Enhance SIH on Flight Controller Hardware documentation

Updated the section on running SIH on flight controller hardware, including setup instructions and supported airframes.
docs: auto-sync metadata [skip ci]
2026-05-31 03:40:05 +08:00 · 2026-04-10 09:04:03 +02:00 · 2026-04-10 04:58:41 +00:00 · 2026-04-09 21:51:25 -07:00 · 2026-04-09 20:40:07 -06:00 · 2026-04-09 23:46:48 +00:00
69 changed files with 4910 additions and 633 deletions
@@ -20,7 +20,7 @@ runs:
  steps:
    - name: Restore ccache
      id: ccache-restore
-      uses: actions/cache/restore@v4
+      uses: actions/cache/restore@v5
      with:
        path: ~/.ccache
        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
@@ -52,7 +52,7 @@ runs:
      run: ccache -s

    - name: Save ccache
-      uses: actions/cache/save@v4
+      uses: actions/cache/save@v5
      if: always()
      with:
        path: ~/.ccache
@@ -108,7 +108,7 @@ runs:
        echo "PASS: gazebo package validation successful"

    - name: Upload .deb artifacts
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
      with:
        name: ${{ inputs.artifact-name }}
        path: build/px4_sitl_${{ inputs.target }}/*.deb
@@ -40,7 +40,7 @@ jobs:
      should_push: ${{ steps.push.outputs.should_push }}
    steps:
      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
        with:
          fetch-tags: true
          submodules: false
@@ -93,7 +93,7 @@ jobs:
          apt-get update && apt-get install -y git
          git config --global --add safe.directory $(realpath .)

-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
          fetch-tags: true
@@ -103,7 +103,7 @@ jobs:
        run: ./Tools/ci/use_aws_apt_mirror.sh

      - name: Cache apt packages
-        uses: actions/cache@v4
+        uses: actions/cache@v5
        with:
          path: /var/cache/apt/archives
          key: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
@@ -136,7 +136,7 @@ jobs:
          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
    steps:
      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
        with:
          submodules: false
          fetch-depth: 1
@@ -12,51 +12,71 @@ on:
    paths-ignore:
      - 'docs/**'

+permissions:
+  contents: read
+
 concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

 jobs:
-  build:
-    runs-on: ubuntu-latest
-
+  gate_checks:
+    name: Gate Checks [${{ matrix.check }}]
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-
    strategy:
-      fail-fast: false
+      fail-fast: true
      matrix:
        check: [
          "check_format",
          "check_newlines",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
          "module_documentation",
        ]
-
    steps:
+      - uses: runs-on/action@v2
+
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 0
+          fetch-depth: 1
+
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'

      - name: Building [${{ matrix.check }}]
        env:
          PX4_SBOM_DISABLE: 1
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --system --add safe.directory '*'
-          make ${{ matrix.check }}
+        run: make ${{ matrix.check }}

-      - name: Uploading Coverage to Codecov.io
-        if: contains(matrix.check, 'coverage')
-        uses: codecov/codecov-action@v1
+  tests:
+    name: Unit Tests
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    steps:
+      - uses: runs-on/action@v2
+
+      - uses: actions/checkout@v4
        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: unittests
-          file: coverage/lcov.info
+          fetch-depth: 1
+
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl
+          max-size: 300M
+
+      - name: Build and run unit tests
+        env:
+          PX4_SBOM_DISABLE: 1
+        run: make tests
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -21,9 +21,12 @@ jobs:
    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: read
+      pull-requests: read
    steps:
    - uses: runs-on/action@v2
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
      with:
        fetch-depth: 0
        fetch-tags: true
@@ -31,39 +34,64 @@ jobs:
    - name: Configure Git Safe Directory
      run: git config --system --add safe.directory '*'

-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
      with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 150M

-    - name: Configure Compiler Cache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+    - name: Build - px4_sitl_default (Clang)
+      run: make -j16 px4_sitl_default-clang

    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
+      id: clang_tidy
+      run: |
+        if [ "${{ github.event_name }}" != "pull_request" ]; then
+          make -j$(nproc) clang-tidy
+        else
+          python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
+        fi

-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
+    # On PRs, also produce a `pr-review` artifact for the PR Review Poster
+    # workflow to consume. clang-tidy-diff-18 emits a unified fixes.yml that
+    # the producer script translates into line-anchored review comments.
+    # Running this inside the same container as the build means there is no
+    # workspace-path rewriting and no cross-runner artifact handoff.
+    - name: Export clang-tidy fixes for PR review
+      if: always() && github.event_name == 'pull_request'
+      run: |
+        mkdir -p pr-review
+        git diff -U0 origin/${{ github.base_ref }}...HEAD \
+          | clang-tidy-diff-18.py -p1 \
+              -path build/px4_sitl_default-clang \
+              -export-fixes pr-review/fixes.yml \
+              -j0 || true

-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
+    - name: Build pr-review artifact
+      if: always() && github.event_name == 'pull_request'
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        python3 Tools/ci/clang-tidy-fixes-to-review.py \
+          --fixes pr-review/fixes.yml \
+          --repo-root "$GITHUB_WORKSPACE" \
+          --repo "$GITHUB_REPOSITORY" \
+          --pr-number "${{ github.event.pull_request.number }}" \
+          --commit-sha "${{ github.event.pull_request.head.sha }}" \
+          --out-dir pr-review \
+          --event REQUEST_CHANGES
+
+    - name: Upload pr-review artifact
+      if: always() && github.event_name == 'pull_request'
+      uses: actions/upload-artifact@v7
      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        name: pr-review
+        path: |
+          pr-review/manifest.json
+          pr-review/comments.json
+        retention-days: 1
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -19,12 +19,6 @@ concurrency:
 jobs:
  build:
    runs-on: macos-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
    steps:
    - name: install Python 3.10
      uses: actions/setup-python@v5
@@ -33,35 +27,41 @@ jobs:

    - uses: actions/checkout@v4

-    - name: setup
-      run: |
-        ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
-    - name: ccache cache files
+    - name: Cache - Restore Homebrew Packages
      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
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+        path: ~/Library/Caches/Homebrew/downloads
+        key: macos-homebrew-${{ runner.arch }}-${{ hashFiles('Tools/setup/macos.sh') }}
+        restore-keys: |
+          macos-homebrew-${{ runner.arch }}-

-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s
+    - name: Cache - Restore pip Packages
+      uses: actions/cache@v4
+      with:
+        path: ~/Library/Caches/pip
+        key: macos-pip-${{ runner.arch }}-${{ hashFiles('Tools/setup/requirements.txt') }}
+        restore-keys: |
+          macos-pip-${{ runner.arch }}-
+
+    - name: setup
+      run: ./Tools/setup/macos.sh
+
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-macos
+        max-size: 200M
+
+    - name: Build px4_sitl
+      run: make px4_sitl
+
+    - name: Cache - Stats after px4_sitl
+      run: ccache -s
+
+    - name: Build px4_fmu-v5_default
+      run: make px4_fmu-v5_default
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -29,12 +29,13 @@ jobs:
      fail-fast: false
      matrix:
        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ${{ matrix.version }}
      volumes:
        - /github/workspace:/github/workspace
    steps:
+      - uses: runs-on/action@v2

      - name: Fix git in container
        run: |
@@ -53,9 +54,19 @@ jobs:
        if: startsWith(runner.name, 'runs-on--')
        run: ./Tools/ci/use_aws_apt_mirror.sh

-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check
+      - name: Install Deps
+        run: ./Tools/setup/ubuntu.sh
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
+          max-size: 200M
+
+      - name: Make Quick Check
+        run: make quick_check
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -72,7 +72,7 @@ jobs:
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2

      - name: Checkout
        uses: actions/checkout@v4
@@ -134,7 +134,7 @@ jobs:
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2

      - name: Checkout
        uses: actions/checkout@v4
@@ -213,7 +213,6 @@ jobs:
    if: always() && (github.event_name == 'pull_request')
    permissions:
      contents: read
-      pull-requests: write
    runs-on: ubuntu-latest
    steps:
      - name: Checkout
@@ -281,12 +280,32 @@ jobs:
            > ./logs/link-check-results.md || true
          cat ./logs/link-check-results.md

-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
+      - name: Prepare pr-comment artifact
+        id: prepare-pr-comment
+        run: |
+          if [ ! -s ./logs/filtered-link-check-results.md ]; then
+            echo "No link-check results file; skipping pr-comment artifact."
+            echo "prepared=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+          mkdir -p pr-comment
+          cp ./logs/filtered-link-check-results.md pr-comment/body.md
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:docs-link-check -->",
+            "mode": "upsert"
+          }
+          EOF
+          echo "prepared=true" >> "$GITHUB_OUTPUT"
+
+      - name: Upload pr-comment artifact
+        if: steps.prepare-pr-comment.outputs.prepared == 'true'
+        uses: actions/upload-artifact@v4
        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1

      - name: Upload link check results
        uses: actions/upload-artifact@v4
@@ -313,7 +332,7 @@ jobs:
      branchname: ${{ steps.set-branch.outputs.branchname }}
      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
    steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2

      - name: Checkout
        uses: actions/checkout@v4
@@ -22,7 +22,7 @@ jobs:
  build:
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
      - name: Checkout
        uses: actions/checkout@v4

@@ -18,7 +18,7 @@ concurrency:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    defaults:
      run:
        shell: bash
@@ -32,6 +32,8 @@ jobs:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
+      - uses: runs-on/action@v2
+
      - name: Install Node v20.18.0
        uses: actions/setup-node@v4
        with:
@@ -44,7 +46,15 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

