Update mavlink to latest - for airspeed

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>

.github/workflows/dev_container.yml

@@ -130,8 +130,8 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
 
   deploy:
     name: Deploy To Registry

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -219,12 +219,6 @@ then
 	pcf8583 start -X -a 0x51
 fi
 
-# ADC sensor ADS7953 external SPI
-if param compare -s ADC_ADS7953_EN 1
-then
-	ads7953 start -S
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

boards/px4/fmu-v6x/default.px4board

@@ -8,7 +8,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_DRIVERS_ADC_ADS7953=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y

docs/en/config/_autotune.md

@@ -98,8 +98,7 @@ The test steps are:
 
 </div><div v-else-if="$frontmatter.frame === 'Plane'">
 
-4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
-   The progress is shown in the progress bar, next to the _Autotune_ button.
+4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
 
 </div>
 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
@@ -194,7 +193,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
 </div>
 <div v-else-if="$frontmatter.frame === 'Plane'">
 
-By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
+By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
 
 If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
 

docs/ko/SUMMARY.md

@@ -187,6 +187,7 @@
       - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
+      - [SVehicle E2](flight_controller/svehicle_e2.md)
       - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
       - [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
     - [Experimental Autopilots](flight_controller/autopilot_experimental.md)

docs/ko/config/_autotune.md

@@ -102,8 +102,7 @@ The test steps are:
 
 </div><div v-else-if="$frontmatter.frame === 'Plane'">
 
-4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
-   The progress is shown in the progress bar, next to the _Autotune_ button.
+4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
 
 </div>
 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
@@ -198,7 +197,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
 </div>
 <div v-else-if="$frontmatter.frame === 'Plane'">
 
-By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
+By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
 
 If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
 

docs/ko/flight_controller/autopilot_manufacturer_supported.md

@@ -35,5 +35,6 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
+- [Svehicle E2](../flight_controller/svehicle_e2.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
 - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)

docs/ko/flight_controller/svehicle_e2.md

@@ -0,0 +1,177 @@
+# S-Vehicle E2
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+:::
+
+The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>&reg;</sup>.
+
+The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
+It brings you ultimate performance, stability, and reliability in every aspect.
+
+![SVehicle-E2](../../assets/flight_controller/svehicle_e2/main.png)
+
+:::info
+이 비행 컨트롤러는 [제조업체에서 지원](../flight_controller/autopilot_manufacturer_supported.md)합니다.
+:::
+
+### Processors & Sensors
+
+- FMU Processor: STM32H753IIK6
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- IO Processor: STM32F103
+  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
+- 내장 센서 :
+  - Accel/Gyro: BMI088
+  - Accel/Gyro: ICM-42688-P
+  - Accel/Gyro: ICM-20649
+  - Mag: RM3100
+  - Barometer: 2x ICP-20100
+
+### 인터페이스
+
+- 14x PWM Servo Outputs
+- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
+- 1x Analog/PWM RSSI Input
+- 2x TELEM Ports (with full flow control)
+- 1x UART4 Port
+- 2x GPS Ports
+  - 1x Full GPS plus Safety Switch Port (GPS1)
+  - 1x Basic GPS Port (with I2C, GPS2)
+- 1x USB Port (TYPE-C)
+- 1x Ethernet Port
+  - Transformerless application
+  - 100Mbps
+- 3x I2C Bus Ports
+- 1x SPI Bus
+  - 1x Chip Select Line
+  - 1x Data Ready Line
+  - 1x SPI Reset Line
+- 2x CAN Ports
+- 3x Power Input Ports
+  - ADC Power Input
+  - I2C Power Input
+  - DroneCAN/UAVCAN Power Input
+- 2x AD Ports
+  - Analog Input (3.3V)
+  - Analog Input (6.6V - not supported by PX4)
+- 1x Dedicated Debug Port
+  - FMU Debug
+
+## Purchase Channels
+
+Order from [S-Vehicle](https://svehicle.cn/).
+
+## 무선 조종
+
+A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+기체와 조종자가 통신하기 위하여 송신기와 수신기를 바인딩하여야 합니다.
+송신기와 수신기의 매뉴얼을 참고하십시오.
+
+Spektrum/DSM receivers connect to the DSM/SBUS RC input.
+PPM or SBUS receivers connect to the RC IN input port.
+CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
+
+## 시리얼 포트 매핑
+
+| UART   | 장치         | 포트       |
+| ------ | ---------- | -------- |
+| USART1 | /dev/ttyS0 | GPS      |
+| USART2 | /dev/ttyS1 | TELEM3   |
+| USART3 | /dev/ttyS2 | 디버그 콘솔   |
+| UART4  | /dev/ttyS3 | UART4    |
+| UART5  | /dev/ttyS4 | TELEM2   |
+| USART6 | /dev/ttyS5 | PX4IO/RC |
+| UART7  | /dev/ttyS6 | TELEM1   |
+| UART8  | /dev/ttyS7 | GPS2     |
+
+## PWM Output
+
+The E2-Plus flight controller supports up to 14 PWM outputs.
+The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
+The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
+These are directly attached to the STM32H753 FMU controller .
+
+The 14 PWM outputs are:
+
+M1 - M8 are connected to the IOMCU
+A1 - A6 are connected to the FMU
+
+M1 - M8 support DShot and are in 3 groups:
+
+- M1, M2 in group 1
+- M3, M4 in group 2
+- M5, M6, M7, M8 in group 3
+
+The 6 FMU PWM outputs are in 2 groups:
+
+A1 - A4 are in one group.
+A5, A6 are in a 2nd group.
+
+Channels within the same group need to use the same output rate.
+If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+### Electrical data
+
+- Voltage Ratings:
+  - Max input voltage: 5.7V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~9.9V
+- Current Ratings:
+  - TELEM1 and GPS2 combined output current limiter: 1.5A
+  - All other port combined output current limiter: 1.5A
+
+## Battery Monitoring
+
+The board has connectors for 3 power monitors.
+
+- POWER1 -- ADC
+- POWER2 -- DroneCAN
+- POWER3 -- I2C
+
+The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
+
+The default PDB included with the E2+ is analog and must be connected to `POWER1`.
+
+## 펌웨어 빌드
+
+To [build PX4](../dev_setup/building_px4.md) for this target, execute:
+
+```sh
+make svehicle_e2_default
+```
+
+## 디버그 포트
+
+The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
+
+| 핀                         | 신호                              | 전압                    |
+| ------------------------- | ------------------------------- | --------------------- |
+| 1(red) | 5V+                             | +5V                   |
+| 2 (흑)  | DEBUG TX(출력) | +3.3V |
+| 3 (흑)  | DEBUG TX(입력) | +3.3V |
+| 4 (흑)  | FMU_SWDIO  | +3.3V |
+| 5 (흑)  | FMU_SWCLK  | +3.3V |
+| 6 (흑)  | GND                             | GND                   |
+
+For information about using this port see:
+
+- [SWD Debug Port](../debug/swd_debug.md)
+- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
+- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+
+## 핀배열
+
+![SVehicle-E2 Top Down Photo](../../assets/flight_controller/svehicle_e2/top.png)
+
+![SVehicle-E2 Bottom Photo](../../assets/flight_controller/svehicle_e2/back.jpeg)
+
+![SVehicle-E2 left Photo](../../assets/flight_controller/svehicle_e2/left.png)
+
+![SVehicle-E2 right Photo](../../assets/flight_controller/svehicle_e2/right.png)
+
+## 지원 플랫폼 및 기체
+
+Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).

