fix(ekf2): allow optical flow to start when range finder is height reference

When EKF2_HGT_REF=2 (range sensor) with no GPS, optical flow could never start. The starting condition required isTerrainEstimateValid() or isHorizontalAidingActive(), but terrain is never "estimated" when range is the height reference (ground is the datum, terrain state is fixed at 0), and there's no horizontal aiding without GPS. HAGL is directly known from the range measurement in this case, so optical flow has everything it needs to fuse. Add the range height reference check to the optical flow starting conditions. Fixes: https://github.com/PX4/PX4-Autopilot/issues/25248
drivers/gps: warn if gps_inject_data publications have been missed
2026-06-12 12:20:05 +08:00 · 2026-04-02 17:46:47 -06:00 · 2025-11-10 00:55:16 -05:00 · 2025-11-10 00:55:16 -05:00 · 2025-11-10 00:55:16 -05:00 · 2025-11-03 21:26:46 -09:00
937 changed files with 18128 additions and 29566 deletions
@@ -3,3 +3,6 @@ contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
    about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,33 +0,0 @@
-name: 📑 Documentation Bug report
-description: Create a report to help us improve the docs
-title: "[Docs] [Bug] "
-labels: ["Documentation 📑"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-      placeholder: |
-          # A PR to fix the bug is often better than adding this issue!
-          #
-          # If you can't create a PR please provide the following:
-          # - What page and/or section has the problem
-          # - What is the problem - missing information, incorrect information?
-          # - Suggested fixes, links to corresponding code PRs
-          # - Any additional context
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Page URL
-      description: The URL of the problem page.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-    validations:
-      required: false
@@ -18,14 +18,10 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
  group_targets:
    name: Scan for Board Targets
@@ -34,6 +30,7 @@ jobs:
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+      tagname: ${{ steps.set-tag.outputs.tagname }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
      - uses: actions/checkout@v4
@@ -54,13 +51,7 @@ jobs:
        run: echo "::set-output name=timestamp::$(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'
@@ -70,9 +61,9 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build Group [${{ matrix.group }}]
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -107,7 +98,7 @@ 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: |
@@ -125,7 +116,7 @@ jobs:
  artifacts:
    name: Upload Artifacts to S3
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
    steps:
@@ -153,12 +144,10 @@ jobs:

  release:
    name: Create Release and Upload Artifacts
-    permissions:
-      contents: write
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ 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
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,14 +9,14 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'

 jobs:
  build:
-    runs-on: macos-latest
+    runs-on: macos-14
    strategy:
      matrix:
        config: [
@@ -32,7 +32,8 @@ jobs:
    - uses: actions/checkout@v4

    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: |
+        ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -40,12 +41,14 @@ jobs:
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
        message("::set-output name=timestamp::${current_date}")
+
    - name: ccache cache files
      uses: actions/cache@v4
      with:
        path: ~/.ccache
        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
        restore-keys: macos_${{matrix.config}}-ccache-
+
    - name: setup ccache
      run: |
          mkdir -p ~/.ccache
@@ -12,14 +12,11 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'

-env:
-  RUNS_IN_DOCKER: true
-
 jobs:
  build_and_test:
    name: Build and Test
@@ -1,3 +1,4 @@
+
 name: Container build

 on:
@@ -9,54 +10,45 @@ on:
      - 'release/**'
    tags:
      - 'v*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '*'
-    paths:
-      - '.github/workflows/dev_container.yml'
-      - 'Tools/setup/ubuntu.sh'
-      - 'Tools/setup/requirements.txt'
-      - 'Tools/setup/Dockerfile'
-      - 'Tools/setup/docker-entrypoint.sh'
-  workflow_dispatch:
-    inputs:
-      px4_version:
-        description: 'Container tag (e.g. v1.16.0)'
-        required: true
-        type: string
-      deploy_to_registry:
-        description: 'Whether to push built images to the registry'
-        required: false
-        type: boolean
-        default: false
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'

 jobs:
-  setup:
-    name: Set Tags and Variables
-    permissions:
-      contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      px4_version: ${{ steps.px4_version.outputs.px4_version }}
-      meta_tags: ${{ steps.meta.outputs.tags }}
-      meta_labels: ${{ steps.meta.outputs.labels }}
+  build:
+    name: Build and Push Container
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    steps:
-      - uses: runs-on/action@v1
      - uses: actions/checkout@v4
        with:
          fetch-tags: true
          submodules: false
          fetch-depth: 0

-      # If manual dispatch, take the user‐provided input
-      - name: Set PX4 Tag Version
-        id: px4_version
+      - name: Set PX4 Tag
+        id: px4-tag
        run: |
-          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
-            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
-          else
-            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-          fi
+          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        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
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Extract metadata (tags, labels) for Docker
        id: meta
@@ -64,125 +56,52 @@ jobs:
        with:
          images: |
            ghcr.io/PX4/px4-dev
-            px4io/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
          tags: |
-            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
-
-  build:
-    name: Build Container (${{ matrix.arch }})
-    permissions:
-      contents: read
-      packages: write
-    needs: setup
-    strategy:
-      matrix:
-        include:
-          - platform: linux/arm64
-            arch: arm64
-            runner: arm64
-          - platform: linux/amd64
-            arch: amd64
-            runner: x64
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
+            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}

-      - name: Build and Load Container Image
+      - name: Build and load container image
        uses: docker/build-push-action@v6
        id: docker
        with:
          context: Tools/setup
-          tags: |
-            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-          labels: ${{ needs.setup.outputs.meta_labels }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-          provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          load: true
+          push: false
+          cache-from: type=s3,blobs_prefix=cache/${{ 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