+      - name: Cache - Restore Emscripten SDK
+        id: cache-emsdk
+        uses: actions/cache@v4
+        with:
+          path: _emscripten_sdk
+          key: emsdk-4.0.15
+
      - name: Install empscripten
+        if: steps.cache-emsdk.outputs.cache-hit != 'true'
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
@@ -24,7 +24,7 @@ env:
 jobs:
  analyze_flash:
    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
@@ -36,6 +36,8 @@ jobs:
      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
    steps:
+      - uses: runs-on/action@v2
+
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
@@ -44,17 +46,50 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

+      - name: Cache - Restore ccache (current)
+        id: cache_current
+        uses: actions/cache/restore@v4
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-
+            ccache-flash-${{ matrix.target }}-current-
+
+      - name: Cache - Configure ccache
+        run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 200M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
      - name: Build Target
        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF with the change
        run: cp ./build/**/*.elf ./with-change.elf

+      - name: Cache - Stats after Current Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (current)
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_current.outputs.cache-primary-key }}
+
      - name: Clean previous build
        run: |
          make clean
          make distclean
          make submodulesclean
+          ccache -C

      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
@@ -68,12 +103,34 @@ jobs:
      - name: Update submodules
        run: make submodulesupdate

+      - name: Cache - Restore ccache (baseline)
+        id: cache_baseline
+        uses: actions/cache/restore@v4
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-baseline-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-baseline-
+
+      - name: Cache - Reset ccache stats
+        run: ccache -z
+
      - name: Build
        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF before the change
        run: cp ./build/**/*.elf ./before-change.elf

+      - name: Cache - Stats after Baseline Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (baseline)
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_baseline.outputs.cache-primary-key }}
+
      - name: bloaty-action
        uses: PX4/bloaty-action@v1.0.0
        id: bloaty-step
@@ -93,9 +150,6 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT

-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
@@ -105,7 +159,7 @@ jobs:
      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    if: github.event.pull_request
    steps:
      - name: Find Comment
        uses: peter-evans/find-comment@v3
@@ -113,14 +167,14 @@ jobs:
        with:
          issue-number: ${{ github.event.pull_request.number }}
          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+          body-includes: '<!-- pr-comment-poster:flash-analysis -->'

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

-      - name: Create or update comment
+      - name: Write pr-comment artifact
        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
        if: |
          steps.fc.outputs.comment-id != '' ||
@@ -128,27 +182,46 @@ jobs:
          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
+        run: |
+          mkdir -p pr-comment
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:flash-analysis -->",
+            "mode": "upsert"
+          }
+          EOF
+          cat > pr-comment/body.md <<'PR_COMMENT_BODY_EOF'
+          <!-- pr-comment-poster:flash-analysis -->
+          ## 🔎 FLASH Analysis
+          <details>
+          <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+          ```
+          </details>
+
+          <details>
+          <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+          ```
+          </details>
+
+          **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          PR_COMMENT_BODY_EOF
+
+      - name: Upload pr-comment artifact
+        if: |
+          steps.fc.outputs.comment-id != '' ||
+          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        uses: actions/upload-artifact@v4
        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
-
-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
-
-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1
@@ -22,7 +22,7 @@ concurrency:
 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
@@ -46,14 +46,21 @@ jobs:
              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
    steps:
+      - uses: runs-on/action@v2
+
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 0
-          submodules: recursive
+          fetch-depth: 1

      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-itcm-${{ matrix.target }}
+          max-size: 200M
+
      - name: Build Target
        run: make ${{ matrix.target }}

@@ -65,3 +72,8 @@ jobs:

      - name: Execute the itcm-check
        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -18,15 +18,17 @@ concurrency:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]

    strategy:
      fail-fast: false

    steps:
+      - uses: runs-on/action@v2
+
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 0
+          fetch-depth: 1

      - name: Build SITL and Run Tests (inside old ROS container)
        run: |
@@ -18,15 +18,17 @@ concurrency:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]

    strategy:
      fail-fast: false

    steps:
+      - uses: runs-on/action@v2
+
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 0
+          fetch-depth: 1

      - name: Build SITL and Run Tests (inside old ROS container)
        run: |
@@ -1,46 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-
-    strategy:
-      matrix:
-        config:
-          - px4_fmu-v5_default
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build PX4 and Run Test [${{ matrix.config }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --system --add safe.directory '*'
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
-          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
-          make ${{ matrix.config }} nuttx_context
-
-          echo "Check that the config option is set"
-          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -0,0 +1,155 @@
+name: PR Comment Poster
+
+# Generic PR comment poster. Any analysis workflow (clang-tidy, flash_analysis,
+# fuzz coverage, SITL perf, etc.) can produce a `pr-comment` artifact and this
+# workflow will post or update a sticky PR comment with its contents. Designed
+# so that analysis jobs running on untrusted fork PRs can still get their
+# results posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and `body.md`,
+#      and both are treated as opaque data (JSON parsed by the poster script
+#      and markdown posted verbatim via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use. Validation
+#      happens inside Tools/ci/pr-comment-poster.py which is checked out from
+#      the base branch, not from the artifact.
+#
+#   3. The comment body is passed to the GitHub API as a JSON field, never
+#      interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-comment` artifact.
+#      That is intended.
+#
+#   5. The artifact-name filter (`pr-comment`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-comment` is trusted to have written the
+#      manifest and body itself, NOT copied fork-controlled content into
+#      them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND uses
+#      sparse-checkout to materialize ONLY Tools/ci/pr-comment-poster.py and
+#      its stdlib-only helper module Tools/ci/_github_helpers.py. The rest of
+#      the repo never touches the workspace. This is safe: the only files the
+#      job executes are base-repo Python scripts that were reviewed through
+#      normal code review, never anything from the PR.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-comment` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number": 12345,                                      // required, int > 0
+#       "marker": "<!-- pr-comment-poster:flash-analysis -->",   // required, printable ASCII
+#       "mode": "upsert"                                         // optional, default "upsert"
+#     }
+#
+#   body.md: the markdown content of the comment. Posted verbatim.
+#
+# The `marker` string is used to find an existing comment to update. It MUST
+# be unique per producer (e.g. include the producer name). If no existing
+# comment contains the marker, a new one is created. If the marker is found
+# in an existing comment, that comment is edited in place.
+#
+# Producers MUST write `pr_number` from their own workflow context
+# (`github.event.pull_request.number`) and MUST NOT read it from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-comment` artifact. When a new producer
+    # is wired up, add its workflow name here. Runs of workflows not in this
+    # list will never trigger the poster. Every run of a listed workflow will
+    # trigger the poster, which will no-op if no `pr-comment` artifact exists.
+    workflows:
+      - "FLASH usage analysis"
+      - "Docs - Orchestrator"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Comment
+    runs-on: ubuntu-latest
+    # Only run for pull_request producer runs. Push-to-main and other
+    # non-PR triggers would have no comment to post, and silently no-oping
+    # inside the script made it look like the poster was broken. Gating at
+    # the job level surfaces those as a clean "Skipped" in the UI instead.
+    if: >-
+      github.event.workflow_run.conclusion != 'cancelled'
+      && github.event.workflow_run.event == 'pull_request'
+    steps:
+      # Checkout runs first so the poster script is available AND so that
+      # actions/checkout@v6's default clean step does not delete the artifact
+      # zip that the next step writes into the workspace. Sparse-checkout
+      # restricts the materialized tree to just the poster script.
+      - name: Checkout poster script only
+        uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-comment-poster.py
+            Tools/ci/_github_helpers.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-comment artifact
+        id: download
+        uses: actions/github-script@v8
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-comment');
+            if (!match) {
+              core.info('No pr-comment artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-comment.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-comment
+          unzip -q pr-comment.zip -d pr-comment
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-comment-poster.py validate pr-comment
+
+      - name: Upsert sticky comment
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-comment-poster.py post pr-comment
@@ -0,0 +1,177 @@
+name: PR Review Poster
+
+# Generic PR review-comment poster. Sibling of "PR Comment Poster": that
+# workflow posts sticky issue-style comments, this one posts line-anchored
+# review comments on the "Files changed" tab. Any analysis workflow that
+# wants to flag specific lines can produce a `pr-review` artifact and this
+# workflow will dismiss any stale matching review and post a fresh one.
+# Designed so analysis jobs running on untrusted fork PRs can still get
+# their inline annotations posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and
+#      `comments.json`, and both are treated as opaque data (JSON parsed by
+#      the poster script and the comment fields posted via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use.
+#      `commit_sha` is validated to be 40 lowercase hex characters.
+#      `event` is validated against an allowlist of `COMMENT` and
+#      `REQUEST_CHANGES`. `APPROVE` is intentionally forbidden so a bot
+#      cannot approve a pull request. Validation happens inside
+#      Tools/ci/pr-review-poster.py which is checked out from the base
+#      branch, not from the artifact.
+#
+#   3. Comment bodies and the optional summary are passed to the GitHub API
+#      as JSON fields, never interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-review`
+#      artifact. That is intended.
+#
+#   5. The artifact-name filter (`pr-review`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-review` is trusted to have written the
+#      manifest and comments itself, NOT copied fork-controlled content
+#      into them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND
+#      uses sparse-checkout to materialize ONLY
+#      Tools/ci/pr-review-poster.py and its stdlib-only helper module
+#      Tools/ci/_github_helpers.py. The rest of the repo never touches the
+#      workspace. This is safe: the only files the job executes are
+#      base-repo Python scripts that were reviewed through normal code
+#      review, never anything from the PR.
+#
+#   7. Stale-review dismissal is restricted to reviews whose AUTHOR is
+#      `github-actions[bot]` AND whose body contains the producer's
+#      marker. A fork PR cannot impersonate the bot login, and cannot
+#      inject the marker into a human reviewer's body without API
+#      access. Both filters together prevent the poster from ever
+#      dismissing a human review.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-review` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number":  12345,                                      // required, int > 0
+#       "marker":     "<!-- pr-review-poster:clang-tidy -->",     // required, printable ASCII
+#       "event":      "REQUEST_CHANGES",                          // required, "COMMENT" | "REQUEST_CHANGES"
+#       "commit_sha": "0123456789abcdef0123456789abcdef01234567", // required, 40 hex chars
+#       "summary":    "Optional review summary text"              // optional
+#     }
+#
+#   comments.json: JSON array of line-anchored review comment objects:
+#     [
+#       {"path": "src/foo.cpp", "line": 42, "side": "RIGHT", "body": "..."},
+#       {"path": "src/bar.hpp", "start_line": 10, "line": 15,
+#        "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
+#     ]
+#
+# The `marker` string is used to find an existing matching review to
+# dismiss before posting a new one. It MUST be unique per producer (e.g.
+# include the producer name).
+#
+# Producers MUST write `pr_number` and `commit_sha` from their own
+# workflow context (`github.event.pull_request.number` and
+# `github.event.pull_request.head.sha`) and MUST NOT read either from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-review` artifact. When a new
+    # producer is wired up, add its workflow name here. Runs of workflows
+    # not in this list will never trigger the poster. Every run of a
+    # listed workflow will trigger the poster, which will no-op if no
+    # `pr-review` artifact exists.
+    workflows:
+      - "Static Analysis"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Review
+    runs-on: ubuntu-latest
+    # Only run for pull_request producer runs. Push-to-main and other
+    # non-PR triggers have no review to post, so gating at the job level
+    # surfaces those as a clean "Skipped" in the UI instead of a
+    # silent no-op buried inside the script.
+    if: >-
+      github.event.workflow_run.conclusion != 'cancelled'
+      && github.event.workflow_run.event == 'pull_request'
+    steps:
+      # Checkout runs first so the poster scripts are available AND so
+      # that actions/checkout@v6's default clean step does not delete the
+      # artifact zip that the next step writes into the workspace.
+      # Sparse-checkout restricts the materialized tree to just the
+      # poster script and its stdlib helper module.
+      - name: Checkout poster script only
+        uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-review-poster.py
+            Tools/ci/_github_helpers.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-review artifact
+        id: download
+        uses: actions/github-script@v8
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-review');
+            if (!match) {
+              core.info('No pr-review artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-review.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-review
+          unzip -q pr-review.zip -d pr-review
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-review-poster.py validate pr-review
+
+      - name: Post PR review
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-review-poster.py post pr-review
@@ -14,20 +14,24 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-24.04
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
    steps:
+    - uses: runs-on/action@v2
+
    - uses: actions/checkout@v4
      with:
-        fetch-depth: 0
+        fetch-depth: 1