docs/uk/SUMMARY.md

@@ -187,6 +187,7 @@
       - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
+      - [SVehicle E2](flight_controller/svehicle_e2.md)
       - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
       - [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
     - [Калібрування рівня горизонту](flight_controller/autopilot_experimental.md)

docs/uk/config/_autotune.md

@@ -102,8 +102,7 @@ The RC sticks cannot be used during autotuning (moving the sticks will stop the
 
 </div><div v-else-if="$frontmatter.frame === 'Plane'">
 
-4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
-   The progress is shown in the progress bar, next to the _Autotune_ button.
+4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
 
 </div>
 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
@@ -198,7 +197,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
 </div>
 <div v-else-if="$frontmatter.frame === 'Plane'">
 
-By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
+By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
 
 If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
 

docs/uk/flight_controller/autopilot_manufacturer_supported.md

@@ -35,5 +35,6 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
+- [Svehicle E2](../flight_controller/svehicle_e2.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
 - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)

docs/uk/flight_controller/svehicle_e2.md

@@ -0,0 +1,176 @@
+# S-Vehicle E2
+
+:::warning
+PX4 не розробляє цей (або будь-який інший) автопілот.
+:::
+
+The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>&reg;</sup>.
+
+The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
+It brings you ultimate performance, stability, and reliability in every aspect.
+
+![SVehicle-E2](../../assets/flight_controller/svehicle_e2/main.png)
+
+:::info
+These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+### Processors & Sensors
+
+- FMU Processor: STM32H753IIK6
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- IO Processor: STM32F103
+  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
+- Сенсори на платі
+  - Акселератор/гіроскоп: BMI088
+  - Accel/Gyro: ICM-42688-P
+  - Accel/Gyro: ICM-20649
+  - Mag: RM3100
+  - Барометр: 2x ICP-20100
+
+### Інтерфейси
+
+- 14x PWM Servo Outputs
+- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
+- 1x Analog/PWM RSSI Input
+- 2x TELEM Ports (with full flow control)
+- 1x UART4 Port
+- 2x GPS Ports
+  - 1x Full GPS plus Safety Switch Port (GPS1)
+  - 1x Basic GPS Port (with I2C, GPS2)
+- 1x USB Port (TYPE-C)
+- 1x Ethernet Port
+  - Transformerless application
+  - 100Mbps
+- 3x I2C Bus Ports
+- 1x SPI Bus
+  - 1x Chip Select Line
+  - 1x Data Ready Line
+  - 1x SPI Reset Line
+- 2x CAN Ports
+- 3x Power Input Ports
+  - ADC Power Input
+  - I2C Power Input
+  - DroneCAN/UAVCAN Power Input
+- 2x AD Ports
+  - Analog Input (3.3V)
+  - Analog Input (6.6V - not supported by PX4)
+- 1x Dedicated Debug Port
+  - FMU Debug
+
+## Purchase Channels
+
+Order from [S-Vehicle](https://svehicle.cn/).
+
+## Радіоуправління
+
+A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+Вам буде потрібно вибрати сумісний передавач/приймач та потім зв'язати їх, щоб вони взаємодіяли (прочитайте інструкції, що додаються до вашого конкретного передавача/приймача).
+
+Spektrum/DSM receivers connect to the DSM/SBUS RC input.
+PPM or SBUS receivers connect to the RC IN input port.
+CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
+
+## Налаштування послідовного порту
+
+| UART   | Пристрій   | Порт          |
+| ------ | ---------- | ------------- |
+| USART1 | /dev/ttyS0 | GPS           |
+| USART2 | /dev/ttyS1 | TELEM3        |
+| USART3 | /dev/ttyS2 | Debug Console |
+| UART4  | /dev/ttyS3 | UART4         |
+| UART5  | /dev/ttyS4 | TELEM2        |
+| USART6 | /dev/ttyS5 | PX4IO/RC      |
+| UART7  | /dev/ttyS6 | TELEM1        |
+| UART8  | /dev/ttyS7 | GPS2          |
+
+## PWM Output
+