-  deploy:
-    name: Deploy To Registry
-    permissions:
-      contents: read
-      packages: write
-    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    needs: [build, setup]
-    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Verify Images Exist Before Creating Manifest
+      - name: Get Tag Name
+        id: tag_name
        run: |
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"

-      - name: Create and Push Multi-Arch Manifest for Docker Hub
-        run: |
-          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+      - name: make quick_check
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ steps.tag_name.outputs.tag_name }}
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make px4_sitl_default
+            make px4_fmu-v6x_default

-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
-
-      - name: Create and Push Multi-Arch Manifest for GHCR
-        run: |
-          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
+      - name: Push container image
+        uses: docker/build-push-action@v6
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          provenance: mode=max
+          push: ${{ github.event_name != 'pull_request' }}
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
@@ -1,18 +1,6 @@
 name: Docs - Deploy PX4 User Guide

 on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '*'
-    paths:
-      - 'docs/en/**'
-
  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

@@ -80,7 +68,7 @@ jobs:
      - name: Deploy
        run: |
          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch      
+          # make it an orphan branch
          cd docs.px4.io
          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
          git checkout --orphan "${CURRENT_DATETIME}_main"
@@ -0,0 +1,114 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"
@@ -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
@@ -3,7 +3,7 @@ name: EKF Change Indicator
 on:
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -27,7 +27,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -39,13 +39,11 @@ jobs:
        with:
          fetch-depth: 0

-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
      - name: Install empscripten
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
+          git checkout 4.0.15
          ./emsdk install latest
          ./emsdk activate latest

@@ -14,7 +14,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -28,7 +28,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev-nuttx-focal
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -80,7 +80,7 @@ jobs:
        id: bloaty-step
        with:
          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,symbols -s vm -n 20
+          bloaty-additional-args: -d sections,compileunits -s vm -n 20
          output-to-summary: true

      - name: Generate output
@@ -1,61 +0,0 @@
-name: ITCM check
-
-permissions:
-  contents: read
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-      - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  check_itcm:
-    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - target: px4_fmu-v5x
-            scripts: >
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
-          - target: px4_fmu-v6xrt
-            scripts: >
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_tropic-community
-            scripts: >
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}
-
-      - name: Copy built ELF
-        run: cp ./build/**/*.elf ./built.elf
-
-      - name: Install itcm-check dependencies
-        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
-
-      - name: Execute the itcm-check
-        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+    - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -31,7 +31,7 @@ jobs:
    - name: Build PX4 and Run Test [${{ matrix.config }}]
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-ondemand
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+    - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -11,13 +11,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -33,6 +31,12 @@ jobs:
    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'

+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
    - name: Install gazebo
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -81,7 +85,7 @@ jobs:
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        git clone --recursive --branch release/1.16 https://github.com/Auterion/px4-ros2-interface-lib.git
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
@@ -8,7 +8,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -14,7 +14,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -109,6 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata dependencies
-_emscripten_sdk/
@@ -301,11 +301,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7dualimu_default:
-      short: holybro_kakuteh7dualimu
+    holybro_kakuteh7-wing_default:
+      short: holybro_kakuteh7-wing
      buildType: MinSizeRel
      settings:
-        CONFIG: holybro_kakuteh7dualimu_default
+        CONFIG: holybro_kakuteh7-wing_default
    matek_h743-slim_default:
      short: matek_h743-slim
      buildType: MinSizeRel
@@ -300,8 +300,6 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

 px4io_update:
@@ -379,10 +377,7 @@ 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
@@ -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
@@ -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
@@ -1,13 +1,15 @@
 #!/bin/sh
 # shellcheck disable=SC2154

+echo "INFO  [init] Gazebo simulator"
+
 # Enforce minimum gz version as Harmonic (gz-sim8)
 MIN_GZ_VERSION="8.0.0"
 GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')

 if [ -z "$GZ_SIM_VERSION" ]; then
-	echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-	exit 1
+    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+    exit 1
 fi

 # Use sort compare, check that MIN_GZ_VERSION is ordered last
@@ -15,8 +17,6 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 	gz_command="gz"
 	gz_sub_command="sim"

-	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
-
 	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
 	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
 	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
@@ -24,15 +24,19 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
 	fi
 else
-	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-	exit 1
+    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+    exit 1
 fi

-# If not standalone launch the world
+# Look for an already running world
+get_gz_world() {
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+}
+
+# If not standalone
 if [ -z "${PX4_GZ_STANDALONE}" ]; then

-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	get_gz_world

 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -66,6 +70,13 @@ fi

 # Wait for Gazebo world to be ready before proceeding
 check_scene_info() {
+
+	get_gz_world
+
+	if [ -n "${PX4_GZ_STANDALONE}" ] && [ -n "${gz_world}" ]; then
+		PX4_GZ_WORLD=${gz_world}
+	fi
+
 	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
 	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
 		return 0
@@ -89,21 +100,6 @@ while [ $ATTEMPTS -gt 0 ]; do
 	sleep 1
 done

-# World is ready, check if custom location is provided
-if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
-	# must have all three
-	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
-		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
-		exit 1
-	fi
-	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
-		--reqtype gz.msgs.SphericalCoordinates \
-		--reptype gz.msgs.Boolean \
-		--timeout 1000 \
-		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
-fi
-
 # Start gz_bridge - either spawn a model or connect to existing one
 if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	# Spawn a model
@@ -190,6 +190,9 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3

+# set default IP to localhost
+param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
+

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -295,15 +298,10 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$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
@@ -319,7 +317,7 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi

-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -342,11 +340,7 @@ then
 	gyro_calibration start
 fi

-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
+payload_deliverer start

 if param compare -s ICE_EN 1
 then
@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -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

 #
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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

 #
@@ -560,11 +560,7 @@ else
 		px4flow start -X &
 	fi

-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
+	payload_deliverer start

 	if param compare -s ICE_EN 1
 	then
@@ -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
@@ -86,17 +86,21 @@ def process_target(px4board_file, target_name):
    assert platform, f"PLATFORM not found in {px4board_file}"

    if platform not in excluded_platforms:
-        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+        # get the container based on the platform and toolchain
        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}')
@@ -120,7 +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:v1.16.0-ondemand'
+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
@@ -202,7 +206,6 @@ if (args.group):
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
-        runner = 'x64' if arch == 'nuttx' else 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
        temp_group = []
@@ -220,7 +223,6 @@ if (args.group):
                    "container": grouped_targets[arch]['container'],
                    "targets": targets,
                    "arch": arch,
-                    "runner": runner,
                    "group": group_name,
                    "len": len(grouped_targets[arch]['manufacturers'][man])
                })
@@ -238,7 +240,6 @@ if (args.group):
                        "container": grouped_targets[arch]['container'],
                        "targets": targets,
                        "arch": arch,
-                        "runner": runner,
                        "group": group_name,
                        "len": len(chunk),
                    })
@@ -259,7 +260,6 @@ if (args.group):
                "container": grouped_targets[arch]['container'],
                "targets": targets,
                "arch": arch,
-                "runner": runner,
                "group": group_name,
                "len": temp_len
            })
@@ -277,7 +277,6 @@ if (args.group):
                    "container": grouped_targets[arch]['container'],
                    "targets": targets,
                    "arch": arch,
-                    "runner": runner,
                    "group": group_name,
                    "len": len(chunk),
                })
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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 $dest_dir/*.json"
-echo "	git commit -m 'docs: metadata: update uORB graph JSONs'"
-exit 1
@@ -4,8 +4,8 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
-  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
+  build_dir=${build_dir::${#build_dir}-1}
  mkdir artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
  # Airframe
@@ -26,23 +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/
@@ -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 rm $(docker ps -a -q)
+
+#Delete all 'untagged/dangling' (<none>) images
+#docker rmi $(docker images -q -f dangling=true)
+
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -1,185 +0,0 @@
-#! /usr/bin/env python3
-
-"""
-Checks if the functions that should be mapped to ITCM are contained in the built ELF file.
-
-This helps against linker scripts that "rot" as the linker does not warn in case of a function
-not existing. Thus, it is possible to forget to update the linker script after a code update.
-
-The tool uses the DWARF debug info and the ELF symbol table section to identify which functions
-exist in the built ELF file.
-
-It is expected that the linker scripts that are analyzed by the tool are linker script include
-files that only contain the name of the sections (functions) that should be mapped to ITCM in
-the following format:
-```
-*(.text.arm_ack_irq)
-*(.text.arm_doirq)
-*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
-*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
-[...]
-```
-
-A specific entry in the linker script file can be ignored by adding a comment, as shown in the following example:
-```
-*(.text.arm_ack_irq) /* itcm-check-ignore */
-```
-"""
-
-import argparse
-import re
-from elftools.elf.elffile import ELFFile
-from elftools.elf.sections import SymbolTableSection
-from elftools.dwarf.die import DIE
-from pathlib import Path
-from typing import List, Set
-
-
-def die_get_funcs_rec(die: DIE, ret: Set[str]):
-    """
-    Recursively gets the mangled and demangled name of all functions in the given `die`.
-
-    :param die: DIE to be processed. Is gathered recursively after passing a top DIE.
-    :param ret: Output set where all function names are added to.
-    """
-    if die.tag in ("DW_TAG_subprogram", "DW_TAG_inlined_subroutine"):
-        link_name_att = die.attributes.get("DW_AT_linkage_name")
-        name_att = die.attributes.get("DW_AT_name")
-        if link_name_att:
-            ret.add(link_name_att.value.decode("utf-8"))
-        if name_att:
-            ret.add(name_att.value.decode("utf-8"))
-
-    # Recurse into the DIE children
-    for child in die.iter_children():
-        die_get_funcs_rec(child, ret)
-
-
-def get_elf_symbols_from_debug(elf_path: Path) -> Set[str]:
-    """
-    Gets all functions contained in the built ELF file using the DWARF debug info.
-
-    :param elf_path: Path to the ELF file.
-
-    :return: The names of the contained functions.
-    """
-    ret = set()
-    with open(elf_path, 'rb') as f:
-        elf = ELFFile(f)
-        if not elf.has_dwarf_info():
-            print("ELF does not have debug info. Compile with debug info.")
-            exit(1)
-        dwarf_info = elf.get_dwarf_info()
-        for CU in dwarf_info.iter_CUs():
-            top_die = CU.get_top_DIE()
-            die_get_funcs_rec(top_die, ret)
-
-    return ret
-
-
-def get_elf_symbols_from_sections(elf_path: Path) -> Set[str]:
-    """
-    Gets all functions contained in the built ELF file using the symbol table section.
-
-    :param elf_path: Path to the ELF file.
-
-    :return: The names of the contained functions.
-    """
-    ret = set()
-    with open(elf_path, 'rb') as f:
-        elf = ELFFile(f)
-        for section in elf.iter_sections():
-            if isinstance(section, SymbolTableSection):
-                for sym in section.iter_symbols():
-                    ret.add(sym.name)
-    return ret
-
-
-def is_section_supported(section: str) -> bool:
-    """
-    Returns whether this type of section can be checked.
-
-    :param section: Name of the section that should be checked for support.
-
-    :return: Whether the type of section is supported.
-    """
-    not_supported_sections = [".isra", ".part", ".constprop"]
-    return not any(not_supported in section for not_supported in not_supported_sections)
-
-
-def get_input_sections(script_path: Path) -> List[str]:
-    """
-    Gets all sections (named after the functions) that should be mapped to ITCM according
-    to the linker script.
-
-    :param script_path: Path of the linker script.
-
-    :return: The names of the sections
-    """
-    ret = []
-    section_pattern = re.compile(r"^\*\(\.([a-zA-Z0-9_\.]+)\)$")
-    ignored_marker = "itcm-check-ignore"
-    with open(script_path, 'r') as f:
-        for line in f:
-            match = section_pattern.match(line)
-            if match and ignored_marker not in line:
-                section_name = match.group(1).replace("text.", "")
-                if is_section_supported(section_name):
-                    ret.append(section_name)
-    return ret
-
-
-def check_itcm(elf_path: Path, script_paths: List[Path]):
-    """
-    Checks if all the functions that should be mapped to ITCM are contained in the built ELF file.
-
-    :param elf_path: Path of the ELF file.
-    :param script_paths: Path of all linker scripts that should be checked.
-    """
-    elf_symbols_from_debug = get_elf_symbols_from_debug(elf_path)
-    elf_symbols_from_sections = get_elf_symbols_from_sections(elf_path)
-    elf_symbols = elf_symbols_from_debug.union(elf_symbols_from_sections)
-    input_sections = []
-    for script_path in script_paths:
-        script_input_sections = get_input_sections(script_path)
-        if script_input_sections:
-            input_sections.extend(script_input_sections)
-        else:
-            print(f"No input sections found in {script_path}, please check if the path is correct.")
-
-    check_passed = True
-    for input_section in input_sections:
-        if input_section not in elf_symbols:
-            check_passed = False
-            print(f"Section: {input_section} not found in the ELF file!")
-
-    if check_passed:
-        print("ITCM check passed!")
-        exit(0)
-    else:
-        print("ITCM check failed!")
-        exit(1)
-
-
-def main():
-    parser = argparse.ArgumentParser(description="Checks if functions marked for ITCM mapping exist in the ELF file.")
-    parser.add_argument(
-        "--elf-file",
-        help="Path of the compiled ELF file",
-        type=Path,
-        required=True
-    )
-    parser.add_argument(
-        "--script-files",
-        help="Paths of the linker script files",
-        nargs="+",
-        type=Path,
-        required=True
-    )
-
-    args = parser.parse_args()
-    check_itcm(args.elf_file, args.script_files)
-
-
-if __name__ == '__main__':
-    main()
@@ -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 = ''