-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Setup Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: "3.10"

    - name: Install tools
-      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+      run: pip install mypy types-requests flake8

    - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+      run: mypy --strict test/mavsdk_tests/*.py

    - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
+      run: flake8 test/mavsdk_tests/*.py
@@ -23,14 +23,18 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: px4io/px4-dev-ros2-galactic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    env:
+      PX4_SBOM_DISABLE: 1
    steps:
+    - uses: runs-on/action@v2
+
    - uses: actions/checkout@v4
      with:
-        fetch-depth: 0
+        fetch-depth: 1

    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'
@@ -45,30 +49,21 @@ jobs:
      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

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-ros-integration
+        max-size: 400M
+
+    - name: Cache - Restore Micro-XRCE-DDS Agent
+      id: cache-xrce-agent
      uses: actions/cache@v4
      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+        path: /opt/Micro-XRCE-DDS-Agent
+        key: xrce-agent-v2.2.1-fastdds-2.8.2-galactic-2021-09-08

-    - name: Get and build micro-xrce-dds-agent
+    - name: Build - Micro-XRCE-DDS Agent (v2.2.1)
+      if: steps.cache-xrce-agent.outputs.cache-hit != 'true'
      run: |
        cd /opt
        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
@@ -79,10 +74,18 @@ jobs:
        cd build
        cmake ..
        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s

-    - name: Get and build the ros2 interface library
+    - name: Cache - Restore PX4 ROS 2 Interface Library Workspace
+      id: cache-px4-ros2-ws
+      uses: actions/cache@v4
+      with:
+        path: /opt/px4_ws
+        # Bump 'v1' when the cached workspace layout changes in a way
+        # that is not captured by the message/service hash below.
+        key: px4-ros2-ws-v1-galactic-2021-09-08-${{ hashFiles('msg/*.msg', 'msg/versioned/*.msg', 'srv/*.srv') }}
+
+    - name: Build - PX4 ROS 2 Interface Library
+      if: steps.cache-px4-ros2-ws.outputs.cache-hit != 'true'
      shell: bash
      run: |
        PX4_DIR="$(pwd)"
@@ -108,19 +111,8 @@ jobs:
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
        rm -rf src/translation_node src/px4_msgs_old
        colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s

-    - name: Build PX4
-      env:
-        PX4_SBOM_DISABLE: 1
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
+    - uses: ./.github/actions/build-gazebo-sitl

    - name: Core dump settings
      run: |
@@ -135,6 +127,11 @@ jobs:
        test/ros_test_runner.py --verbose --model iris --force-color
      timeout-minutes: 45

+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
    - name: Upload failed logs
      if: failure()
      uses: actions/upload-artifact@v4
@@ -10,6 +10,9 @@ on:
      - '**'
    paths-ignore:
      - 'docs/**'
+permissions:
+  contents: read
+
 defaults:
  run:
    shell: bash
@@ -20,8 +23,8 @@ concurrency:

 jobs:
  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    name: Build and test [${{ matrix.config.ros_version }}]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    strategy:
      fail-fast: false
      matrix:
@@ -29,33 +32,45 @@ jobs:
          - {ros_version: "humble", ubuntu: "jammy"}
          - {ros_version: "jazzy", ubuntu: "noble"}
    container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+      image: ros:${{ matrix.config.ros_version }}-ros-base-${{ matrix.config.ubuntu }}
    steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+
+      - uses: actions/checkout@v4
        with:
          fetch-depth: 0

-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
+      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ros-translation-${{ matrix.config.ros_version }}
+          max-size: 150M
+          base-dir: /ros_ws
+          install-ccache: 'true'
+
      - name: Check .msg file versioning
        if: github.event_name == 'pull_request'
        run: |
          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}

-      - name: Build and test
+      - name: Build - Translation Node
        run: |
          ros_ws=/ros_ws
          mkdir -p $ros_ws/src
          ./Tools/copy_to_ros_ws.sh $ros_ws
          cd $ros_ws
          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_COMPILER_LAUNCHER=ccache --symlink-install --event-handlers=console_cohesion+
+
+      - name: Test - Translation Node Unit Tests
+        run: |
+          source /ros_ws/install/setup.sh
+          /ros_ws/build/translation_node/translation_node_unit_tests
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -24,7 +24,7 @@ concurrency:
 jobs:
  build:
    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -37,53 +37,27 @@ jobs:
          # transitions). Re-enable once the test infrastructure is stabilized.
          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+    env:
+      PX4_CMAKE_BUILD_TYPE: ${{ matrix.config.build_type }}
+      PX4_SBOM_DISABLE: 1

    steps:
+      - uses: runs-on/action@v2
+
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 0
+          fetch-depth: 1

      - name: Git Ownership Workaround
        run: git config --system --add safe.directory '*'

-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - name: Cache Key Config
-        uses: actions/cache@v4
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          cache-key-prefix: ccache-sitl-gazebo-classic
+          max-size: 350M

-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          PX4_SBOM_DISABLE: 1
-        run: make px4_sitl_default
-
-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
-
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
-
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
+      - uses: ./.github/actions/build-gazebo-sitl

      - name: Download MAVSDK
        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
@@ -96,19 +70,19 @@ jobs:
          PX4_HOME_LAT: ${{matrix.config.latitude}}
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        run: |
            export
            ulimit -a

      - name: Build PX4 / MAVSDK tests
        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
          DONT_RUN: 1
        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests

-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

      - name: Core Dump Settings
        run: |
@@ -120,7 +94,6 @@ jobs:
          PX4_HOME_LAT: ${{matrix.config.latitude}}
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
        timeout-minutes: 45

@@ -2,6 +2,7 @@ name: 'Handle stale issues and PRs'
 on:
  schedule:
    - cron: '30 1 * * *'
+  workflow_dispatch:

 jobs:
  stale:
@@ -9,7 +10,7 @@ jobs:
    steps:
      - uses: actions/stale@v10
        with:
-          operations-per-run: 250
+          operations-per-run: 1500
          days-before-stale: 90
          days-before-close: 30
          stale-issue-label: 'stale'
@@ -229,6 +229,28 @@ endif()
 #
 project(px4 CXX C ASM)

