+# there is a 2.5 factor applied on the _FS thresholds if for invalidation
+param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3
 
 param set-default COM_POS_LOW_EPH 50

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -20,5 +20,7 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
+param set-default GPS_UBX_DYNMODEL 6
+
 # lower RNG_FOG since MC are expected to fly closer over obstacles
 param set-default EKF2_RNG_FOG 1.0

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -27,8 +27,7 @@ fi
 
 fw_rate_control start vtol
 fw_att_control start vtol
-fw_mode_manager start
-fw_lat_lon_control start vtol
+fw_pos_control start vtol
 fw_autotune_attitude_control start vtol
 
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -10,6 +10,9 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22
 
+# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
+param set-default COM_POS_FS_EPH 50
+
 param set-default COM_POS_LOW_EPH 50
 
 param set-default MIS_TAKEOFF_ALT 20

ROMFS/px4fmu_common/init.d/rcS

@@ -39,7 +39,7 @@ set VEHICLE_TYPE none
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
+# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
 set PARAM_DEFAULTS_VER 1
 
 #

Tools/ci/check_msg_versioning.sh

@@ -27,9 +27,9 @@ do
     # - An old .msg version exists
     # - A translation header exists and is included
 
-    # Ignore changes to comments or constants and trim whitespace
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
+    # 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

Tools/ci/metadata_airframe.sh

@@ -1,68 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_airframe.sh — generate and sync PX4 airframe reference documentation
-#
-# Usage:
-#   Tools/ci/metadata_airframe.sh [--test-only] [--debug]
-#
-# Options:
-#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
-#   --debug       Show full make output and debug info for comparison
-#
-set -euo pipefail
-shopt -s nullglob
-
-# Parse flags
-test_only=false
-debug=false
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --test-only) test_only=true; shift ;;
-    --debug)     debug=true; shift ;;
-    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
-  esac
-done
-
-# Paths and make target
-make_target="airframe_metadata"
-src_file="build/px4_sitl_default/docs/airframes.md"
-dest_file="docs/en/airframes/airframe_reference.md"
-
-# Run make target
-if [ "$debug" = true ]; then
-  echo "🔧 Running 'make $make_target' (verbose)"
-  make $make_target
-else
-  echo "🔧 Running 'make $make_target'"
-  make $make_target > /dev/null 2>&1
-fi
-
-# Verify build output
-if [[ ! -f "$src_file" ]]; then
-  echo "❌ Generated file not found: $src_file"
-  exit 1
-fi
-
-echo "🔍 Comparing airframe reference docs"
-
-# Compare files
-if cmp -s "$src_file" "$dest_file"; then
-  echo "✅ Airframe reference is up to date."
-  exit 0
-else
-  if [ "$debug" = true ]; then
-    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
-  fi
-  echo "⚠️ Airframe reference needs updating."
-  if [ "$test_only" = true ]; then
-    exit 1
-  fi
-  # Copy over updated file
-  echo "📂 Copying updated airframe_reference.md"
-  cp -v "$src_file" "$dest_file"
-  echo "🚨 Airframe docs updated; commit the change:"
-  echo "    git status -s $dest_file"
-  echo "    git add $dest_file"
-  echo "    git commit -m 'docs: update airframe reference metadata'"
-  exit 1
-fi