+The E2-Plus flight controller supports up to 14 PWM outputs.
+The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
+The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
+These are directly attached to the STM32H753 FMU controller .
+
+The 14 PWM outputs are:
+
+M1 - M8 are connected to the IOMCU
+A1 - A6 are connected to the FMU
+
+M1 - M8 support DShot and are in 3 groups:
+
+- M1, M2 in group 1
+- M3, M4 in group 2
+- M5, M6, M7, M8 in group 3
+
+The 6 FMU PWM outputs are in 2 groups:
+
+A1 - A4 are in one group.
+A5, A6 are in a 2nd group.
+
+Channels within the same group need to use the same output rate.
+If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+### Електричні дані
+
+- Номінальна напруга:
+  - Максимальна вхідна напруга: 5,7 В
+  - Вхід USB Power: 4.75~5.25V
+  - Вхід на серворейку: 0\~9.9В
+- Номінальний струм:
+  - Комбінований обмежувач вихідного струму TELEM1 і GPS2: 1,5 А
+  - Комбінований обмежувач вихідного струму всіх інших портів: 1.5A
+
+## Battery Monitoring
+
+The board has connectors for 3 power monitors.
+
+- POWER1 -- ADC
+- POWER2 -- DroneCAN
+- POWER3 -- I2C
+
+The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
+
+The default PDB included with the E2+ is analog and must be connected to `POWER1`.
+
+## Збірка прошивки
+
+To [build PX4](../dev_setup/building_px4.md) for this target, execute:
+
+```sh
+make svehicle_e2_default
+```
+
+## Відладочний порт
+
+The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
+
+| Pin                        | Сигнал                            | Вольтаж               |
+| -------------------------- | --------------------------------- | --------------------- |
+| 1 (red) | 5V+                               | +5V                   |
+| 2 (blk) | DEBUG TX (OUT) | +3.3V |
+| 3 (blk) | DEBUG RX (IN)  | +3.3V |
+| 4 (blk) | FMU_SWDIO    | +3.3V |
+| 5 (blk) | FMU_SWCLK    | +3.3V |
+| 6 (blk) | GND                               | GND                   |
+
+Інформацію про використання цього порту див:
+
+- [SWD Debug Port](../debug/swd_debug.md)
+- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
+- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+
+## Схема розташування виводів
+
+![SVehicle-E2 Top Down Photo](../../assets/flight_controller/svehicle_e2/top.png)
+
+![SVehicle-E2 Bottom Photo](../../assets/flight_controller/svehicle_e2/back.jpeg)
+
+![SVehicle-E2 left Photo](../../assets/flight_controller/svehicle_e2/left.png)
+
+![SVehicle-E2 right Photo](../../assets/flight_controller/svehicle_e2/right.png)
+
+## Підтримувані платформи / Конструкції
+
+Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).

docs/zh/SUMMARY.md

@@ -187,6 +187,7 @@
       - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
+      - [SVehicle E2](flight_controller/svehicle_e2.md)
       - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
       - [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
     - [Experimental Autopilots](flight_controller/autopilot_experimental.md)

docs/zh/config/_autotune.md

@@ -102,8 +102,7 @@ The test steps are:
 
 </div><div v-else-if="$frontmatter.frame === 'Plane'">
 
-4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
-   The progress is shown in the progress bar, next to the _Autotune_ button.
+4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates reached during the maneuvers are 75% of the maximum configured roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates. The progress is shown in the progress bar, next to the _Autotune_ button.
 
 </div>
 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
@@ -198,7 +197,7 @@ Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_S
 </div>
 <div v-else-if="$frontmatter.frame === 'Plane'">
 
-By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
+By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification, corresponding to 75% of the configured maximum roll (`FW_R_RMAX`), pitch (`FW_P_RMAX_NEG`, `FW_P_RMAX_POS`) and yaw (`FW_Y_RMAX`) rates.
 