+# Silence Apple ranlib "has no symbols" warnings. Several PX4 sources are
+# wrapped in #if defined(CONFIG_*) guards (e.g. platforms/common/i2c.cpp,
+# spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and some
+# libraries carry a dummy.cpp placeholder, all of which legitimately produce
+# empty object files on POSIX/SITL. GNU ranlib ignores this; Apple's warns.
+#
+# The warning is actually emitted by `ar qc` (which implicitly builds a symbol
+# table), not by the standalone ranlib call. So we use `ar qcS` to skip the
+# implicit symbol table, then let CMAKE_*_ARCHIVE_FINISH run ranlib with the
+# -no_warning_for_no_symbols flag to add it quietly.
+if(APPLE)
+	set(CMAKE_C_ARCHIVE_CREATE    "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_APPEND    "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_FINISH    "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_CXX_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_ASM_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -31,7 +31,7 @@ Reviewers help maintain PX4 across the project without ownership of a specific c

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| _No reviewers yet._ | | |
+| Onur Ozkan | [@onur-ozkan](https://github.com/onur-ozkan) | onur_ozkan0126 | <onur@orkavian.com>


 **Documentation Maintainers**
@@ -70,7 +70,17 @@ PX4 is an open-source autopilot stack for drones and unmanned vehicles. It suppo