Tools/ci/metadata_failsafe_web.sh

@@ -1,112 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_failsafe_web.sh — build and sync failsafe webapp metadata files
-#
-# Usage:
-#   Tools/ci/metadata_failsafe_web.sh [--test-only] [--debug]
-#
-# Options:
-#   --test-only   Run build and comparison; exit 1 if diffs found, without copying files
-#   --debug       Show full build output and debug info for file comparisons and EMSDK install
-#
-set -euo pipefail
-shopt -s nullglob
-
-# Parse flags
-test_only=false
-debug=false
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --test-only) test_only=true; shift ;;
-    --debug)     debug=true; shift ;;
-    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
-  esac
-done
-
-# Paths and commands
-build_cmd="make failsafe_web"
-src_dir="build/px4_sitl_default_failsafe_web"
-dest_dir="docs/public/config/failsafe"
-
-# Ensure Emscripten SDK is available
-if ! command -v emcc >/dev/null 2>&1; then
-  echo "🔧 Emscripten not found. Ensuring EMSDK is installed."
-  # Clone SDK only if not already present
-  if [ ! -d "_emscripten_sdk" ]; then
-    if [ "$debug" = true ]; then
-      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-    else
-      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk > /dev/null 2>&1
-    fi
-  fi
-  pushd _emscripten_sdk >/dev/null
-  if [ "$debug" = true ]; then
-    ./emsdk install latest
-    ./emsdk activate latest
-  else
-    ./emsdk install latest > /dev/null 2>&1
-    ./emsdk activate latest > /dev/null 2>&1
-  fi
-  popd >/dev/null
-  # Load environment into current shell
-  if [ "$debug" = true ]; then
-    # shellcheck source=/dev/null
-    . ./_emscripten_sdk/emsdk_env.sh
-  else
-    # shellcheck source=/dev/null
-    . ./_emscripten_sdk/emsdk_env.sh > /dev/null 2>&1
-  fi
-fi
-
-# Build step
-if [ "$debug" = true ]; then
-  echo "🔧 Running build: $build_cmd"
-  $build_cmd
-else
-  echo "🔧 Running build"
-  $build_cmd > /dev/null 2>&1
-fi
-
-# Gather built files
-src_files=("$src_dir"/*.{js,wasm,json})
-if [ ${#src_files[@]} -eq 0 ]; then
-  echo "❌ No generated files found in $src_dir. Build failed or path wrong."
-  exit 1
-fi
-
-# Prepare destination
-echo "🔍 Checking failsafe web metadata"
-mkdir -p "$dest_dir"
-
-changed=()
-for src in "${src_files[@]}"; do
-  name=$(basename "$src")
-  dst="$dest_dir/$name"
-
-  if [[ ! -f "$dst" ]]; then
-    [ "$debug" = true ] && echo "DEBUG: missing $dst"
-    changed+=("$name")
-  elif ! cmp -s "$src" "$dst"; then
-    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
-    changed+=("$name")
-  fi
-done
-
-if [ ${#changed[@]} -eq 0 ]; then
-  echo "✅ All failsafe web metadata files are in sync."
-  exit 0
-fi
-
-echo "⚠️ Detected updates in:"
-for f in "${changed[@]}"; do echo "  - $f"; done
-
-if [ "$test_only" = true ]; then
-  echo "🚨 Failsafe web metadata needs update; rerun without --test-only to apply."
-  exit 1
-fi
-
-echo "📂 Copying updated files"
-for f in "${changed[@]}"; do cp -v "$src_dir/$f" "$dest_dir/$f"; done
-
-echo "🚨 Failsafe web metadata updated; please commit changes."
-exit 1

Tools/ci/metadata_modules.sh

@@ -1,99 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_modules.sh - generate and sync PX4 module reference documentation
-#
-# Usage:
-#   Tools/ci/metadata_modules.sh [--test-only] [--debug]
-#
-# Options:
-#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
-#   --debug       Show full make output and debug info for file comparisons
-#
-set -euo pipefail
-shopt -s nullglob
-
-# Parse flags
-test_only=false
-debug=false
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --test-only) test_only=true; shift ;;
-    --debug)     debug=true; shift ;;
-    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
-  esac
-done
-
-# Paths and make target
-make_target="module_documentation"
-src_dir="build/px4_sitl_default/docs/modules"
-dest_dir="docs/en/modules"
-
-# Run make target
-if [ "$debug" = true ]; then
-  echo "🔧 Running 'make $make_target' (verbose)"
-  make $make_target
-else
-  echo "🔧 Running 'make $make_target'"
-  make $make_target > /dev/null 2>&1
-fi
-
-# Verify build output
-src_files=("$src_dir"/*)
-if [ ${#src_files[@]} -eq 0 ]; then
-  echo "❌ No generated module docs found in $src_dir. Build failed or path wrong."
-  exit 1
-fi
-
-# ─── Strip trailing whitespace from all generated module docs (unless test-only) ─────────────
-if [ "$test_only" = false ]; then
-  echo "✂️ Removing trailing whitespace from generated module docs"
-  for src in "${src_files[@]}"; do
-    sed -i 's/[[:space:]]\+$//' "$src"
-  done
-else
-  [ "$debug" = true ] && echo "🧪 Test-only mode: skipping whitespace removal"
-fi
-
-echo "🔍 Checking module reference docs in $dest_dir"
-mkdir -p "$dest_dir"
-
-changed=()
-for src in "${src_files[@]}"; do
-  name=$(basename "$src")
-  dst="$dest_dir/$name"
-
-  if [[ ! -e "$dst" ]]; then
-    [ "$debug" = true ] && echo "DEBUG: missing $dst"
-    changed+=("$name")
-  else
-    # Use diff -q -b (ignore whitespace changes) and --strip-trailing-cr (ignore CRLF vs LF)
-    if ! diff -q -b --strip-trailing-cr "$src" "$dst" > /dev/null; then
-      [ "$debug" = true ] && echo "DEBUG: diff -q -b --strip-trailing-cr '$src' '$dst'  (exit_code=$?)"
-      changed+=("$name")
-    fi
-  fi
-done
-
-if [ ${#changed[@]} -eq 0 ]; then
-  echo "✅ All module reference docs are up to date."
-  exit 0
-fi
-
-echo "⚠️ Detected updates in module docs:"
-for f in "${changed[@]}"; do echo "  - $f"; done
-
-if [ "$test_only" = true ]; then
-  echo "🚨 Module reference docs need updating; rerun without --test-only to apply."
-  exit 1
-fi
-
-echo "📂 Copying updated module docs to $dest_dir"
-for f in "${changed[@]}"; do
-  cp -rv "$src_dir/$f" "$dest_dir/$f"
-done
-
-echo "🚨 Module reference docs updated; please commit changes:"
-echo "    git status -s $dest_dir"
-echo "    git add $dest_dir/*"
-echo "    git commit -m 'docs: update module reference metadata'"
-exit 1