 If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
 

docs/zh/flight_controller/autopilot_manufacturer_supported.md

@@ -35,5 +35,6 @@ The boards in this category are:
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
+- [Svehicle E2](../flight_controller/svehicle_e2.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
 - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)

docs/zh/flight_controller/svehicle_e2.md

@@ -0,0 +1,176 @@
+# S-Vehicle E2
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+:::
+
+The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>&reg;</sup>.
+
+The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
+It brings you ultimate performance, stability, and reliability in every aspect.
+
+![SVehicle-E2](../../assets/flight_controller/svehicle_e2/main.png)
+
+:::info
+These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+### Processors & Sensors
+
+- FMU Processor: STM32H753IIK6
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- IO Processor: STM32F103
+  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
+- On-board sensors
+  - Accel/Gyro: BMI088
+  - Accel/Gyro: ICM-42688-P
+  - Accel/Gyro: ICM-20649
+  - Mag: RM3100
+  - Barometer: 2x ICP-20100
+
+### 接口
+
+- 14x PWM Servo Outputs
+- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
+- 1x Analog/PWM RSSI Input
+- 2x TELEM Ports (with full flow control)
+- 1x UART4 Port
+- 2x GPS Ports
+  - 1x Full GPS plus Safety Switch Port (GPS1)
+  - 1x Basic GPS Port (with I2C, GPS2)
+- 1x USB Port (TYPE-C)
+- 1x Ethernet Port
+  - Transformerless application
+  - 100Mbps
+- 3x I2C Bus Ports
+- 1x SPI Bus
+  - 1x Chip Select Line
+  - 1x Data Ready Line
+  - 1x SPI Reset Line
+- 2x CAN Ports
+- 3x Power Input Ports
+  - ADC Power Input
+  - I2C Power Input
+  - DroneCAN/UAVCAN Power Input
+- 2x AD Ports
+  - Analog Input (3.3V)
+  - Analog Input (6.6V - not supported by PX4)
+- 1x Dedicated Debug Port
+  - FMU Debug
+
+## Purchase Channels
+
+Order from [S-Vehicle](https://svehicle.cn/).
+
+## 遥控器
+
+A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+将 <em>HW\\u PM</em> 模块的6针连接器连接到飞控的<code>电源</code>接口。
+
+Spektrum/DSM receivers connect to the DSM/SBUS RC input.
+PPM or SBUS receivers connect to the RC IN input port.
+CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
+
+## 串口映射
+
+| UART   | 设备         | Port          |
+| ------ | ---------- | ------------- |
+| USART1 | /dev/ttyS0 | GPS           |
+| USART2 | /dev/ttyS1 | TELEM3        |
+| USART3 | /dev/ttyS2 | Debug Console |
+| UART4  | /dev/ttyS3 | UART4         |
+| UART5  | /dev/ttyS4 | TELEM2        |
+| USART6 | /dev/ttyS5 | PX4IO/RC      |
+| UART7  | /dev/ttyS6 | TELEM1        |
+| UART8  | /dev/ttyS7 | GPS2          |
+
+## PWM Output
+
+The E2-Plus flight controller supports up to 14 PWM outputs.
+The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
+The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
+These are directly attached to the STM32H753 FMU controller .
+
+The 14 PWM outputs are:
+
+M1 - M8 are connected to the IOMCU
+A1 - A6 are connected to the FMU
+
+M1 - M8 support DShot and are in 3 groups:
+
+- M1, M2 in group 1
+- M3, M4 in group 2
+- M5, M6, M7, M8 in group 3
+
+The 6 FMU PWM outputs are in 2 groups:
+
+A1 - A4 are in one group.
+A5, A6 are in a 2nd group.
+
+Channels within the same group need to use the same output rate.
+If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+### Electrical data
+
+- Voltage Ratings:
+  - Max input voltage: 5.7V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~9.9V
+- Current Ratings:
+  - TELEM1 and GPS2 combined output current limiter: 1.5A
+  - All other port combined output current limiter: 1.5A
+
+## Battery Monitoring
+
+The board has connectors for 3 power monitors.
+
+- POWER1 -- ADC
+- POWER2 -- DroneCAN
+- POWER3 -- I2C
+
+The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
+
+The default PDB included with the E2+ is analog and must be connected to `POWER1`.
+
+## 编译固件
+
+To [build PX4](../dev_setup/building_px4.md) for this target, execute:
+
+```sh
+make svehicle_e2_default
+```
+
+## 调试接口
+
+The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
+
+| 针脚   | 信号                                | 电压                    |
+| ---- | --------------------------------- | --------------------- |
+| 1（红） | 5V+                               | +5V                   |
+| 2    | DEBUG TX (OUT) | +3.3V |
+| 3    | DEBUG RX (IN)  | +3.3V |
+| 4（黑） | FMU_SWDIO    | +3.3V |
+| 6    | FMU_SWCLK    | +3.3V |
+| 6    | GND                               | GND                   |
+
+For information about using this port see:
+
+- [SWD Debug Port](../debug/swd_debug.md)
+- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
+- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+
+## 针脚定义
+
+![SVehicle-E2 Top Down Photo](../../assets/flight_controller/svehicle_e2/top.png)
+
+![SVehicle-E2 Bottom Photo](../../assets/flight_controller/svehicle_e2/back.jpeg)
+
+![SVehicle-E2 left Photo](../../assets/flight_controller/svehicle_e2/left.png)
+
+![SVehicle-E2 right Photo](../../assets/flight_controller/svehicle_e2/right.png)
+
+## 支持的平台/机身
+
+Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).