@@ -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):
@@ -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

@@ -8,25 +8,22 @@ ENV LC_ALL=C.UTF-8
 ENV DISPLAY=:99
 ENV TERM=xterm
 ENV TZ=UTC
-ENV RUNS_IN_DOCKER=true

 # SITL UDP PORTS
 EXPOSE 14556/udp
 EXPOSE 14557/udp

-# Install Shell Script Entrypoint
 COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh

 # Install PX4 Requirements
 COPY requirements.txt /tmp/requirements.txt
 COPY ubuntu.sh /tmp/ubuntu.sh
-
+RUN touch /.dockerenv
 RUN bash /tmp/ubuntu.sh --no-sim-tools

-# Make sure git is ok with your local copy
 RUN git config --global --add safe.directory '*'

-# Create user with id 1001 (jenkins docker workflow default)
+# create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user

 ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
@@ -1,27 +1,19 @@
 #!/bin/bash

-GREEN='\033[0;32m'
-NO_COLOR='\033[0m' # No Color
-SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
-
-echo -e "$SCRIPTID Starting"
-
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo -e "$SCRIPTID 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 "${ROS_DISTRO}" ]; then
-	echo -e "$SCRIPTID ROS: ${ROS_DISTRO}"
+	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

-echo -e "$SCRIPTID ($( uname -m ))"
-
 exec "$@"
@@ -42,6 +42,8 @@ else
 		echo "Installing PX4 general dependencies (homebrew px4-dev)"
 		brew tap PX4/px4
 		brew install px4-dev
+		# lock down gcc to v9 for v1.16 branch
+		brew install gcc-arm-none-eabi
 		brew install ncurses
 		brew install python-tk
 	fi
@@ -1,2 +1 @@
-pyelftools>=0.32,<1
 symforce>=0.9.0
@@ -27,12 +27,9 @@ do
 	fi
 done

-echo "[ubuntu.sh] Starting..."
-echo "[ubuntu.sh] arch: $INSTALL_ARCH"
-
 # detect if running in docker
-if [ "$RUNS_IN_DOCKER" = "true" ]; then
-	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
+if [ -f /.dockerenv ]; then
+	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 ${UBUNTU_RELEASE}"
-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
@@ -110,18 +109,18 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
-	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 \
-		clang \
-		clang-tidy \
-		clang-format \
 		flex \
+		g++-multilib \
+		gcc-arm-none-eabi \
+		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -140,8 +139,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libstdc++-arm-none-eabi-newlib \
 		libtool \
 		libunwind-dev \
-		lldb \
-		lld \
 		pkg-config \
 		screen \
 		texinfo \
@@ -150,21 +147,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;

-	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
@@ -175,7 +157,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then

 	echo
-	echo "[ubuntu.sh] Installing PX4 simulation dependencies"
+	echo "Installing PX4 simulation dependencies"