Tools/ci/metadata_msg_docs.sh

@@ -1,97 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_msg_docs.sh — generate and sync uORB message reference documentation
-#
-# Usage:
-#   Tools/ci/metadata_msg_docs.sh [--test-only] [--debug]
-#
-# Options:
-#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
-#   --debug       Show full make output and debug info for file comparisons
-#
-set -euo pipefail
-shopt -s nullglob
-
-# Parse flags
-test_only=false
-debug=false
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --test-only) test_only=true; shift ;;
-    --debug)     debug=true; shift ;;
-    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
-  esac
-done
-
-# Paths and make target
-make_target="msg_docs"
-src_dir="build/px4_sitl_default/msg_docs"
-dest_dir="docs/en/msg_docs"
-middleware_dir="docs/en/middleware"
-
-# Run make target
-if [ "$debug" = true ]; then
-  echo "🔧 Running 'make $make_target' (verbose)"
-  make $make_target
-else
-  echo "🔧 Running 'make $make_target'"
-  make $make_target > /dev/null 2>&1
-fi
-
-# Verify build output
-src_files=("$src_dir"/*)
-if [ ${#src_files[@]} -eq 0 ]; then
-  echo "❌ No files found in $src_dir. Build target '$make_target' failed or path is wrong."
-  exit 1
-fi
-
-echo "🔍 Checking uORB message docs in $dest_dir"
-mkdir -p "$dest_dir"
-
-changed=()
-for src in "${src_files[@]}"; do
-  name=$(basename "$src")
-
-  # special-case dds_topics.md
-  if [[ "$name" == "dds_topics.md" ]]; then
-    dst="$middleware_dir/$name"
-  else
-    dst="$dest_dir/$name"
-  fi
-
-  if [[ ! -f "$dst" ]]; then
-    [ "$debug" = true ] && echo "DEBUG: missing $dst"
-    changed+=("$name")
-  elif ! cmp -s "$src" "$dst"; then
-    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
-    changed+=("$name")
-  fi
-done
-
-if [ ${#changed[@]} -eq 0 ]; then
-  echo "✅ All uORB message docs are up to date."
-  exit 0
-fi
-
-echo "⚠️ Detected updates in the following docs:"
-for f in "${changed[@]}"; do echo "  - $f"; done
-
-if [ "$test_only" = true ]; then
-  echo "🚨 uORB message docs need updating! Rerun without --test-only to apply changes."
-  exit 1
-fi
-
-echo "📂 Copying updated doc files to $dest_dir"
-for f in "${changed[@]}"; do
-  if [[ "$f" == "dds_topics.md" ]]; then
-    cp -v "$src_dir/$f" "$middleware_dir/$f"
-  else
-    cp -v "$src_dir/$f" "$dest_dir/$f"
-  fi
-done
-
-echo "🚨 uORB message docs updated; please commit changes:"
-echo "    git status -s $dest_dir"
-echo "    git add $dest_dir/*"
-echo "    git commit -m 'docs: update uORB message reference docs'"
-exit 1