msg/AdcReport.msg

@@ -1,9 +1,6 @@
-# ADC raw data.
-#
-# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
 uint64 timestamp		# time since system start (microseconds)
 uint32 device_id		# unique device ID for the sensor that does not change between power cycles
-int16[16] channel_id		# ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
-int32[16] raw_data		# ADC channel raw value, accept negative value, valid if channel ID is positive
+int16[12] channel_id		# ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
+int32[12] raw_data		# ADC channel raw value, accept negative value, valid if channel ID is positive
 uint32 resolution		# ADC channel resolution
 float32 v_ref			# ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)

msg/DifferentialPressure.msg

@@ -1,10 +1,12 @@
-uint64 timestamp                     # time since system start (microseconds)
-uint64 timestamp_sample
+# Differential-pressure (airspeed) sensor
+#
+# This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
 
-uint32 device_id                     # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture
 
-float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)
-
-float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown
-
-uint32 error_count                   # Number of errors detected by driver
+uint32 device_id                  # [-] Unique device ID for the sensor that does not change between power cycles
+float32 differential_pressure_pa  # [Pa] Differential pressure reading (may be negative)
+float32 temperature               # [degC] [@invalid NaN if unknown] Temperature
+uint32 error_count                # [-] Number of errors detected by driver

msg/SensorBaro.msg

@@ -1,12 +1,14 @@
-uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample
+# Barometer sensor
+# 
+# This is populated by barometer drivers and used by the EKF2 estimator.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
 
-uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture
 
-float32 pressure          # static pressure measurement in Pascals
-
-float32 temperature       # temperature in degrees Celsius
-
-uint32 error_count
+uint32 device_id     # [-] Unique device ID for the sensor that does not change between power cycles
+float32 pressure     # [Pa] Static pressure measurement
+float32 temperature  # [degC] Temperature.
+uint32 error_count   # [-] Number of errors detected by driver.
 
 uint8 ORB_QUEUE_LENGTH = 4

src/drivers/adc/ads7953/ADS7953.cpp

@@ -1,128 +0,0 @@
-
-#include "ADS7953.h"
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module.h>
-#include <drivers/drv_adc.h>
-
-ADS7953::ADS7953(const I2CSPIDriverConfig &config) :
-	SPI(config),
-	I2CSPIDriver(config)
-{
-}
-
-int ADS7953::init()
-{
-	int ret = SPI::init();
-
-	if (ret != PX4_OK) {
-		DEVICE_DEBUG("SPI::init failed (%i)", ret);
-		return ret;
-	}
-
-	float ref_volt = 2.5f;
-	param_get(param_find("ADC_ADS7953_REFV"), &ref_volt);
-
-	_adc_report.device_id = this->get_device_id();
-	_adc_report.v_ref = ref_volt;
-	_adc_report.resolution = 4096;
-
-	for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
-		_adc_report.channel_id[i] = -1;
-	}
-
-	ScheduleNow();
-	return PX4_OK;
-}
-
-int ADS7953::probe()
-{
-	// The ADS7953 has no ID register which we can check, so we verify the device via the returned channel ID.
-	// We set the mode to "manual mode" and the channel to measure to 1.
-	// If the returned channel ID on the third message is 1, we assume the ADS7953 is connected.
-	uint8_t recv_data[2];
-
-	int ret = rw_msg(&recv_data[0], 1, true);
-
-	if (ret != PX4_OK) {
-		DEVICE_DEBUG("ADS7953 probing failed (%i)", ret);
-		return ret;
-	}
-
-	ret = rw_msg(&recv_data[0], 0, false);
-	ret = rw_msg(&recv_data[0], 0, true);
-
-	if (ret != PX4_OK || (recv_data[0] >> 4) != 1U) {
-		DEVICE_DEBUG("ADS7953 probing failed (%i)", ret);
-		return PX4_ERROR;
-	}
-
-	PX4_INFO("ADS7953 was found");
-	return PX4_OK;
-}
-
-
-int ADS7953::rw_msg(uint8_t *recv_data, uint8_t ch, bool change_channel)
-{
-	uint8_t send_data[2];
-
-	if (change_channel) {
-		send_data[0] = 0x10 | (ch >> 1);
-		send_data[1] = 0x00 | (ch << 7);
-
-	} else {
-		send_data[0] = 0x00;
-		send_data[1] = 0x00;
-	}
-
-	return transfer(&send_data[0], &recv_data[0], 2);
-}
-
-int ADS7953::get_measurements()
-{
-	uint8_t recv_data[2];
-	uint8_t ch_id = 0;
-
-	int count = 0;
-	uint16_t mask = 0x00;
-	uint8_t idx = 0;
-
-	while (count < 16) {
-		if (rw_msg(&recv_data[0], idx, true) == PX4_OK) {
-			ch_id = (recv_data[0] >> 4);
-
-			//check if we already have a measurement for the returned channel
-			if (!(mask & (1U << ch_id))) {
-				mask |= (1U << ch_id);
-				count++;
-				_adc_report.channel_id[ch_id] = ch_id;
-				_adc_report.raw_data[ch_id] = ((((uint16_t) recv_data[0]) & 0x0F) << 8) | recv_data[1];  //data_value;
-			}
-		}
-
-		// Find index to measure next
-		for (int i = 1; i <= 16; i++) {
-			uint8_t candidate_id = (idx + i) % 16;
-
-			if (!(mask & (1U << candidate_id))) {
-				idx = candidate_id;
-				break;
-			}
-		}
-	}
-
-	return 0;
-}
-
-
-void ADS7953::RunImpl()
-{
-	get_measurements();
-	_adc_report.timestamp = hrt_absolute_time();
-	_to_adc_report.publish(_adc_report);
-
-	for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
-		_adc_report.channel_id[i] = -1;
-	}
-
-	ScheduleDelayed(10_ms);
-}