 <sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>

-## Quick Start
+## Try PX4
+
+Run PX4 in simulation with a single command. No build tools, no dependencies beyond Docker:
+
+```bash
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest
+```
+
+Open [QGroundControl](https://qgroundcontrol.com) and fly. See [PX4 Simulation Quickstart](../dev_setup/px4_simulation_quickstart.md) for more options.
+
+## Build from Source

 ```bash
 git clone https://github.com/PX4/PX4-Autopilot.git --recursive
@@ -193,6 +193,7 @@ endif()
 # board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
+	rc.board_early
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
@@ -31,11 +31,20 @@ set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
+set STORAGE_CHECK yes
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

+# Fine-grained feature gates.
+set USE_HARDFAULT_LOG no
+set USE_EXTERNAL_AIRFRAMES no
+set USE_PARAM_BACKUPS no
+set USE_PARAM_IMPORT_DEBUG no
+set USE_TASK_WATCHDOG no
+set USE_ALT_UPDATE_DIRS no
+
 # 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.
@@ -48,53 +57,81 @@ set PARAM_DEFAULTS_VER 1
 ver all

 #
-# Try to mount the microSD card.
+# Optional early board init: rc.board_early
+# Can be used for setting env vars for rcS.
 #
-if [ -b "/dev/mmcsd0" ]
+set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
+if [ -f $BOARD_RC_EARLY ]
 then
-	if mount -t vfat /dev/mmcsd0 /fs/microsd
-	then
-		if [ -f "/fs/microsd/.format" ]
-		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-			set SDCARD_FORMAT yes
-			rm /fs/microsd/.format
-			umount /fs/microsd
+	. $BOARD_RC_EARLY
+fi
+unset BOARD_RC_EARLY

-		else
+#
+# Try to mount/check storage (rc.board_early can disable this).
+#
+if [ $STORAGE_CHECK = yes ]
+then
+	#
+	# Try to mount the microSD card.
+	#
+	if [ -b "/dev/mmcsd0" ]
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			if [ -f "/fs/microsd/.format" ]
+			then
+				echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+				set SDCARD_FORMAT yes
+				rm /fs/microsd/.format
+				umount /fs/microsd
+
+			else
+				set STORAGE_AVAILABLE yes
+			fi
+		fi
+
+		if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+		then
+			echo "INFO [init] formatting /dev/mmcsd0"
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+			if mkfatfs -F 32 /dev/mmcsd0
+			then
+				echo "INFO [init] card formatted"
+
+				if mount -t vfat /dev/mmcsd0 /fs/microsd
+				then
+					set STORAGE_AVAILABLE yes
+					set STARTUP_TUNE 14 # tune 14 = SD_INIT
+				else
+					echo "ERROR [init] card mount failed"
+				fi
+			else
+				echo "ERROR [init] format failed"
+			fi
+		fi
+	else
+		# Is there a device mounted for storage
+		if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+		then
 			set STORAGE_AVAILABLE yes
 		fi
 	fi
-
-	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
-	then
-		echo "INFO [init] formatting /dev/mmcsd0"
-		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
-
-		if mkfatfs -F 32 /dev/mmcsd0
-		then
-			echo "INFO [init] card formatted"
-
-			if mount -t vfat /dev/mmcsd0 /fs/microsd
-			then
-				set STORAGE_AVAILABLE yes
-				set STARTUP_TUNE 14 # tune 14 = SD_INIT
-			else
-				echo "ERROR [init] card mount failed"
-			fi
-		else
-			echo "ERROR [init] format failed"
-		fi
-	fi
-else
-	# Is there a device mounted for storage
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-	then
-		set STORAGE_AVAILABLE yes
-	fi
 fi

 if [ $STORAGE_AVAILABLE = yes ]
+then
+	set USE_HARDFAULT_LOG yes
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_PARAM_BACKUPS yes
+	set USE_PARAM_IMPORT_DEBUG yes
+	set USE_ALT_UPDATE_DIRS yes
+	set PARAM_FILE /fs/microsd/params
+	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
+fi
+
+if [ $USE_HARDFAULT_LOG = yes ]
 then
 	if hardfault_log check
 	then
@@ -104,7 +141,15 @@ then
 			hardfault_log reset
 		fi
 	fi
+fi

+if [ $USE_TASK_WATCHDOG = yes ]
+then
+	task_watchdog start
+fi
+
+if [ $USE_ALT_UPDATE_DIRS = yes ]
+then
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -112,9 +157,6 @@ then
 		rm -r $SDCARD_EXT_PATH
 		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
 	fi
-
-	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -155,8 +197,11 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				# save copy of the failed param file for debugging
+				cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			fi

 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
@@ -174,11 +219,14 @@ else

 			param status

-			dmesg >> /fs/microsd/param_import_fail.txt &
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				dmesg >> /fs/microsd/param_import_fail.txt &
+			fi
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = yes ]
+	if [ $USE_PARAM_BACKUPS = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -234,12 +282,12 @@ else

 	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# Run external airframe script on SD card or EEPROM-backed storage
+		if [ $USE_EXTERNAL_AIRFRAMES = yes ]
 		then
 			. ${R}etc/init.d/rc.autostart_ext
 		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			echo "ERROR [init] no external airframe storage, skipping"
 		fi
 	fi

@@ -679,9 +727,16 @@ unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
+unset STORAGE_CHECK
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
+unset USE_HARDFAULT_LOG
+unset USE_EXTERNAL_AIRFRAMES
+unset USE_PARAM_BACKUPS
+unset USE_PARAM_IMPORT_DEBUG
+unset USE_TASK_WATCHDOG
+unset USE_ALT_UPDATE_DIRS
 unset VEHICLE_TYPE

 #
@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+"""
+Shared GitHub REST helpers for PX4 CI scripts.
+
+This module is imported by the PR poster scripts under Tools/ci/. It is
+NOT an executable entry point; do not run it directly.
+
+Provides:
+  - fail(msg)              terminates the caller with a clear error
+  - GitHubClient(token)    thin stdlib-only GitHub REST client with
+                           single-request and paginated helpers
+
+Python stdlib only. No third-party dependencies.
+
+History: extracted from Tools/ci/pr-comment-poster.py so that
+pr-comment-poster.py and pr-review-poster.py share the same HTTP plumbing
+without duplicating ~100 lines of request/pagination/error-handling code.
+"""
+
+import json
+import sys
+import typing
+import urllib.error
+import urllib.request
+
+
+GITHUB_API = 'https://api.github.com'
+DEFAULT_USER_AGENT = 'px4-ci'
+API_VERSION = '2022-11-28'
+
+
+def fail(msg: str) -> typing.NoReturn:
+    """Print an error to stderr and exit with status 1.
+
+    Annotated NoReturn so static checkers understand control does not
+    continue past a fail() call.
+    """
+    print('error: {}'.format(msg), file=sys.stderr)
+    sys.exit(1)
+
+
+def _parse_next_link(link_header):
+    """Return the URL for rel="next" from an RFC 5988 Link header, or None.
+
+    The Link header is comma-separated entries of the form:
+      <https://...?page=2>; rel="next", <https://...?page=5>; rel="last"
+    We walk each entry and return the URL of the one whose rel attribute is
+    "next". Accept single-quoted rel values for robustness even though
+    GitHub always emits double quotes.
+    """
+    if not link_header:
+        return None
+    for part in link_header.split(','):
+        segs = part.strip().split(';')
+        if len(segs) < 2:
+            continue
+        url_seg = segs[0].strip()
+        if not (url_seg.startswith('<') and url_seg.endswith('>')):
+            continue
+        url = url_seg[1:-1]
+        for attr in segs[1:]:
+            attr = attr.strip()
+            if attr == 'rel="next"' or attr == "rel='next'":
+                return url
+    return None
+
+
+class GitHubClient:
+    """Minimal GitHub REST client backed by the Python stdlib.
+
+    Each instance holds a token and a user-agent so callers do not have to
+    thread them through every call. Methods return parsed JSON (or None for
+    empty responses) and raise RuntimeError with the server response body on
+    HTTP errors, so CI logs show what the API actually objected to.
+
+    Usage:
+        client = GitHubClient(token, user_agent='px4-pr-comment-poster')
+        body, headers = client.request('GET', 'repos/{o}/{r}/pulls/123')
+        for item in client.paginated('repos/{o}/{r}/pulls/123/reviews'):
+            ...
+    """
+
+    def __init__(self, token, user_agent=DEFAULT_USER_AGENT):
+        if not token:
+            raise ValueError('GitHub token is required')
+        self._token = token
+        self._user_agent = user_agent
+
+    def request(self, method, path_or_url, json_body=None):
+        """GET/POST/PATCH/PUT/DELETE a single API path or absolute URL.
+
+        `path_or_url` may be either a relative API path (e.g.
+        "repos/PX4/PX4-Autopilot/pulls/123") or an absolute URL such as the
+        next-page URL returned from paginated results. Relative paths are
+        prefixed with the GitHub API base.
+
+        Returns (parsed_json_or_none, headers_dict). Raises RuntimeError
+        on HTTP or transport errors.
+        """
+        url = self._resolve(path_or_url)
+        return self._do_request(method, url, json_body)
+
+    def paginated(self, path, per_page=100):
+        """GET a path and follow rel="next" Link headers.
+
+        Yields items from each page's JSON array. Bumps per_page to 100
+        (GitHub's max) so large result sets take fewer round-trips.
+        Raises RuntimeError if any page response is not a JSON array.
+        """
+        url = self._resolve(path)
+        sep = '&' if '?' in url else '?'
+        url = '{}{}per_page={}'.format(url, sep, per_page)
+        while url is not None:
+            body, headers = self._do_request('GET', url, None)
+            if body is None:
+                return
+            if not isinstance(body, list):
+                raise RuntimeError(
+                    'expected JSON array from {}, got {}'.format(
+                        url, type(body).__name__))
+            for item in body:
+                yield item
+            url = _parse_next_link(headers.get('Link'))
+
+    def _resolve(self, path_or_url):
+        if path_or_url.startswith('http://') or path_or_url.startswith('https://'):
+            return path_or_url
+        return '{}/{}'.format(GITHUB_API.rstrip('/'), path_or_url.lstrip('/'))
+
+    def _do_request(self, method, url, json_body):
+        data = None
+        headers = {
+            'Authorization': 'Bearer {}'.format(self._token),
+            'Accept': 'application/vnd.github+json',
+            # Pin the API version so GitHub deprecations don't silently
+            # change the response shape under us.
+            'X-GitHub-Api-Version': API_VERSION,
+            'User-Agent': self._user_agent,
+        }
+        if json_body is not None:
+            data = json.dumps(json_body).encode('utf-8')
+            headers['Content-Type'] = 'application/json; charset=utf-8'
+
+        req = urllib.request.Request(
+            url, data=data, method=method, headers=headers)
+        try:
+            with urllib.request.urlopen(req) as resp:
+                raw = resp.read()
+                # HTTPMessage is case-insensitive on lookup but its items()
+                # preserves the original case. GitHub sends "Link" with a
+                # capital L, which is what _parse_next_link expects.
+                resp_headers = dict(resp.headers.items())
+                if not raw:
+                    return None, resp_headers
+                return json.loads(raw.decode('utf-8')), resp_headers
+        except urllib.error.HTTPError as e:
+            # GitHub error bodies are JSON with a "message" field and often
+            # a "documentation_url". Dump the raw body into the exception so
+            # the CI log shows exactly what the API objected to. A bare
+            # "HTTP 422" tells us nothing useful.
+            try:
+                err_body = e.read().decode('utf-8', errors='replace')
+            except Exception:
+                err_body = '(no body)'
+            raise RuntimeError(
+                'GitHub API {} {} failed: HTTP {} {}\n{}'.format(
+                    method, url, e.code, e.reason, err_body))
+        except urllib.error.URLError as e:
+            # Network layer failure (DNS, TLS, connection reset). No HTTP
+            # response to parse; just surface the transport reason.
+            raise RuntimeError(
+                'GitHub API {} {} failed: {}'.format(method, url, e.reason))
@@ -0,0 +1,539 @@
+#!/usr/bin/env python3
+#
+# clang-tidy-fixes-to-review.py
+#
+# Producer-side helper that converts a clang-tidy fixes.yml file into a
+# pr-review artifact (manifest.json + comments.json) suitable for
+# Tools/ci/pr-review-poster.py.
+#
+# This script runs inside the clang-tidy job's px4-dev container so it can
+# read the source tree directly and look up byte offsets in the original
+# files. The output it writes is a fully-baked array of review comments;
+# the poster never reads source files or fixes.yml.
+#
+# ----------------------------------------------------------------------------
+# ATTRIBUTION