Tools/ci/metadata_parameters.sh

@@ -1,71 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_parameters.sh — generate and sync PX4 parameter reference documentation
-#
-# Usage:
-#   Tools/ci/metadata_parameters.sh [--test-only] [--debug]
-#
-# Options:
-#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
-#   --debug       Show full make output and debug info for comparison
-#
-set -euo pipefail
-
-# Parse flags
-test_only=false
-debug=false
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --test-only) test_only=true; shift ;;
-    --debug)     debug=true; shift ;;
-    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
-  esac
-done
-
-# Paths and make target
-make_target="parameters_metadata"
-src_file="build/px4_sitl_default/docs/parameters.md"
-dest_file="docs/en/advanced_config/parameter_reference.md"
-
-# Run make target
-if [ "$debug" = true ]; then
-  echo "🔧 Running 'make $make_target' (verbose)"
-  make $make_target
-else
-  echo "🔧 Running 'make $make_target'"
-  make $make_target > /dev/null 2>&1
-fi
-
-# ─── Strip trailing whitespace from the newly generated Markdown ────────────────────────────────
-echo "✂️ Removing trailing whitespace from $src_file"
-sed -i 's/[[:space:]]\+$//' "$src_file"
-
-# Verify build output
-if [[ ! -f "$src_file" ]]; then
-  echo "❌ Generated file not found: $src_file"
-  exit 1
-fi
-
-echo "🔍 Comparing parameter docs"
-
-# Compare files
-if cmp -s "$src_file" "$dest_file"; then
-  echo "✅ Parameter reference is up to date."
-  exit 0
-else
-  if [ "$debug" = true ]; then
-    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
-  fi
-  echo "⚠️ Parameter reference needs updating."
-  if [ "$test_only" = true ]; then
-    exit 1
-  fi
-  # Copy over updated file
-  echo "📂 Copying updated parameter_reference.md"
-  cp -v "$src_file" "$dest_file"
-  echo "🚨 Parameter docs updated; commit the change:"
-  echo "    git status -s $dest_file"
-  echo "    git add $dest_file"
-  echo "    git commit -m 'docs: update parameter reference metadata'"
-  exit 1
-fi

Tools/ci/metadata_uorb_graph.sh

@@ -1,108 +0,0 @@
-#!/usr/bin/env bash
-#
-# update_uorb_graphs.sh — generate, compare, and sync uORB graph JSONs
-#
-# Usage:
-#   ./scripts/update_uorb_graphs.sh [--test-only] [--debug]
-#
-# Options:
-#   --test-only   Run generation and comparison only; exit 1 if diffs found, without copying files
-#   --debug       Echo debug info for missing or differing files and show full make output
-#
-# Examples:
-#   # CI mode: fail if docs need updates
-#   ./scripts/update_uorb_graphs.sh --test-only
-#
-#   # Developer mode: regenerate and sync JSONs
-#   ./scripts/update_uorb_graphs.sh
-#
-set -euo pipefail
-
-shopt -s nullglob
-
-# Parse flags
-test_only=false
-debug=false
-while [[ $# -gt 0 ]]; do
-	case "$1" in
-		--test-only)
-			test_only=true
-			shift
-			;;
-		--debug)
-			debug=true
-			shift
-			;;
-		*)
-			echo "Usage: $0 [--test-only] [--debug]"
-			exit 2
-			;;
-	esac
-done
-
-# Paths
-graph_dir="Tools/uorb_graph"
-dest_dir="docs/public/middleware"
-
-# Generate uORB graphs (conditionally silent)
-if [ "$debug" = true ]; then
-	echo "🔧 Generating uORB message graphs (verbose output)"
-	make uorb_graphs
-else
-	echo "🔧 Generating uORB message graphs"
-	make uorb_graphs > /dev/null 2>&1
-fi
-
-# Verify generation
-src_files=("$graph_dir"/*.json)
-if [ ${#src_files[@]} -eq 0 ]; then
-	echo "❌ No JSON files found in $graph_dir. Generation failed or path is wrong."
-	exit 1
-fi
-
-echo "🔍 Checking for updated uORB graph JSONs"
-mkdir -p "$dest_dir"
-
-changed=()
-for src in "${src_files[@]}"; do
-	name=$(basename "$src")
-	dst="$dest_dir/$name"
-
-	if [[ ! -f "$dst" ]]; then
-		[ "$debug" = true ] && echo "DEBUG: $dst missing"
-		changed+=("$name")
-
-	elif ! cmp -s "$src" "$dst"; then
-		[ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
-		changed+=("$name")
-	fi
-done
-
-if [ ${#changed[@]} -eq 0 ]; then
-	echo "✅ All uORB graph JSONs are already in sync."
-	exit 0
-fi
-
-echo "⚠️ Detected updates in the following files:"
-for name in "${changed[@]}"; do
-	echo "	- $name"
-done
-
-if [ "$test_only" = true ]; then
-	echo
-	echo "🚨 uORB graph docs need updating! Rerun without --test-only to apply changes."
-	exit 1
-fi
-
-echo
-echo "📂 Copying updated files over"
-for name in "${changed[@]}"; do
-	cp -v "$graph_dir/$name" "$dest_dir/$name"
-done
-
-echo
-echo "🚨 uORB graph docs need updating! Review above, then run:"
-echo "	git status -s $dest_dir/"
-echo "	git add $dest_dir/*.json"
-echo "	git commit -m 'docs: metadata: update uORB graph JSONs'"
-exit 1

Tools/docker_run.sh

@@ -2,7 +2,19 @@
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
+		# posix_rpi_cross, posix_bebop_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
@@ -15,9 +27,17 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
 fi
 
+# docker hygiene
+
+#Delete all stopped containers (including data-only containers)
+# docker container prune
+
+#Delete all 'untagged/dangling' (<none>) images
+# docker image prune
+
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/msg/generate_msg_docs.py