src/drivers/adc/ads7953/ADS7953.h

@@ -1,34 +0,0 @@
-#pragma once
-
-#include <drivers/device/spi.h>
-#include <drivers/drv_hrt.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <lib/drivers/device/spi.h>
-#include <lib/parameters/param.h>
-#include <uORB/topics/adc_report.h>
-#include <uORB/PublicationMulti.hpp>
-using namespace time_literals;
-
-
-class ADS7953 : public device::SPI, public I2CSPIDriver<ADS7953>
-{
-public:
-	ADS7953(const I2CSPIDriverConfig &config);
-	virtual ~ADS7953() = default;
-	static void print_usage();
-
-	int init() override;
-	void RunImpl();
-	int probe() override;
-
-
-private:
-	uORB::PublicationMulti<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
-
-	static const hrt_abstime SAMPLE_INTERVAL{50_ms};
-
-	adc_report_s _adc_report{};
-
-	int get_measurements();
-	int rw_msg(uint8_t *recv_data, uint8_t ch, bool change_channel);
-};

src/drivers/adc/ads7953/CMakeLists.txt

@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__adc__ads7953
-	MAIN ads7953
-	COMPILE_FLAGS
-	SRCS
-		ADS7953.cpp
-		ADS7953.h
-		ads7953_main.cpp
-	DEPENDS
-		px4_work_queue
-	)

src/drivers/adc/ads7953/Kconfig

@@ -1,5 +0,0 @@
-menuconfig DRIVERS_ADC_ADS7953
-	bool "ADS7953 driver"
-	default n
-	---help---
-		Enable support for ADS7953

src/drivers/adc/ads7953/ads7953_main.cpp

@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module.h>
-#include "ADS7953.h"
-
-void ADS7953::print_usage()
-{
-	PRINT_MODULE_USAGE_NAME("ads7953", "driver");
-	PRINT_MODULE_USAGE_SUBCATEGORY("adc");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-}
-
-extern "C" int ads7953_main(int argc, char *argv[])
-{
-	using ThisDriver = ADS7953;
-	BusCLIArguments cli{false, true};
-	cli.spi_mode = SPIDEV_MODE0;
-	cli.default_spi_frequency = 10 * 1000 * 1000;
-	const char *name = MODULE_NAME;
-	const char *verb = cli.parseDefaultArguments(argc, argv);
-
-	if (!verb) {
-		ThisDriver::print_usage();
-		return -1;
-	}
-
-	BusInstanceIterator iterator(name, cli, DRV_ADC_DEVTYPE_ADS7953);
-
-	if (!strcmp(verb, "start")) {
-		return ThisDriver::module_start(cli, iterator);
-	}
-
-	if (!strcmp(verb, "stop")) {
-		return ThisDriver::module_stop(iterator);
-	}
-
-	if (!strcmp(verb, "status")) {
-		return ThisDriver::module_status(iterator);
-	}
-
-	ThisDriver::print_usage();
-	return -1;
-}

src/drivers/adc/ads7953/ads7953_params.c

@@ -1,58 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * Enable external ADS7953 ADC
- *
- * @category driver
- * @boolean
- * @reboot_required true
- * @group Sensors
- */
-PARAM_DEFINE_INT32(ADC_ADS7953_EN, 0);
-
-/**
- * Reference voltage supplied to ADS7953 board
- *
- * @reboot_required true
- * @category driver
- * @group Sensors
- * @unit V
- * @min 2.0
- * @max 3.0
- * @decimal 2
- */
-PARAM_DEFINE_FLOAT(ADC_ADS7953_REFV, 2.5f);
-
-@category system
- * @group Sensors

src/drivers/drv_sensor.h

@@ -260,8 +260,6 @@
 
 #define DRV_INS_DEVTYPE_SBG		0xEC
 
-#define DRV_ADC_DEVTYPE_ADS7953 0xED
-
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -266,21 +266,28 @@ void FlightTaskAuto::_prepareLandSetpoints()
 		Vector2f sticks_ne = sticks_xy;
 		Sticks::rotateIntoHeadingFrameXY(sticks_ne, _yaw, _land_heading);
 
-		const float distance_to_circle = math::trajectory::getMaxDistanceToCircle(_position.xy(), _initial_land_position.xy(),
-						 _param_mpc_land_radius.get(), sticks_ne);
-		float max_speed;
+		float max_speed = INFINITY;
 
-		if (PX4_ISFINITE(distance_to_circle)) {
-			max_speed = math::trajectory::computeMaxSpeedFromDistance(_stick_acceleration_xy.getMaxJerk(),
-					_stick_acceleration_xy.getMaxAcceleration(), distance_to_circle, 0.f);
+		if (_param_mpc_land_radius.get() > FLT_EPSILON) {
 