+# ----------------------------------------------------------------------------
+# This script reuses the diagnostic-to-review-comment translation logic
+# from platisd/clang-tidy-pr-comments. The original work is:
+#
+#   MIT License
+#
+#   Copyright (c) 2021 Dimitris Platis
+#
+#   Permission is hereby granted, free of charge, to any person obtaining a
+#   copy of this software and associated documentation files (the
+#   "Software"), to deal in the Software without restriction, including
+#   without limitation the rights to use, copy, modify, merge, publish,
+#   distribute, sublicense, and/or sell copies of the Software, and to
+#   permit persons to whom the Software is furnished to do so, subject to
+#   the following conditions:
+#
+#   The above copyright notice and this permission notice shall be included
+#   in all copies or substantial portions of the Software.
+#
+#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+#   OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+#   MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+#   IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+#   CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+#   TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+#   SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# Adapted parts:
+#   - get_diff_line_ranges_per_file() and its inner change_to_line_range()
+#   - generate_review_comments() and its nested helpers
+#       (get_line_by_offset, validate_warning_applicability,
+#        calculate_replacements_diff, markdown, markdown_url,
+#        diagnostic_name_visual, generate_single_comment)
+#   - reorder_diagnostics()
+#
+# Removed parts (handled by Tools/ci/pr-review-poster.py instead):
+#   - post_review_comments / dismiss_change_requests / resolve_conversations
+#   - the original argparse main and the requests-based HTTP layer
+#
+# Adaptation notes:
+#   - The HTTP layer is rewritten on top of Tools/ci/_github_helpers.py so
+#     this script does not depend on the third-party `requests` package.
+#   - Conversation resolution (the GraphQL path) is intentionally dropped
+#     for v1; revisit if it turns out to be missed.
+#   - Clang-Tidy 8 upconvert is preserved verbatim.
+#
+# ----------------------------------------------------------------------------
+# Bounded assumptions (documented for future maintainers):
+#   - Source files are UTF-8 (we read them as latin_1, matching clang-tidy's
+#     own byte-offset model, and the offsets we surface are line counts)
+#   - Source files use LF line endings
+#   - Malformed entries in fixes.yml are skipped with a warning rather than
+#     crashing the job
+#
+# Dependencies: pyyaml + Tools/ci/_github_helpers.py.
+# pyyaml is preinstalled in the px4-dev container; this script is intended
+# to run there, not on bare ubuntu-latest.
+"""Convert a clang-tidy fixes.yml into a pr-review artifact."""
+
+import argparse
+import difflib
+import json
+import os
+import posixpath
+import re
+import sys
+import urllib.parse
+
+import yaml
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+# Markers used inside the per-comment body to call out severity. Plain
+# strings rather than emojis to keep the file emoji-free per project
+# preferences; the rendered Markdown is unaffected.
+SINGLE_COMMENT_MARKERS = {
+    'Error': '**[error]**',
+    'Warning': '**[warning]**',
+    'Remark': '**[remark]**',
+    'fallback': '**[note]**',
+}
+
+
+# ---------------------------------------------------------------------------
+# Diff-range parsing (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def get_diff_line_ranges_per_file(pr_files):
+    """Return a dict mapping each PR file path to a list of line ranges
+    (the +new-side hunks) parsed from its patch."""
+
+    def change_to_line_range(change):
+        split_change = change.split(',')
+        start = int(split_change[0])
+        size = int(split_change[1]) if len(split_change) > 1 else 1
+        return range(start, start + size)
+
+    result = {}
+    for pr_file in pr_files:
+        # Removed binary files etc. have no patch section.
+        if 'patch' not in pr_file:
+            continue
+        file_name = pr_file['filename']
+        # Match lines like '@@ -101,8 +102,11 @@'
+        git_line_tags = re.findall(
+            r'^@@ -.*? +.*? @@', pr_file['patch'], re.MULTILINE)
+        changes = [
+            tag.replace('@@', '').strip().split()[1].replace('+', '')
+            for tag in git_line_tags
+        ]
+        result[file_name] = [
+            change_to_line_range(change) for change in changes
+        ]
+    return result
+
+
+def fetch_pull_request_files(client, repo, pr_number):
+    """Yield file metadata objects for each file modified by the PR."""
+    path = 'repos/{}/pulls/{}/files'.format(repo, pr_number)
+    for entry in client.paginated(path):
+        yield entry
+
+
+# ---------------------------------------------------------------------------
+# Diagnostic ordering (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def reorder_diagnostics(diags):
+    """Return diagnostics ordered Error -> Warning -> Remark -> other."""
+    errors = [d for d in diags if d.get('Level') == 'Error']
+    warnings = [d for d in diags if d.get('Level') == 'Warning']
+    remarks = [d for d in diags if d.get('Level') == 'Remark']
+    others = [
+        d for d in diags
+        if d.get('Level') not in {'Error', 'Warning', 'Remark'}
+    ]
+    if others:
+        print(
+            'warning: some fixes have an unexpected Level (not Error, '
+            'Warning, or Remark)', file=sys.stderr)
+    return errors + warnings + remarks + others
+
+
+# ---------------------------------------------------------------------------
+# Comment generation (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def generate_review_comments(clang_tidy_fixes, repository_root,
+                              diff_line_ranges_per_file,
+                              single_comment_markers):
+    """Yield review comment dicts for each clang-tidy diagnostic that
+    intersects the PR diff."""
+
+    def get_line_by_offset(file_path, offset):
+        # Clang-Tidy doesn't support multibyte encodings and measures
+        # offsets in bytes; latin_1 makes byte offsets and string offsets
+        # equivalent.
+        with open(repository_root + file_path, encoding='latin_1') as fh:
+            source = fh.read()
+        return source[:offset].count('\n') + 1
+
+    def validate_warning_applicability(file_path, start_line_num, end_line_num):
+        assert end_line_num >= start_line_num
+        for line_range in diff_line_ranges_per_file[file_path]:
+            assert line_range.step == 1
+            if (line_range.start <= start_line_num
+                    and end_line_num < line_range.stop):
+                return True
+        return False
+
+    def calculate_replacements_diff(file_path, replacements):
+        # Apply replacements in reverse order so subsequent offsets do not
+        # shift.
+        replacements.sort(key=lambda item: (-item['Offset']))
+        with open(repository_root + file_path, encoding='latin_1') as fh:
+            source = fh.read()
+        changed = source
+        for replacement in replacements:
+            changed = (
+                changed[:replacement['Offset']]
+                + replacement['ReplacementText']
+                + changed[replacement['Offset'] + replacement['Length']:]
+            )
+        return difflib.Differ().compare(
+            source.splitlines(keepends=True),
+            changed.splitlines(keepends=True),
+        )
+
+    def markdown(s):
+        md_chars = '\\`*_{}[]<>()#+-.!|'
+
+        def escape_chars(s):
+            for ch in md_chars:
+                s = s.replace(ch, '\\' + ch)
+            return s
+
+        def unescape_chars(s):
+            for ch in md_chars:
+                s = s.replace('\\' + ch, ch)
+            return s
+
+        s = escape_chars(s)
+        s = re.sub(
+            "'([^']*)'",
+            lambda m: '`` ' + unescape_chars(m.group(1)) + ' ``',
+            s,
+        )
+        return s
+
+    def markdown_url(label, url):
+        return '[{}]({})'.format(label, url)
+
+    def diagnostic_name_visual(diagnostic_name):
+        visual = '**{}**'.format(markdown(diagnostic_name))
+        try:
+            first_dash_idx = diagnostic_name.index('-')
+        except ValueError:
+            return visual
+        namespace = urllib.parse.quote_plus(diagnostic_name[:first_dash_idx])
+        check_name = urllib.parse.quote_plus(
+            diagnostic_name[first_dash_idx + 1:])
+        return markdown_url(
+            visual,
+            'https://clang.llvm.org/extra/clang-tidy/checks/{}/{}.html'.format(
+                namespace, check_name),
+        )
+
+    def generate_single_comment(file_path, start_line_num, end_line_num,
+                                 name, message, single_comment_marker,
+                                 replacement_text=None):
+        result = {
+            'path': file_path,
+            'line': end_line_num,
+            'side': 'RIGHT',
+            'body': '{} {} {}\n{}'.format(
+                single_comment_marker,
+                diagnostic_name_visual(name),
+                single_comment_marker,
+                markdown(message),
+            ),
+        }
+        if start_line_num != end_line_num:
+            result['start_line'] = start_line_num
+            result['start_side'] = 'RIGHT'
+        if replacement_text is not None:
+            if not replacement_text or replacement_text[-1] != '\n':
+                replacement_text += '\n'
+            result['body'] += '\n```suggestion\n{}```'.format(replacement_text)
+        return result
+
+    for diag in clang_tidy_fixes['Diagnostics']:
+        # Upconvert clang-tidy 8 format to 9+
+        if 'DiagnosticMessage' not in diag:
+            diag['DiagnosticMessage'] = {
+                'FileOffset': diag.get('FileOffset'),
+                'FilePath': diag.get('FilePath'),
+                'Message': diag.get('Message'),
+                'Replacements': diag.get('Replacements', []),
+            }
+
+        diag_message = diag['DiagnosticMessage']
+        diag_message['FilePath'] = posixpath.normpath(
+            (diag_message.get('FilePath') or '').replace(repository_root, ''))
+        for replacement in diag_message.get('Replacements') or []:
+            replacement['FilePath'] = posixpath.normpath(
+                replacement['FilePath'].replace(repository_root, ''))
+
+        diag_name = diag.get('DiagnosticName', '<unknown>')
+        diag_message_msg = diag_message.get('Message', '')
+        level = diag.get('Level', 'Warning')
+        single_comment_marker = single_comment_markers.get(
+            level, single_comment_markers['fallback'])
+
+        replacements = diag_message.get('Replacements') or []
+        if not replacements:
+            file_path = diag_message['FilePath']
+            offset = diag_message.get('FileOffset')
+            if offset is None:
+                print('warning: skipping {!r}: missing FileOffset'.format(
+                    diag_name), file=sys.stderr)
+                continue
+            if file_path not in diff_line_ranges_per_file:
+                print(
+                    "'{}' for {} does not apply to the files changed in "
+                    'this PR'.format(diag_name, file_path))
+                continue
+            try:
+                line_num = get_line_by_offset(file_path, offset)
+            except (OSError, ValueError) as e:
+                print('warning: skipping {!r} on {}: {}'.format(
+                    diag_name, file_path, e), file=sys.stderr)
+                continue
+
+            print("Processing '{}' at line {} of {}...".format(
+                diag_name, line_num, file_path))
+            if validate_warning_applicability(file_path, line_num, line_num):
+                yield generate_single_comment(
+                    file_path,
+                    line_num,
+                    line_num,
+                    diag_name,
+                    diag_message_msg,
+                    single_comment_marker=single_comment_marker,
+                )
+            else:
+                print('This warning does not apply to the lines changed '
+                      'in this PR')
+        else:
+            for file_path in {item['FilePath'] for item in replacements}:
+                if file_path not in diff_line_ranges_per_file:
+                    print(
+                        "'{}' for {} does not apply to the files changed "
+                        'in this PR'.format(diag_name, file_path))
+                    continue
+
+                line_num = 1
+                start_line_num = None
+                end_line_num = None
+                replacement_text = None
+
+                try:
+                    diff_iter = calculate_replacements_diff(
+                        file_path,
+                        [r for r in replacements if r['FilePath'] == file_path],