@@ -2,7 +2,6 @@
 
 """
 Generate docs from .msg files
-Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 """
 
 import os
@@ -10,109 +9,6 @@ import argparse
 import sys
 
 
-import yaml
-
-def sort_dds_topics(topics):
-    return sorted(
-        topics,
-        key=lambda pub: pub["type"].rsplit("::", 1)[-1]
-    )
-
-def generate_dds_yaml_doc(allMessageFiles, output_dir):
-    """
-    Generates human readable version of dds_topics.yaml.
-    Default output is to docs/en/middleware/dds_topics.md
-    """
-    output_file = 'dds_topics.md'
-    dds_markdown = ""
-    if not os.path.isdir(output_dir):
-        print("Output directory not found")
-        sys.exit(1)
-
-    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
-    output_file_path = os.path.join(output_dir, output_file)
-
-    try:
-        with open(dds_file_path, 'r') as file:
-            data = yaml.safe_load(file)
-
-        # Get messages and topics that are not published by default
-        # Start by getting all that are published.
-        all_messages_in_source = set()
-        all_message_types =set()
-        all_topics =set()
-        for message in data["publications"]:
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
-        for message in data["subscriptions"]:
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
-        if data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-            for message in data["subscriptions_multi"]:
-                all_message_types.add(message['type'].split("::")[-1])
-                all_topics.add(message['topic'].split('/')[-1])
-        for message in allMessageFiles:
-            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
-        messagesNotExported = sorted(all_messages_in_source - all_message_types)
-
-        # write out the dds file
-        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
-
-::: info
-This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
-:::
-
-
-The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
-
-This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
-
-## Publications
-
-Topic | Type| Rate Limit
---- | --- | ---
-"""
-
-        for message in sort_dds_topics(data["publications"]):
-            type = message['type']
-            px4Type=type.split("::")[-1]
-            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
-
-        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
-
-        for message in sort_dds_topics(data["subscriptions"]):
-            type = message['type']
-            px4Type=type.split("::")[-1]
-            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
-
-        dds_markdown += "\n## Subscriptions Multi\n\n"
-
-        if not data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-        else:
-            print("Warning - we now have subscription_multi data - check format")
-            dds_markdown += "Topic | Type\n--- | ---\n"
-            for message in sort_dds_topics(data["subscriptions_multi"]):
-                dds_markdown += f"{message['topic']} | {message['type']}\n"
-
-        if messagesNotExported:
-            # Print the topics that are not exported to DDS
-            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
-            dds_markdown += "\n\n::: details See messages\n"
-            for item in sorted(messagesNotExported):
-                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
-            dds_markdown += "\n:::\n" # End of details block
-
-        with open(output_file_path, 'w') as content_file:
-                content_file.write(dds_markdown)
-
-    except yaml.YAMLError as exc:
-        print(f"Error parsing YAML: {exc}")
-    except FileNotFoundError:
-        print(f"Error: {dds_file_path} not found.")
-
-
 def get_msgs_list(msgdir):
     """
     Makes a list of relative paths of .msg files in the given directory
@@ -134,10 +30,8 @@ def get_msgs_list(msgdir):
 
 
 if __name__ == "__main__":
-
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
-    parser.add_argument('--dds_topics', dest='dds_topics', help='Generate dds yaml doc', action='store_true')
     args = parser.parse_args()
 
     output_dir = args.dir
@@ -148,9 +42,6 @@ if __name__ == "__main__":
     msg_files = get_msgs_list(msg_path)
     msg_files.sort()
 
-    if args.dds_topics:
-        generate_dds_yaml_doc(msg_files, output_dir)
-
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
 

Tools/px4moduledoc/markdownout.py

@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
 ## Categories
 """
         for category in sorted(module_groups):
-            result += f"- [{category.capitalize()}](modules_{category}.md)\n"
+            result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
 
         self._outputs['main'] = result
 
         for category in sorted(module_groups):
-            result = f"# Modules Reference: {category.capitalize()}\n\n"
+            result = "# Modules Reference: %s\n" % category.capitalize()
             subcategories = module_groups[category]
-
             if len(subcategories) > 1:
-                result += 'Subcategories:\n\n'
-                for subcategory in sorted(subcategories): 
+                result += 'Subcategories:\n'
+                for subcategory in subcategories:
                     if subcategory == '':
                         continue
                     subcategory_label = subcategory.replace('_', ' ').title()
                     subcategory_file_name = category+'_'+subcategory
-                    result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'
+                    result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)
 
                     # add a sub-page for the subcategory
-                    result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
+                    result_subpage = '# Modules Reference: %s (%s)\n' % \
+                        (subcategory_label, category.capitalize())
                     result_subpage += self._ProcessModules(subcategories[subcategory])
                     self._outputs[subcategory_file_name] = result_subpage
 