 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -200,8 +182,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-		echo "[ubuntu.sh] Earlier versions will be removed"
+		echo "Gazebo (Harmonic) will be installed"
+		echo "Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
@@ -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("")
@@ -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
@@ -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
@@ -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
@@ -77,6 +76,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -6,3 +6,8 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -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
@@ -57,6 +56,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -5,3 +5,8 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -34,75 +34,25 @@
 #pragma once

 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
-
-//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
-//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
-
-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
-// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
-// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
-// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
-
-// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
-// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
-// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
-// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
-
-// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
-// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
-// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
+// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
+// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4

 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
-
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
-// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
-// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
-// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
-
-// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
-// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
-// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
-// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
-
-//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
+// available

 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       // 1 BDMA:11 SPI J11
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11
@@ -260,8 +260,6 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -272,6 +270,7 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -42,8 +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
@@ -12,10 +12,17 @@ else
 fi

 iim42652 -s -R 22 start
-bmi088 -A -R 29 -s start
-bmi088 -G -R 29 -s start

-ist8310 -I -R 18 start
+bmi088 -A -R 29 -s start
+if ! bmi088 -G -R 29 -s start
+then
+	iim42653 -s -b 2 -R 22 start
+fi
+
+if ! ist8310 -I -R 18 start
+then
+	iis2mdc -I -R 37 start
+fi

 bmp581 -s start
 icp201xx -I start
@@ -42,6 +42,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	// initSPIBus(SPI::Bus::SPI3,{
 	// 	// no devices
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -10,4 +10,4 @@
 # fi

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

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

 # DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
+dshot telemetry /dev/ttyS5
@@ -5,6 +5,8 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=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
@@ -61,7 +62,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -74,7 +74,7 @@
 #define BOARD_TYPE                     1105
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (2 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -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
@@ -9,4 +9,4 @@ then
 fi

 # DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
+dshot telemetry /dev/ttyS5
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,93 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_DRIVERS_OSD_ATXXXX=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=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
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
-CONFIG_MODULES_ESC_BATTERY=y
-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_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 5409,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the KakuteH7 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "KAKUTEH7",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1835008,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# transision from params file to flash-based params (2022-08)
-if [ -f $PARAM_FILE ]
-then
-	param load $PARAM_FILE
-	param save
-	# create a backup
-	mv $PARAM_FILE ${PARAM_FILE}.bak
-	reboot
-fi
-
-param set-default BAT1_V_DIV 11.2
-param set-default BAT1_A_PER_V 59.5
-
-# system_power unavailable
-param set-default CBRK_SUPPLY_CHK 894281
-
-# Select the Generic 250 Racer by default
-param set-default SYS_AUTOSTART 4050
-
-# use EKF2 without mag
-param set-default SYS_HAS_MAG 0
-# and enable gravity fusion
-param set-default EKF2_IMU_CTRL 7
-
-param set-default IMU_GYRO_RATEMAX 2000
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# KakuteH7 specific board extras init
-#------------------------------------------------------------------------------
-
-if ! param compare OSD_ATXXXX_CFG 0
-then
-	atxxxx start -s
-fi
-
-# DShot telemetry is always on UART7
-dshot telemetry -d /dev/ttyS5
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# Holybro KakuteH7 dual IMU specific board sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-# The KakuteH7 dual IMU comes by default with an ICM2688P and ICM45686.
-# We start the ICM45686 first to have it as the primary by default.
-icm45686 -R 0 -s start
-icm42688p -R 0 -s start
-
-# ICP20100 baro on external I2C1
-icp201xx -X -a 0x64 start
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jacob Dahl	75f9a32a12	fix(ekf2): allow optical flow to start when range finder is height reference When EKF2_HGT_REF=2 (range sensor) with no GPS, optical flow could never start. The starting condition required isTerrainEstimateValid() or isHorizontalAidingActive(), but terrain is never "estimated" when range is the height reference (ground is the datum, terrain state is fixed at 0), and there's no horizontal aiding without GPS. HAGL is directly known from the range measurement in this case, so optical flow has everything it needs to fuse. Add the range height reference check to the optical flow starting conditions. Fixes: https://github.com/PX4/PX4-Autopilot/issues/25248	2026-04-02 17:46:47 -06:00
Daniel Agar	94cb201279	drivers/gps: warn if gps_inject_data publications have been missed	2025-11-10 00:55:16 -05:00
Daniel Agar	216fd858e8	drivers/gps: prioritize non-blocking reads over injection (#25535 )	2025-11-10 00:55:16 -05:00
Jacob Dahl	399512571b	platform: serial: add bytesAvailable() function	2025-11-10 00:55:16 -05:00
Matthew Berk	42dccca8fc	flight_modes_fw/return.md: remove warning about now-fixed bug in mission RTLs in FW	2025-11-03 21:26:46 -09:00
Matthew Berk	6b5cfcce70	[Backport 1.16] Navigator: Fix mission RTL for fixed-wing by setting previous waypoint correctly(#25861 ) This aligns setActiveMissionItems() in rtl_direct_mission_land.cpp and in rtl_mission_fast.cpp with what was already in mission.cpp. It probably was on oversight when the RTL restructure happened. The FW landing requires the previous waypoint to be correctly set, that's why it was only noticeable there. * Fix position setpoint update logic in Mission RTL Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436) * Change to work more like `mission.cpp` * Fix rtl_direct_misssion_land formatting for style guide * rtl_mission_fast: fix FW landing by setting previous wp in landing Signed-off-by: Silvan <silvan@auterion.com> --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>	2025-11-03 21:34:27 +01:00
Jacob Dahl	06ec43629a	mission: delay until: mark next setpoint invalid Fixes bug with the NAV_CMD_DELAY where the copter would "pace" back and forth while waiting at the delay waypoint	2025-10-29 14:12:31 -08:00
Jacob Dahl	162b7d6372	serial: nuttx: revert tcdrain back to fsync (#25538 ) * serial: nuttx: revert tcdrain back to fsync * serial: do not print error on EAGAIN --------- Co-authored-by: Alexander Lerach <alexander@auterion.com>	2025-10-29 12:42:06 -04:00
airpixel-cz	5141b40e79	mavlink: parameters: fix camera and cannode param message routing	2025-10-29 05:02:00 -08:00
Luka Filipović	f3979c0fcf	mission_base: on mission end, set loiter position from previous position type setpoint	2025-10-15 17:04:43 -04:00
Jacob Dahl	150dd0bff0	flight task auto: fix offtrack mission landing bug During a mission the last waypoint is often a LAND. If the previous waypoint is not directly above the land waypoint the offtrack calculation is incorrect. This regression was introduced when the offtrack calculation switched from 2D to 3D.	2025-10-15 17:03:14 -04:00
Ramon Roche	09eda9ed3f	ci: pull emscripten v4.0.15 to avoid c++17 errors (#25739 ) https://github.com/emscripten-core/emscripten/issues/24850 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-10-15 12:26:27 -04:00
Peter van der Perk	b4aeee5099	fmu-v6xrt: Enable lis2dml and bmm350 magnetometer	2025-10-15 11:15:46 -04:00
Peter van der Perk	4c02f799aa	fmu-v6xrt: Add V6XRT001 and V6XRT002 sensor set	2025-10-15 11:15:46 -04:00
Hamish Willee	762a4189c5	[v1.16 backport] Enable clean URLs in VitePress config (#25759 ) * [v1.16 backport] Enable clean URLs in VitePress config * Remove the front page warning that only belongs on main	2025-10-14 16:51:14 -08:00
Liu1	9f27676c55	cuav_7-nano：use new sensors (#25098 ) (#25546 )	2025-10-13 20:58:59 -08:00
Jacob Dahl	089887f232	mavlink: add message spacing for AVAILABLE_MODES, for low bandwidth (#25662 ) * mavlink: add message spacing for AVAILABLE_MODES, for low bandwidth links * calculate delay based on rate * fixed transmit time calc & not delay single mode send --------- Co-authored-by: Alexander Lerach <alexander@auterion.com> Co-authored-by: bkueng <beat-kueng@gmx.net>	2025-10-01 13:25:27 -08:00