+                    )
+                except (OSError, ValueError) as e:
+                    print('warning: skipping {!r} on {}: {}'.format(
+                        diag_name, file_path, e), file=sys.stderr)
+                    continue
+
+                for line in diff_iter:
+                    # Comment line, ignore.
+                    if line.startswith('? '):
+                        continue
+                    # A '-' line is the start or continuation of a region
+                    # to replace.
+                    if line.startswith('- '):
+                        if start_line_num is None:
+                            start_line_num = line_num
+                            end_line_num = line_num
+                        else:
+                            end_line_num = line_num
+                        if replacement_text is None:
+                            replacement_text = ''
+                        line_num += 1
+                    # A '+' line is part of the replacement text.
+                    elif line.startswith('+ '):
+                        if replacement_text is None:
+                            replacement_text = line[2:]
+                        else:
+                            replacement_text += line[2:]
+                    # A context line marks the end of a replacement region.
+                    elif line.startswith('  '):
+                        if replacement_text is not None:
+                            if start_line_num is None:
+                                # Pure addition: synthesize a one-line
+                                # range and append the context line to
+                                # the replacement.
+                                start_line_num = line_num
+                                end_line_num = line_num
+                                replacement_text += line[2:]
+
+                            print("Processing '{}' at lines {}-{} of {}...".format(
+                                diag_name, start_line_num, end_line_num, file_path))
+
+                            if validate_warning_applicability(
+                                    file_path, start_line_num, end_line_num):
+                                yield generate_single_comment(
+                                    file_path,
+                                    start_line_num,
+                                    end_line_num,
+                                    diag_name,
+                                    diag_message_msg,
+                                    single_comment_marker=single_comment_marker,
+                                    replacement_text=replacement_text,
+                                )
+                            else:
+                                print(
+                                    'This warning does not apply to the '
+                                    'lines changed in this PR')
+
+                            start_line_num = None
+                            end_line_num = None
+                            replacement_text = None
+
+                        line_num += 1
+                    else:
+                        # Unknown difflib prefix; skip rather than abort.
+                        print('warning: unexpected diff prefix {!r}; '
+                              'skipping diagnostic'.format(line[:2]),
+                              file=sys.stderr)
+                        break
+
+                # End of file with a pending replacement region.
+                if replacement_text is not None and start_line_num is not None:
+                    print("Processing '{}' at lines {}-{} of {}...".format(
+                        diag_name, start_line_num, end_line_num, file_path))
+                    if validate_warning_applicability(
+                            file_path, start_line_num, end_line_num):
+                        yield generate_single_comment(
+                            file_path,
+                            start_line_num,
+                            end_line_num,
+                            diag_name,
+                            diag_message_msg,
+                            single_comment_marker=single_comment_marker,
+                            replacement_text=replacement_text,
+                        )
+                    else:
+                        print('This warning does not apply to the lines '
+                              'changed in this PR')
+
+
+# ---------------------------------------------------------------------------
+# Entry point
+# ---------------------------------------------------------------------------
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Convert a clang-tidy fixes.yml into a pr-review '
+                    'artifact (manifest.json + comments.json).',
+    )
+    parser.add_argument('--fixes', required=True,
+                        help='Path to fixes.yml from clang-tidy')
+    parser.add_argument('--repo-root', required=True,
+                        help='Path to the repository root containing the '
+                             'source files referenced by fixes.yml')
+    parser.add_argument('--repo', required=True,
+                        help='owner/name of the repository')
+    parser.add_argument('--pr-number', required=True, type=int,
+                        help='Pull request number')
+    parser.add_argument('--commit-sha', required=True,
+                        help='40-char hex commit SHA the review will pin to')
+    parser.add_argument('--out-dir', required=True,
+                        help='Directory to write manifest.json and '
+                             'comments.json')
+    parser.add_argument(
+        '--marker',
+        default='<!-- pr-review-poster:clang-tidy -->',
+        help='Marker string embedded in the review body so the poster '
+             'can find and dismiss stale runs')
+    parser.add_argument(
+        '--event',
+        default='REQUEST_CHANGES',
+        choices=('COMMENT', 'REQUEST_CHANGES'),
+        help='GitHub review event type')
+    parser.add_argument(
+        '--summary', default='',
+        help='Optional review summary text appended to the review body')
+    args = parser.parse_args(argv)
+
+    if args.pr_number <= 0:
+        _fail('--pr-number must be > 0')
+    if not re.match(r'^[0-9a-f]{40}$', args.commit_sha):
+        _fail('--commit-sha must be a 40-char lowercase hex string')
+
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+
+    # Normalize the repo root with a trailing slash so the platisd-style
+    # str.replace() trick still strips it cleanly.
+    repo_root = args.repo_root
+    if not repo_root.endswith(os.sep):
+        repo_root = repo_root + os.sep
+
+    os.makedirs(args.out_dir, exist_ok=True)
+
+    client = _github_helpers.GitHubClient(token, user_agent='px4-clang-tidy-fixes-to-review')
+
+    print('Fetching PR file list from GitHub...')
+    pr_files = list(fetch_pull_request_files(client, args.repo, args.pr_number))
+    diff_line_ranges_per_file = get_diff_line_ranges_per_file(pr_files)
+
+    print('Loading clang-tidy fixes from {}...'.format(args.fixes))
+    if not os.path.isfile(args.fixes):
+        # No fixes file means clang-tidy ran cleanly. Emit an empty
+        # comments.json so the poster can short-circuit.
+        comments = []
+    else:
+        with open(args.fixes, encoding='utf-8') as fh:
+            clang_tidy_fixes = yaml.safe_load(fh)
+        if (not clang_tidy_fixes
+                or 'Diagnostics' not in clang_tidy_fixes
+                or not clang_tidy_fixes['Diagnostics']):
+            comments = []
+        else:
+            clang_tidy_fixes['Diagnostics'] = reorder_diagnostics(
+                clang_tidy_fixes['Diagnostics'])
+            comments = list(generate_review_comments(
+                clang_tidy_fixes,
+                repo_root,
+                diff_line_ranges_per_file,
+                single_comment_markers=SINGLE_COMMENT_MARKERS,
+            ))
+
+    print('Generated {} review comment(s)'.format(len(comments)))
+
+    manifest = {
+        'pr_number': args.pr_number,
+        'marker': args.marker,
+        'event': args.event,
+        'commit_sha': args.commit_sha,
+    }
+    if args.summary:
+        manifest['summary'] = args.summary
+
+    manifest_path = os.path.join(args.out_dir, 'manifest.json')
+    comments_path = os.path.join(args.out_dir, 'comments.json')
+    with open(manifest_path, 'w', encoding='utf-8') as fh:
+        json.dump(manifest, fh, indent=2)
+        fh.write('\n')
+    with open(comments_path, 'w', encoding='utf-8') as fh:
+        json.dump(comments, fh, indent=2)
+        fh.write('\n')
+
+    print('Wrote {} and {}'.format(manifest_path, comments_path))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,288 @@
+#!/usr/bin/env python3
+"""
+PR comment poster for analysis workflows.
+
+This script is invoked from the `PR Comment Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-comment`
+artifact produced by an upstream analysis job (clang-tidy, flash_analysis,
+etc.) and posts or updates a sticky PR comment via the GitHub REST API.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number": 12345,                                     (required, int > 0)
+      "marker":    "<!-- pr-comment-poster:flash-analysis -->", (required, printable ASCII)
+      "mode":      "upsert"                                    (optional, default "upsert")
+    }
+
+  body.md
+    Markdown comment body, posted verbatim. Must be non-empty and
+    <= 60000 bytes (GitHub's hard limit is 65535, we cap under).
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and body.md are treated as
+opaque data. The marker is validated to printable ASCII only before use.
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest + body.
+  post <dir>       Validate, then upsert a sticky comment on the target PR.
+                   Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import sys
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+# GitHub hard limit is 65535 bytes. Cap well under to leave headroom for
+# the appended marker line and any future wrapping.
+MAX_BODY_BYTES = 60000
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-comment-poster:flash-analysis -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+ACCEPTED_MODES = ('upsert',)
+
+USER_AGENT = 'px4-pr-comment-poster'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _is_printable_ascii(s):
+    # Space (0x20) through tilde (0x7E) inclusive.
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string.
+
+    The marker is printable ASCII only and bounded in length. The original
+    shell implementation also rejected quotes, backticks, and backslashes
+    because the value flowed through jq and shell contexts. Now that Python
+    owns the handling (the value is only ever used as a substring match in
+    comment bodies and as a literal string in JSON request payloads that
+    urllib serialises for us) those characters are safe. We keep the
+    printable-ASCII and length rules as a belt-and-braces sanity check.
+    """
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/body.md.
+
+    Returns a dict with keys: pr_number (int), marker (str), mode (str),
+    body (str, verbatim contents of body.md).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    body_path = os.path.join(directory, 'body.md')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(body_path):
+        _fail('body.md missing at {}'.format(body_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    # bool is a subclass of int in Python, so isinstance(True, int) is True.
+    # Reject bools explicitly so "true"/"false" in the manifest doesn't silently
+    # validate as 1/0 and then either fail upstream or poke the wrong PR.
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    mode = manifest.get('mode', 'upsert')
+    if mode not in ACCEPTED_MODES:
+        _fail('unsupported mode {!r} (accepted: {})'.format(
+            mode, ', '.join(ACCEPTED_MODES)))
+
+    # Read as bytes first so the size check is an honest byte count (matching
+    # GitHub's own 65535-byte comment limit) before we pay the cost of decoding.
+    try:
+        with open(body_path, 'rb') as f:
+            body_bytes = f.read()
+    except OSError as e:
+        _fail('could not read body.md: {}'.format(e))
+
+    if len(body_bytes) == 0:
+        _fail('body.md is empty')
+    if len(body_bytes) > MAX_BODY_BYTES:
+        _fail('body.md too large: {} bytes (max {})'.format(
+            len(body_bytes), MAX_BODY_BYTES))
+
+    # Require UTF-8 up front so a producer that wrote a garbage encoding fails
+    # here rather than later inside json.dumps with a less obvious traceback.
+    try:
+        body = body_bytes.decode('utf-8')
+    except UnicodeDecodeError as e:
+        _fail('body.md is not valid UTF-8: {}'.format(e))
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'mode': mode,
+        'body': body,
+    }
+
+
+# ---------------------------------------------------------------------------
+# Comment upsert