@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
     def _ProcessModules(self, module_list):
         result = ''
         for module in module_list:
-            result += f"\n## {module.name()}\n\n"
-            result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
+            result += "## %s\n" % module.name()
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
             doc = module.documentation()
             if len(doc) > 0:
-                result += f"{doc}\n"
+                result += "%s\n" % doc
             usage_string = module.usage_string()
             if len(usage_string) > 0:
-                result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
+                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
         return result
 
     def Save(self, dirname):

Tools/px4moduledoc/srcparser.py

@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
     """
 
     # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this
 

Tools/uorb_graph/create.py

@@ -59,7 +59,7 @@ def get_N_colors(N, s=0.8, v=0.9):
 def topic_filename(topic):
     MSG_PATH = 'msg/'
 
-    file_list = sorted(os.listdir(MSG_PATH))
+    file_list = os.listdir(MSG_PATH)
     msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
 
     if topic in msg_files:
@@ -369,14 +369,12 @@ class Graph(object):
             if not scope.is_empty():
                 scopes_with_topic[name] = scope
 
-        # scopes_with_topic = sorted(scopes_with_topic)
-
         self._print_ambiguities = ambiguous_topics
         if use_topic_pubsub_union:
-            self._print_topics = sorted(subscribed_topics | published_topics)
+            self._print_topics = subscribed_topics | published_topics
             self._print_scopes = scopes_with_topic
         else:
-            self._print_topics = sorted(subscribed_topics & published_topics)
+            self._print_topics = subscribed_topics & published_topics
 
             # cull scopes to only those that pub or sub to a topic that has both
             intersect_scopes = {}
@@ -394,7 +392,7 @@ class Graph(object):
             log.debug('ignoring excluded path '+path)
             return
 
-        entries = sorted(os.listdir(path))
+        entries = os.listdir(path)
 
         # check if entering a new scope
         cmake_file = 'CMakeLists.txt'
@@ -687,8 +685,8 @@ class OutputJSON(object):
 
 
         # edges
-        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
-            for topic in sorted(scope.publications):
+        for name,scope in output_scopes.items():
+            for topic in scope.publications:
                 if topic in output_topics:
                     edge = {}
                     edge['source'] = 'm_'+name
@@ -697,8 +695,8 @@ class OutputJSON(object):
                     edge['style'] = 'dashed'
                     edges.append(edge)
 
-        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
-            for topic in sorted(scope.subscriptions):
+        for name,scope in output_scopes.items():
+            for topic in scope.subscriptions:
                 if topic in output_topics:
                     edge = {}
                     edge['source'] = 't_'+topic
@@ -725,16 +723,10 @@ if "__main__" == __name__:
             log.setLevel(logging.DEBUG)
             print("set log level to DEBUG")
 
-
-    print('')
-    print('== Starting uorb_graph/create.py ==')
-    if args.file:
-        print('  =Filename:', os.path.basename(args.file))
-
     # ignore topics that are subscribed/published by many topics, but are not really
     # useful to show in the graph
     topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
-    print('  =Excluded Topics: '+str(topic_blacklist))
+    print('Excluded topics: '+str(topic_blacklist))
 
     if len(args.modules) == 0:
         scope_whitelist = []
@@ -765,7 +757,7 @@ if "__main__" == __name__:
     if 0 < len(args.exclude_path):
         path_blacklist = args.exclude_path
     if path_blacklist:
-        print('  =Excluded Path: '+str(path_blacklist))
+        print('Excluded Path: '+str(path_blacklist))
 
     graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
 
@@ -792,6 +784,3 @@ if "__main__" == __name__:
         pass
     else:
         print('Error: unknown output format '+args.output)
-
-    print("== Completed uorb_graph/create.py ==")
-    print("")

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -10,7 +10,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -42,8 +41,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/airmind/mindpx-v2/default.px4board

@@ -46,8 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/ark/fmu-v6x/default.px4board

@@ -56,8 +56,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/ark/fpv/default.px4board

@@ -37,8 +37,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -57,11 +56,9 @@ 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_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/auterion/fmu-v6s/default.px4board

@@ -37,8 +37,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y

boards/auterion/fmu-v6s/init/rc.board_defaults

@@ -26,6 +26,3 @@ nshterm /dev/ttyS3 &
 
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start
-
-# Start the ESC telemetry
-dshot telemetry -d /dev/ttyS5 -x

boards/auterion/fmu-v6s/multicopter.px4board

@@ -3,8 +3,7 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_COMMON_RC=y

boards/auterion/fmu-v6s/rover.px4board

@@ -2,8 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n

boards/av/x-v1/default.px4board

@@ -42,8 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/beaglebone/blue/default.px4board