Jacob Dahl	2574e03cb2	uavcan: esc: init msg to avoid publishing random values (#25656 )	2025-10-01 13:24:30 -08:00
Hamish Willee	2cbfe76308	AWS docs deployment - add back paths revert runner (#25690 ) * AWS docs deployment - add back paths rever t runner * touch doc	2025-10-01 15:27:41 +10:00
Hamish Willee	f2b630256a	AWS docs deployment - revert runs-on from ubuntu for test (#25689 )	2025-10-01 15:04:03 +10:00
Hamish Willee	7008112da8	Update GitHub Actions output setting syntax to use envfile (#25687 )	2025-10-01 14:28:50 +10:00
Hamish Willee	1aa783dc8b	Change runner to ubuntu-latest for deployment (#25686 ) * Change runner to ubuntu-latest for deployment * Add actions permission to docs deployment workflow	2025-10-01 13:48:25 +10:00
Ramon Roche	81d97cc81d	docs: fix deploy variables (#25685 ) * ci: docs try again Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: try to fix docs deploy syntax Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: test for main and release/1.16 Signed-off-by: Ramon Roche <mrpollo@gmail.com> --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-10-01 12:30:51 +10:00
Ramon Roche	12601ac1c4	ci: docs deploy branchname for build step (#25684 ) Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-10-01 12:08:43 +10:00
Hamish Willee	c3b5a83d3e	Restore to nearly working	2025-10-01 11:13:44 +10:00
Hamish Willee	767a765ddd	Trigger v1.16 docs build 3 (#25682 )	2025-10-01 11:05:06 +10:00
Hamish Willee	939ff4002d	Update AWS deployment workflow for documentation	2025-10-01 11:01:48 +10:00
Hamish Willee	777dbe2926	Refactor AWS docs deployment workflow	2025-10-01 10:57:40 +10:00
Hamish Willee	835dac80c6	Trigger v1.16 docs build (#25681 ) Removed an unnecessary line break in the index guide.	2025-10-01 10:49:54 +10:00
Hamish Willee	80f163760e	Log BRANCH_NAME during VitePress build step	2025-10-01 10:38:42 +10:00
Hamish Willee	150757c43b	Add debug step for manual workflow runs Added a debug step to print environment variables during manual runs.	2025-10-01 10:31:09 +10:00
Hamish Willee	a03386316f	Fix up v1.16 docs version. Trigger docs build. Undo deploy by default to github (#25679 )	2025-10-01 09:27:58 +10:00
Hamish Willee	0cc68650e9	AWS docs deploy workflow - modify release branch to same form (#25678 ) Added a step to derive the branch name for deployment.	2025-10-01 08:25:02 +10:00
Ramon Roche	ac5ed50b37	[backport] macos ci fixes for v1.16 (#25672 ) * ci: lockdown gcc v9 for macos Signed-off-by: Ramon Roche <mrpollo@gmail.com> * pxh: do not use variable sized array on the stack This is a compiler-specific extension * ci: macos build on older gcc Signed-off-by: Ramon Roche <mrpollo@gmail.com> --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Beat Küng <beat-kueng@gmx.net>	2025-09-30 13:49:26 -08:00
Jacob Dahl	1c181fa8ec	disable CONFIG_MODULES_VTOL_ATT_CONTROL on encrypted_logs target	2025-09-28 11:34:07 -06:00
Alex Klimaj	72d99c7214	[backport] boards: ark_fpv add vtol att control	2025-09-28 11:34:07 -06:00
Hamish Willee	23c49a2095	Fix formatting to trigger v1.16 release build for testing (#25643 )	2025-09-26 08:44:34 +10:00
Hamish Willee	575514e6a1	Docs deploy AWS to v1.16 branch (#25641 )	2025-09-26 07:50:27 +10:00
Hamish Willee	69bea3a3af	[Docs] PX4 v1.16 Add warning for RTL mode issues in return.md (#25623 ) * [Docs] PX4 v1.16 Add warning for RTL mode issues in return.md Added a warning about known issues with RTL mode during fixed-wing approaches and landings. * Apply suggestion from @hamishwillee * Apply suggestion from @hamishwillee	2025-09-26 06:41:42 +10:00
Daniel Agar	5d6d973549	commander: accel cal rotate offsets and scales from body frame back into sensor frame before saving (#25626 ) (#25639 ) - fixes https://github.com/PX4/PX4-Autopilot/issues/25606 Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-09-25 10:33:14 -08:00
Hamish Willee	26cb1aafb3	[v1.16] Add relnote etc	2025-08-07 15:04:20 +10:00
Eric Katzfey	21c3732e09	VOXL2: Updated startup script to patch EKF2_EV_CTRL set default value issue	2025-08-06 10:14:14 -07:00
Sandesh Sharma	61079bd08b	fix: let UXRCE DDS agent IP to be set via parameter in SITL (#25231 ) * Read XRCE_DDS IP from ENV * just remove the -h flag from the launch command * add 127.0.0.1 as default IP * add default value for IP	2025-08-06 08:20:43 -07:00
Ramon Roche	6ea3539157	[backport] v1.16 fix gazebo install on ROS integration tests (#25344 ) * ci: update rosdistro apt keys (#25060) Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: use release/1.16 branch for px4-ros2-interface-lib integration tests --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Beat Küng <beat-kueng@gmx.net>	2025-08-05 14:54:48 -08:00
Vasily	7fc5393afc	Update px4-rc.gzsim. Fix gz_world checking for PX4_GZ_STANDALONE=1 mode. Priority of gz_world (really running) over PX4_GZ_WORLD (#25346 )	2025-08-01 01:14:09 -08:00
Mahima Yoga	740521ae08	MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283 ) (#25341 ) * MulticopterPositionControl: Add timeout before triggering emergency setpoint on invalid TrajectorySetpoint * Apply suggestions from code review * Cleanup & address review comments * Safegaurd against using old setpoint if states aren't valid anymore --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-07-30 10:21:17 -08:00
PX4BuildBot	aa745f2949	[1.16 backport] MAV_CMD_DO_SET_MODE - add support	2025-07-30 13:36:14 +10:00
Jacob Dahl	0294b608d3	[BACKPORT 1.16] ark: fpv: enable PAYLOAD_DELIVERER (#25323 ) * payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s * ark: fpv: enable payload deliverer module	2025-07-28 14:13:00 -06:00
Jacob Dahl	2471afd423	payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s	2025-07-28 12:08:15 -08:00
Jacob Dahl	aab5ed8e0d	ark: v6x: enable payload deliverer	2025-07-28 12:08:15 -08:00
Jacob Dahl	2902bea299	ark: v6x: encrypted: remove FW and VTOL modules to save flash (#25320 )	2025-07-28 13:46:31 -06:00
Jacob Dahl	171d2c98ef	ark_fpv: flash savings: remove FW and VTOL from encrypted_logs.px4board (#25321 )	2025-07-28 11:45:06 -08:00
Matthias Grob	af99ebce81	commander failsafe: never override user intended termination + unit test	2025-07-28 13:38:57 +02:00