-			if (max_speed < 0.5f) {
+			// = NaN if we are outside of the allowed circle and nudging does not point back towards it
+			const float distance_to_circle = math::trajectory::getMaxDistanceToCircle(_position.xy(), _initial_land_position.xy(),
+							 _param_mpc_land_radius.get(), sticks_ne);
+
+			if (PX4_ISFINITE(distance_to_circle)) {
+
+				// We are inside of the allowed circle. Limit speed so we can always brake in time to not leave the circle.
+				max_speed = math::trajectory::computeMaxSpeedFromDistance(_stick_acceleration_xy.getMaxJerk(),
+						_stick_acceleration_xy.getMaxAcceleration(), distance_to_circle, 0.f);
+
+				if (max_speed < 0.5f) {
+					sticks_xy.setZero();
+				}
+
+			} else {
+				max_speed = 0.f;
 				sticks_xy.setZero();
 			}
-
-		} else {
-			max_speed = 0.f;
-			sticks_xy.setZero();
 		}
 
 		_stick_acceleration_xy.setVelocityConstraint(max_speed);

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp

@@ -345,7 +345,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 			}
 
 			const float abs_roll_rate = fabsf(_angular_velocity(0));
-			const float target = min(kTargetRollRate, math::radians(_param_fw_r_rmax.get()));
+			const float target = 0.75f * math::radians(_param_fw_r_rmax.get());
 
 			updateAmplitudeDetectionState(now, abs_roll_rate, target);
 
@@ -396,7 +396,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 
 			const float abs_pitch_rate = fabsf(_angular_velocity(1));
 			const float max_pitch_rate = min(_param_fw_p_rmax_pos.get(), _param_fw_p_rmax_neg.get());
-			const float target = min(kTargetPitchRate, math::radians(max_pitch_rate));
+			const float target = 0.75f * math::radians(max_pitch_rate);
 
 			updateAmplitudeDetectionState(now, abs_pitch_rate, target);
 
@@ -444,7 +444,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 			}
 
 			const float abs_yaw_rate = fabsf(_angular_velocity(2));
-			const float target = min(kTargetYawRate, math::radians(_param_fw_y_rmax.get()));
+			const float target = 0.75f * math::radians(_param_fw_y_rmax.get());
 
 			updateAmplitudeDetectionState(now, abs_yaw_rate, target);
 
@@ -548,16 +548,47 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 	}
 
 	// In case of convergence timeout
-	// the identification sequence is aborted immediately
+	// the identification sequence is aborted and the FSM moves on to the next axis
 	if (_state != state::wait_for_disarm && _state != state::idle && _state != state::fail && _state != state::complete) {
-		if (now - _state_start_time > 20_s
-		    || (_param_fw_at_man_aux.get() && !_aux_switch_en)
-		    || _start_flight_mode != _nav_state) {
-			orb_advert_t mavlink_log_pub = nullptr;
+
+		const bool timeout = (now - _state_start_time) > 30_s;
+		const bool mode_changed = (_start_flight_mode != _nav_state);
+		const bool aux_switched_off = (_param_fw_at_man_aux.get() && !_aux_switch_en);
+
+		orb_advert_t mavlink_log_pub = nullptr;
+
+		if (mode_changed || aux_switched_off) {
+			// Abort
 			mavlink_log_critical(&mavlink_log_pub, "Autotune aborted before finishing");
 			_state = state::fail;
-			_state_start_time = now;
+
+		} else if (timeout) {
+			// Skip to next axis
+			mavlink_log_critical(&mavlink_log_pub, "Autotune axis timeout, skipping to next axis");
+
+			switch (_state) {
+			case state::roll_amp_detection:
+			case state::roll:
+				_state = state::roll_pause;   // proceed to pitch
+				break;
+
+			case state::pitch_amp_detection:
+			case state::pitch:
+				_state = state::pitch_pause;  // proceed to yaw
+				break;
+
+			case state::yaw_amp_detection:
+			case state::yaw:
+				_state = state::yaw_pause;    // proceed to verification
+				break;
+
+			default:
+				_state = state::fail;         // safety fallback
+				break;
+			}
 		}
+
+		_state_start_time = now;
 	}
 }
 

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp

@@ -172,16 +172,6 @@ private:
 	static constexpr float kSignalAmpMax{5.0f};
 	static constexpr float kSignalAmpStep{0.1f};
 
-	// Target maximum angular rates for the system identification signal.
-	// ~45 deg/s for roll, ~30 deg/s for pitch and yaw. These values are:
-	// - High enough to provide good signal-to-noise ratio for identification.
-	// - Low enough to keep pitch and yaw responses within the linear range
-	//   for most vehicles.
-
-	static constexpr float kTargetRollRate{0.8f};
-	static constexpr float kTargetPitchRate{0.5f};
-	static constexpr float kTargetYawRate{0.5f};
-
 	matrix::Vector3f _angular_velocity{};
 
 	bool _armed{false};
@@ -253,6 +243,6 @@ private:
 		(ParamInt<px4::params::FW_AT_SYSID_TYPE>) _param_fw_sysid_signal_type
 	)
 