@@ -30,8 +30,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/bluerobotics/navigator/default.px4board

@@ -49,8 +49,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y

boards/corvon/743v1/default.px4board

@@ -38,8 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/cuav/7-nano/default.px4board

@@ -42,8 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/nora/default.px4board

@@ -50,8 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/x7pro/default.px4board

@@ -50,8 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeorange/default.px4board

@@ -49,8 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -50,8 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeyellow/default.px4board

@@ -46,8 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/emlid/navio2/default.px4board

@@ -32,8 +32,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-dual/default.px4board

@@ -39,8 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-dual/init/rc.board_extras

@@ -10,4 +10,4 @@
 # fi
 
 # DShot telemetry is always on UART7
-# dshot telemetry -d /dev/ttyS5
+# dshot telemetry /dev/ttyS5

boards/hkust/nxt-v1/default.px4board

@@ -41,8 +41,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-v1/init/rc.board_extras

@@ -10,4 +10,4 @@
 # fi
 
 # DShot telemetry is always on UART7
-# dshot telemetry -d /dev/ttyS5
+# dshot telemetry /dev/ttyS5

boards/holybro/durandal-v1/default.px4board

@@ -44,8 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakutef7/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
+dshot telemetry /dev/ttyS5

boards/holybro/kakuteh7-wing/default.px4board

@@ -13,11 +13,13 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -35,8 +37,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -56,7 +57,9 @@ 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
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -66,7 +69,6 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/holybro/kakuteh7-wing/firmware.prototype

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

boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld

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

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

@@ -114,6 +114,7 @@
 
 #define BOARD_NUMBER_BRICKS 2
 
+// TODO: fix
 #define GPIO_nVDD_BRICK1_VALID          (1) /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          (0) /* Brick 2 Is Chosen  */
 
@@ -128,20 +129,17 @@
  */
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 
-#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
-
-#define GPIO_VTX_9V_EN                  /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-
-#define GPIO_CAM_SWITCH                 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_VDD_5V_PERIPH_nEN          /* PE2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_VDD_5V_PERIPH_nOC          /* PE3  */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_VDD_5V_HIPOWER_nEN         /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
 
 /* Define True logic Power Control in arch agnostic form */
 
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
-
-#define VTX_9V_EN(on_true)                px4_arch_gpiowrite(GPIO_VTX_9V_EN, (on_true))
-
-#define CAM_SWITCH_CAM1                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, false) // low is CAM1
-#define CAM_SWITCH_CAM2                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, true)  // high is CAM2
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 
 /* Tone alarm output */
 
@@ -198,10 +196,11 @@
 
 #define BOARD_ADC_SERVO_VALID     (1)
 
-#define BOARD_ADC_BRICK1_VALID  (1)
-#define BOARD_ADC_BRICK2_VALID  (1)
+#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
 
-#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
 
 
 /* This board provides a DMA pool and APIs */
@@ -218,8 +217,6 @@
 		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_PPM_IN,                      \
-		GPIO_VTX_9V_EN,                   \
-		GPIO_CAM_SWITCH,                  \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/holybro/kakuteh7-wing/src/init.c

@@ -108,21 +108,21 @@ __END_DECLS
  ************************************************************************************/
 __EXPORT void board_peripheral_reset(int ms)
 {
-	/* off */
-	VTX_9V_EN(false);
-	VDD_3V3_SENSORS_EN(false);
+	/* set the peripheral rails off */
 
+	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 
+	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
 	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
 
 	/* re-enable power */
-	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
-	VTX_9V_EN(true);
 
-	CAM_SWITCH_CAM1;
+	/* switch the peripheral rail back on */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_5V_PERIPH_EN(true);
+
 }
 
 /************************************************************************************
@@ -210,6 +210,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 #if !defined(BOOTLOADER)
 
+	/* Power on Interfaces */
+	VDD_5V_PERIPH_EN(true);
+	VDD_5V_HIPOWER_EN(true);
+
 	/* Need hrt running before using the ADC */
 
 	px4_platform_init();
@@ -250,7 +254,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
-		{14, 128 * 1024, 0x081C0000},
 		{15, 128 * 1024, 0x081E0000},
 		{0, 0, 0},
 	};

boards/holybro/kakuteh7/default.px4board

@@ -45,8 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
+dshot telemetry /dev/ttyS5

boards/holybro/kakuteh7dualimu/default.px4board

@@ -48,8 +48,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7dualimu/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
+dshot telemetry /dev/ttyS5

boards/holybro/kakuteh7mini/default.px4board

@@ -45,8 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7mini/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
+dshot telemetry /dev/ttyS5

boards/holybro/kakuteh7v2/default.px4board

@@ -45,8 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7v2/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
+dshot telemetry /dev/ttyS5

boards/holybro/pix32v5/default.px4board

@@ -50,8 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/matek/h743-mini/default.px4board