Jacob Dahl	b67c65bfe6	dshot: fix bidirectional dshot stream sharing (#24996 ) Freeing the DMA stream in the hrt callback causes other peripherals on that DMA controller to lock up (namely GPS). Moving the free back into thread context, right before allocation, solves the problem	2025-07-09 12:19:24 -06:00
Jacob Dahl	e3fecd96d5	dshot: fix scaling (#25001 )	2025-07-09 12:19:24 -06:00
Jacob Dahl	f244b4835b	dshot: add perf counter for hrt callback (15us avg) (#24976 )	2025-07-09 12:19:24 -06:00
Jacob Dahl	4858a20dfa	ark_fpv: cleanup board_dma_map.h (#24975 )	2025-07-09 12:19:24 -06:00
Peter van der Perk	0892108546	msp_osd: Add VTX config, stick commands and arming status - Adds MSPv1 rx parsing to fetch VTX config - Allows to inspect and change VTX channel through CLI - Forward MSP_RC for stick commands osd - Forward MSP_STATUS for arming status for PIT and LP mode	2025-06-19 09:26:53 -07:00
Beniamino Pozzan	39fbca1d55	fix (msp_ods): clear buffers before writing and adjust sizes (#24951 ) Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-06-19 09:26:53 -07:00
Michael Smith	7720af113a	MSP_OSD Update: Add original battery status msg. (#24872 ) Co-authored-by: Michael <mfs3ee@gmail.com>	2025-06-19 09:26:53 -07:00
Li-Tianming	bfc2efeea5	MSP_OSD code changes to support OpenIPC, DJI O3/O4 OSD rendering (#24695 ) * Change MSP_OSD message content and rendering process * Finish MSP_OSD battery message construct * Finish MSP_OSD `display message` construct HOL\|DSAM\|N * Finish MSP_FC_VARIANT(0x02) message BTFL * Finish MSP_OSD RSSI message 📶10% * Finish MSP_OSD GPS message 🛰 10 🌐000.000000 🌐00.000000 * Finish MSP_OSD PITCH ROLL message 🔃-10.5 🔁13.2 * Change struct filed name * Change OSD message postion * Finish MSP_OSD PITCH Altitude message 🔝15.2 * Finish MSP_OSD distanceToHome message 🏠5000 * Add Hide/Show option for ALT and homeDist * Format the code by `make format` * Clean up stray text * Remove other commented out dead code * Change `sprintf()` to `snprintf()` * Add msg field comment in `display_message` construct * Init str buffer to 0, Change refresh rate back to 100ms * Explicit conversion float to double --------- Co-authored-by: Li.Tianming <Li.Tianming@example.com> Co-authored-by: Li.Tianming <Li.Tianming>	2025-06-19 09:26:53 -07:00
Daniel Agar	c7e78c92ee	drivers/magnetometer: remove Vtrantech VCM1193L from common magnetometer set	2025-06-18 12:46:30 -04:00
Julian Oes	d59067021c	boards: save flash for KakuteH7-Wing	2025-06-15 16:23:32 -07:00
Julian Oes	f6de7222d7	boards: set RC serial for KakuteH7-Wing This was missed earlier.	2025-06-15 16:23:32 -07:00
Julian Oes	35725384d6	boards: fixup image size of KakuteH7-Wing We have 1 sector for the bootloader and the last 2 for parameters. That's to match how ArduPilot has it.	2025-06-15 16:23:32 -07:00
Julian Oes	bfcb5ba6ba	vscode: add KakuteH7-Wing	2025-06-15 16:23:32 -07:00
Ramon Roche	e05f7d8d85	ci: fix wildcard branch detection Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-12 13:03:22 -07:00
Beat Küng	a150fc05af	VehicleStatus.msg: restore VEHICLE_TYPE_* indexes This was changed in `7cb6464cfb` and broke flight review (https://github.com/PX4/flight_review/issues/310)	2025-06-11 11:25:17 -04:00
Peter van der Perk	8d14ab980a	[BACKPORT] Update NuttX Fixes RT117X OCRAM M7 memory freeze	2025-06-11 11:23:31 -04:00
Matthias Grob	ea12400ea3	esc_calibration: simplify the logic and consider battery only connected if there's no message timeout and the connected flag is set	2025-06-04 11:27:19 -04:00
Don Gagne	eedd770cbd	Fix reporting of connected battery	2025-06-04 11:27:19 -04:00
Matthias Grob	67cf8d3229	uavcan esc: translate temperature field from Kelvin to Celsius	2025-06-04 11:27:19 -04:00
Silvan	dfeebe5a94	ControlAllocator: only run allocator on torque updates, not thrust Signed-off-by: Silvan <silvan@auterion.com>	2025-06-04 11:25:54 -04:00
Silvan	dc747b2aa3	ControlAllocator: only use torque, not thrust sp as callback item Signed-off-by: Silvan <silvan@auterion.com>	2025-06-04 11:25:54 -04:00
Julian Oes	4363c428bf	holybro: hard-select CAM1 for now I don't think there is an easy way to hook this up to RC input at the moment, so I'm setting it fixed to CAM1 for now.	2025-05-29 06:35:05 +12:00
Julian Oes	7fc1a2a8d6	holybro: fixup Wing system power setup I don't think we have a way to explicitly detect if BAT1 or BAT2 "bricks" are correct, so we have to assume they are, and rely on the voltage/current shown. Additionally, we can now power cycle sensor power.	2025-05-29 06:35:05 +12:00
Julian Oes	661a01f3c2	holybro: match AP flash layout That way the ArduPilot bootloader works with PX4.	2025-05-29 06:35:05 +12:00
Jacob Dahl	1ed406c41d	backport https://github.com/PX4/PX4-Autopilot/pull/24691	2025-05-15 10:51:07 -07:00
Julian Oes	b067113365	ina238: actually run it Without this the driver would not run when started from the i2c_launcher.	2025-05-15 15:49:39 +12:00
Julian Oes	d8323a0887	ina2xx: params require reboot	2025-05-15 15:49:39 +12:00
Julian Oes	c75a5af236	ina228/ina238: correctly set ADC range It turns out that we set the ADC range incorrectly leading to the measured current being capped at a certain level as the ADC on the sensor saturates. Instead, we need to set the range according to the formula given in the interface datasheet.	2025-05-15 15:49:39 +12:00
Ramon Roche	1e4919d252	[Backport v1.16] Support for Kakute H743-Wing (#24804 ) * hrt: Fix PPM input on channel 2 The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2, which was setting bits for channel 1 instead of channel 2. This prevented PPM input from functioning properly on channel 2. Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly configures the CC2S bits for input capture mode on TI2. This fixes an issue noted in the existing code comment: "FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM" Tested on STM32H743 with PPM input on PC7 (TIM8_CH2). * rc_input: enable sharing serial and PPM pin By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to use the same pin on the STM32 for PPM input as well as serial input. * boards: Add support for Holybro KakuteH7-Wing --------- Co-authored-by: Julian Oes <julian@oes.ch>	2025-05-06 12:23:43 +12:00