-	static constexpr float _publishing_dt_s = 100e-3f;
-	static constexpr hrt_abstime _publishing_dt_hrt = 100_ms;
+	static constexpr float _publishing_dt_s = 20e-3f;
+	static constexpr hrt_abstime _publishing_dt_hrt = 20_ms;
 };

src/modules/mc_pos_control/multicopter_nudging_params.c

@@ -53,13 +53,17 @@ PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
 /**
  * User assisted landing radius
  *
- * When nudging is enabled (see MPC_LAND_RC_HELP), this controls
- * the maximum allowed horizontal displacement from the original landing point.
+ * When nudging is enabled (see MPC_LAND_RC_HELP), this defines the maximum
+ * allowed horizontal displacement from the original landing point.
+ *  - If inside of the radius, only allow nudging inputs that do not move the vehicle outside of it.
+ *  - If outside of the radius, only allow nudging inputs that move the vehicle back towards it.
+ *
+ * Set it to -1 for infinite radius.
  *
  * @unit m
- * @min 0
+ * @min -1
  * @decimal 0
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f);
+PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, -1.0f);

src/modules/navigator/rtl_mission_fast.cpp

@@ -57,7 +57,7 @@ void RtlMissionFast::on_inactive()
 	MissionBase::on_inactive();
 	_vehicle_status_sub.update();
 	_mission_index_prior_rtl = _vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ?
-				   _mission.current_seq : -1;
+				   _mission.current_seq : INT32_C(-1);
 }
 
 void RtlMissionFast::on_activation()
@@ -65,13 +65,30 @@ void RtlMissionFast::on_activation()
 	_home_pos_sub.update();
 
 	// set mission item to closest item if not already in mission
-	if (_mission_index_prior_rtl < 0) {
+	if (_mission_index_prior_rtl < INT32_C(0)) {
 		_is_current_planned_mission_item_valid = setMissionToClosestItem(_global_pos_sub.get().lat, _global_pos_sub.get().lon,
 				_global_pos_sub.get().alt, _home_pos_sub.get().alt, _vehicle_status_sub.get()) == PX4_OK;
 
 	} else {
-		setMissionIndex(_mission_index_prior_rtl);
-		_is_current_planned_mission_item_valid = isMissionValid();
+		int32_t next_mission_item_index;
+		size_t num_found_items{0U};
+		getNextPositionItems(_mission_index_prior_rtl, &next_mission_item_index, num_found_items, UINT8_C(1));
+
+		if (num_found_items > 0U) {
+			setMissionIndex(next_mission_item_index);
+			_is_current_planned_mission_item_valid = isMissionValid();
+
+		} else {
+			// No more position items left. Set it to the land item if it exists
+			if (_mission.land_index > 0) {
+				setMissionIndex(_mission.land_index);
+				_is_current_planned_mission_item_valid = isMissionValid();
+
+			} else {
+				// Nothing we can do, set the validity to false to trigger end of mission reaction
+				_is_current_planned_mission_item_valid = false;
+			}
+		}
 	}
 
 	if (_land_detected_sub.get().landed) {

src/modules/navigator/rtl_mission_fast.h

@@ -64,7 +64,7 @@ private:
 	bool setNextMissionItem() override;
 	void setActiveMissionItems() override;
 
-	int _mission_index_prior_rtl{-1};
+	int32_t _mission_index_prior_rtl{INT32_C(-1)};
 
 	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
 };

src/modules/navigator/rtl_mission_fast_reverse.cpp

@@ -57,7 +57,7 @@ void RtlMissionFastReverse::on_inactive()
 	MissionBase::on_inactive();
 	_vehicle_status_sub.update();
 	_mission_index_prior_rtl = _vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ?
-				   _mission.current_seq : -1;
+				   _mission.current_seq : INT32_C(-1);
 }
 
 void RtlMissionFastReverse::on_inactivation()
@@ -71,13 +71,24 @@ void RtlMissionFastReverse::on_activation()
 	_home_pos_sub.update();
 
 	// set mission item to closest item if not already in mission. If we are in mission, set to the previous item.
-	if (_mission_index_prior_rtl < 0) {
+	if (_mission_index_prior_rtl < INT32_C(0)) {
 		_is_current_planned_mission_item_valid = setMissionToClosestItem(_global_pos_sub.get().lat, _global_pos_sub.get().lon,
 				_global_pos_sub.get().alt, _home_pos_sub.get().alt, _vehicle_status_sub.get()) == PX4_OK;
 
 	} else {
-		setMissionIndex(math::max(_mission_index_prior_rtl - 1, 0));
-		_is_current_planned_mission_item_valid = isMissionValid();
+		int32_t previous_mission_item_index;
+		size_t num_found_items{0U};
+		getPreviousPositionItems(math::max(_mission_index_prior_rtl - INT32_C(1), INT32_C(0)), &previous_mission_item_index,
+					 num_found_items, UINT8_C(1));
+
+		if (num_found_items > 0U) {
+			setMissionIndex(previous_mission_item_index);
+			_is_current_planned_mission_item_valid = isMissionValid();
+
+		} else {
+			// No prior position items, so try to go to the first one.
+			_is_current_planned_mission_item_valid = (goToNextPositionItem(false) == PX4_OK);
+		}
 	}
 
 	if (_land_detected_sub.get().landed) {

src/modules/navigator/rtl_mission_fast_reverse.h

@@ -69,7 +69,7 @@ private:
 	void setActiveMissionItems() override;
 	void handleLanding(WorkItemType &new_work_item_type);
 
-	int _mission_index_prior_rtl{-1};
+	int32_t _mission_index_prior_rtl{INT32_C(-1)};
 
 	bool _in_landing_phase{false};