@@ -30,8 +30,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/matek/h743-mini/init/rc.board_extras

@@ -11,4 +11,4 @@
 atxxxx start -s
 
 # DShot telemetry is always on UART7
-# dshot telemetry -d /dev/ttyS5
+# dshot telemetry /dev/ttyS5

boards/matek/h743-slim/default.px4board

@@ -33,8 +33,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/matek/h743-slim/init/rc.board_extras

@@ -12,4 +12,4 @@ atxxxx start -s
 
 
 # DShot telemetry is always on UART7
-# dshot telemetry -d /dev/ttyS5
+# dshot telemetry /dev/ttyS5

boards/matek/h743/default.px4board

@@ -32,8 +32,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/matek/h743/init/rc.board_extras

@@ -12,4 +12,4 @@ atxxxx start -s
 
 
 # DShot telemetry is always on UART7
-# dshot telemetry -d /dev/ttyS5
+# dshot telemetry /dev/ttyS5

boards/micoair/h743-aio/default.px4board

@@ -39,8 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/micoair/h743-v2/default.px4board

@@ -40,8 +40,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/micoair/h743/default.px4board

@@ -38,8 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/modalai/fc-v1/default.px4board

@@ -49,8 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/modalai/fc-v2/default.px4board

@@ -40,8 +40,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-classic/default.px4board

@@ -46,8 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -44,8 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-f7/default.px4board

@@ -44,8 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-h7-oem/default.px4board

@@ -42,8 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-h7/default.px4board

@@ -43,8 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/pixracerpro/default.px4board

@@ -43,8 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/x21-777/default.px4board

@@ -45,8 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/x21/default.px4board

@@ -46,8 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/nxp/fmuk66-e/default.px4board

@@ -47,8 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/nxp/fmuk66-v3/default.px4board

@@ -48,8 +48,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -33,8 +33,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/nxp/mr-canhubk3/sysview.px4board

@@ -20,8 +20,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/nxp/mr-canhubk3/zenoh.px4board

@@ -24,8 +24,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/nxp/tropic-community/default.px4board

@@ -15,19 +15,15 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y

boards/nxp/tropic-community/nuttx-config/nsh/defconfig

@@ -30,7 +30,7 @@ CONFIG_ARM_MPU=y
 CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_LOOPSPERMSEC=115000
+CONFIG_BOARD_LOOPSPERMSEC=114325
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
@@ -73,7 +73,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
-CONFIG_IMXRT_DTCM_HEAP=y
 CONFIG_IMXRT_EDMA=y
 CONFIG_IMXRT_EDMA_EDBG=y
 CONFIG_IMXRT_EDMA_ELINK=y
@@ -141,7 +140,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
-CONFIG_MM_REGIONS=2
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y

boards/nxp/tropic-community/nuttx-config/scripts/script.ld

@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/nxp/tropic-community/nuttx-config/scripts/script.ld
+ * boards/arm/imxrt/teensy-4.x/scripts/flash.ld
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -67,7 +67,6 @@ SECTIONS
         _sitcmfuncs = ABSOLUTE(.);
         FILL(0xFF)
         . = 0x40 ;
-        *(.ram_vectors)
         INCLUDE "itcm_static_functions.ld"
         INCLUDE "itcm_functions_includes.ld"
         . = ALIGN(8);
@@ -76,6 +75,19 @@ SECTIONS
 
     _fitcmfuncs = LOADADDR(.itcmfunc);
 
+    /* The RAM vector table (if present) should lie at the beginning of SRAM */
+
+    .ram_vectors (COPY) : {
+        *(.ram_vectors)
+    } > dtcm
+
+
+    /* Workaround for ethernet issue, by placing g_desc_pool into DTCM,
+       which effectively puts it into a no-cache region */
+    .dtcm : {
+        *(.bss.g_desc_pool)
+    } > dtcm
+
     .text :
     {
         _stext = ABSOLUTE(.);

boards/px4/fmu-v2/fixedwing.px4board

@@ -8,6 +8,5 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y

boards/px4/fmu-v3/default.px4board

@@ -51,8 +51,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/px4/fmu-v4/default.px4board

@@ -52,8 +52,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/px4/fmu-v4pro/default.px4board

@@ -47,8 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/px4/fmu-v5/default.px4board

@@ -55,8 +55,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/px4/fmu-v5/protected.px4board

@@ -17,8 +17,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n

boards/px4/fmu-v5/rover.px4board

@@ -4,8 +4,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n

boards/px4/fmu-v5/stackcheck.px4board

@@ -29,8 +29,7 @@ CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_EVENTS=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n

boards/px4/fmu-v5x/default.px4board

@@ -59,8 +59,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y