+# ---------------------------------------------------------------------------
+
+def find_existing_comment_id(client, repo, pr_number, marker):
+    """Return the id of the first PR comment whose body contains marker, or None.
+
+    PR comments are issue comments in GitHub's data model, so we hit
+    /issues/{n}/comments rather than /pulls/{n}/comments (the latter only
+    returns review comments tied to specific code lines, which is not what
+    we want). The match is a plain substring check against the comment body;
+    the marker is expected to be an HTML comment that will not accidentally
+    appear in user-written prose.
+    """
+    path = 'repos/{}/issues/{}/comments'.format(repo, pr_number)
+    for comment in client.paginated(path):
+        body = comment.get('body') or ''
+        if marker in body:
+            return comment.get('id')
+    return None
+
+
+def build_final_body(body, marker):
+    """Append the marker to body if not already present.
+
+    If the caller already embedded the marker (e.g. inside a hidden HTML
+    comment anywhere in their body) we leave the body alone; otherwise we
+    rstrip trailing newlines and append the marker on its own line after a
+    blank-line separator. Trailing-newline stripping keeps the output from
+    accumulating extra blank lines every time an existing comment is
+    re-rendered and re-posted.
+    """
+    if marker in body:
+        return body
+    return '{}\n\n{}\n'.format(body.rstrip('\n'), marker)
+
+
+def upsert_comment(client, repo, pr_number, marker, body):
+    final_body = build_final_body(body, marker)
+    existing_id = find_existing_comment_id(client, repo, pr_number, marker)
+
+    if existing_id is not None:
+        print('Updating comment {} on PR #{}'.format(existing_id, pr_number))
+        client.request(
+            'PATCH',
+            'repos/{}/issues/comments/{}'.format(repo, existing_id),
+            json_body={'body': final_body},
+        )
+    else:
+        print('Creating new comment on PR #{}'.format(pr_number))
+        client.request(
+            'POST',
+            'repos/{}/issues/{}/comments'.format(repo, pr_number),
+            json_body={'body': final_body},
+        )
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print('ok: pr_number={} marker_len={} mode={} body_bytes={}'.format(
+        result['pr_number'],
+        len(result['marker']),
+        result['mode'],
+        len(result['body'].encode('utf-8')),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # GITHUB_TOKEN is provided by the workflow via env; GITHUB_REPOSITORY is
+    # auto-set on every Actions runner. Both are required here because a local
+    # developer running the script directly won't have either unless they
+    # export them, and we want a clear error in that case.
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    # Minimal shape check. If "owner/name" is malformed the subsequent API
+    # calls would 404 with an unhelpful URL. Fail fast here instead.
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
+        upsert_comment(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            body=result['body'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post sticky PR comments from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and body.md in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then upsert a sticky PR comment. Requires env '
+             'GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,468 @@
+#!/usr/bin/env python3
+"""
+PR review-comment poster for analysis workflows.
+
+Sibling of Tools/ci/pr-comment-poster.py. Where pr-comment-poster.py posts
+sticky issue-style PR comments, this script posts line-anchored review
+comments on the "Files changed" tab. Use it for tools like clang-tidy that
+want to flag specific lines instead of (or in addition to) a rollup
+comment.
+
+This script is invoked from the `PR Review Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-review`
+artifact produced by an upstream analysis job and posts a fresh PR review
+via the GitHub REST API, dismissing any stale review the same producer
+left on a previous run.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number":  12345,                                    (required, int > 0)
+      "marker":     "<!-- pr-review-poster:clang-tidy -->",   (required, printable ASCII)
+      "event":      "REQUEST_CHANGES",                         (required, "COMMENT" | "REQUEST_CHANGES")
+      "commit_sha": "0123456789abcdef0123456789abcdef01234567",(required, 40 hex chars)
+      "summary":    "Optional review body text"                (optional)
+    }
+
+  comments.json
+    JSON array of line-anchored review comment objects:
+      [
+        {"path": "src/foo.cpp", "line": 42, "side": "RIGHT",
+         "body": "..."},
+        {"path": "src/bar.hpp", "start_line": 10, "line": 15,
+         "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
+      ]
+
+Note: an `APPROVE` event is intentionally NOT supported. Bots should never
+approve a pull request.
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and comments.json are
+treated as opaque data. The marker is validated to printable ASCII only
+before use, and only reviews authored by github-actions[bot] whose body
+contains the marker can be dismissed (a fork cannot spoof either).
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest +
+                   comments file.
+  post <dir>       Validate, then dismiss any stale matching review and
+                   post a new review on the target PR. Requires env
+                   GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import re
+import sys
+import time
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+USER_AGENT = 'px4-pr-review-poster'
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-review-poster:clang-tidy -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+# Cap per-comment body size well under GitHub's hard limit so we leave
+# headroom for the wrapping JSON envelope. Empirically GitHub allows ~65535
+# bytes per review comment body; 60000 is a safe ceiling.
+MAX_COMMENT_BODY_BYTES = 60000
+
+# Cap on number of comments per single review POST. platisd uses 10. The
+# value matters because GitHub's review-creation endpoint has a payload
+# size limit and review comments occasionally trip an abuse-detection
+# threshold when posted in very large batches. Smaller chunks also let us
+# spread the work across multiple reviews so a single bad entry only
+# fails its own chunk.
+COMMENTS_PER_REVIEW = 10
+
+# Sleep between successive review POSTs to stay clear of GitHub's
+# secondary rate limits. platisd uses 10s; 5s is enough for our volume
+# and cuts user-visible latency.
+SLEEP_BETWEEN_CHUNKS_SECONDS = 5
+
+ACCEPTED_EVENTS = ('COMMENT', 'REQUEST_CHANGES')
+ACCEPTED_SIDES = ('LEFT', 'RIGHT')
+COMMIT_SHA_RE = re.compile(r'^[0-9a-f]{40}$')
+
+# The login GitHub assigns to the built-in actions token. Used to filter
+# the list of existing reviews so we never touch a human reviewer's review.
+BOT_LOGIN = 'github-actions[bot]'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _is_printable_ascii(s):
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string. See pr-comment-poster.py for rationale."""
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def _validate_comment_entry(idx, entry):
+    """Validate a single review-comment entry. Raises via _fail on error."""
+    if not isinstance(entry, dict):
+        _fail('comments[{}]: must be an object'.format(idx))
+
+    path = entry.get('path')
+    if not isinstance(path, str) or not path:
+        _fail('comments[{}].path: required non-empty string'.format(idx))
+
+    line = entry.get('line')
+    if not isinstance(line, int) or isinstance(line, bool) or line <= 0:
+        _fail('comments[{}].line: required positive integer'.format(idx))
+
+    side = entry.get('side', 'RIGHT')
+    if side not in ACCEPTED_SIDES:
+        _fail('comments[{}].side: must be one of {} (got {!r})'.format(
+            idx, ', '.join(ACCEPTED_SIDES), side))
+
+    if 'start_line' in entry:
+        start_line = entry['start_line']
+        if (not isinstance(start_line, int)
+                or isinstance(start_line, bool)
+                or start_line <= 0):
+            _fail('comments[{}].start_line: must be positive integer'.format(idx))
+        if start_line >= line:
+            _fail('comments[{}].start_line ({}) must be < line ({})'.format(
+                idx, start_line, line))
+        start_side = entry.get('start_side', side)
+        if start_side not in ACCEPTED_SIDES:
+            _fail('comments[{}].start_side: must be one of {}'.format(
+                idx, ', '.join(ACCEPTED_SIDES)))
+
+    body = entry.get('body')
+    if not isinstance(body, str) or not body:
+        _fail('comments[{}].body: required non-empty string'.format(idx))
+    body_bytes = len(body.encode('utf-8'))
+    if body_bytes > MAX_COMMENT_BODY_BYTES:
+        _fail('comments[{}].body too large: {} bytes (max {})'.format(
+            idx, body_bytes, MAX_COMMENT_BODY_BYTES))
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/comments.json.
+
+    Returns a dict with keys: pr_number, marker, event, commit_sha,
+    summary, comments (list of validated comment dicts).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    comments_path = os.path.join(directory, 'comments.json')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(comments_path):
+        _fail('comments.json missing at {}'.format(comments_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    event = manifest.get('event')
+    if event not in ACCEPTED_EVENTS:
+        _fail('event must be one of {} (got {!r}). APPROVE is intentionally '
+              'forbidden.'.format(', '.join(ACCEPTED_EVENTS), event))
+
+    commit_sha = manifest.get('commit_sha')
+    if not isinstance(commit_sha, str) or not COMMIT_SHA_RE.match(commit_sha):
+        _fail('commit_sha must be a 40-character lowercase hex string')
+
+    summary = manifest.get('summary', '')
+    if summary is None:
+        summary = ''
+    if not isinstance(summary, str):
+        _fail('summary must be a string if present')
+
+    try:
+        with open(comments_path, 'r', encoding='utf-8') as f:
+            comments = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('comments.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(comments, list):
+        _fail('comments.json must be a JSON array')
+
+    for idx, entry in enumerate(comments):
+        _validate_comment_entry(idx, entry)
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'event': event,
+        'commit_sha': commit_sha,
+        'summary': summary,
+        'comments': comments,
+    }
+
+
+# ---------------------------------------------------------------------------
+# Stale-review dismissal
+# ---------------------------------------------------------------------------
+
+def find_stale_reviews(client, repo, pr_number, marker):
+    """Yield (id, state) for each existing review owned by the bot AND
+    whose body contains the marker.
+
+    Filtering on BOTH author == github-actions[bot] AND marker-in-body is
+    the security invariant: a fork PR cannot impersonate the bot login,
+    and a fork PR also cannot inject the marker into a human reviewer's
+    body without API access.
+    """
+    path = 'repos/{}/pulls/{}/reviews'.format(repo, pr_number)
+    for review in client.paginated(path):
+        user = review.get('user') or {}
+        if user.get('login') != BOT_LOGIN:
+            continue
+        body = review.get('body') or ''
+        if marker not in body:
+            continue
+        yield review.get('id'), review.get('state')
+
+
+def dismiss_stale_reviews(client, repo, pr_number, marker):
+    """Dismiss (or, for PENDING reviews, delete) every stale matching review."""
+    dismissal_message = 'Superseded by a newer run'
+    for review_id, state in find_stale_reviews(client, repo, pr_number, marker):
+        if review_id is None:
+            continue
+        if state == 'DISMISSED':
+            # Already inert; nothing to do.
+            continue
+        if state == 'PENDING':
+            # PENDING reviews cannot be dismissed; they must be deleted.
+            print('Deleting pending stale review {}'.format(review_id))
+            try:
+                client.request(
+                    'DELETE',
+                    'repos/{}/pulls/{}/reviews/{}'.format(
+                        repo, pr_number, review_id))
+            except RuntimeError as e:
+                # Don't abort the run on dismissal failure: the new review
+                # will still be posted.
+                print('warning: failed to delete pending review {}: {}'.format(
+                    review_id, e), file=sys.stderr)
+            continue
+        print('Dismissing stale review {} (state={})'.format(review_id, state))
+        try:
+            client.request(
+                'PUT',
+                'repos/{}/pulls/{}/reviews/{}/dismissals'.format(
+                    repo, pr_number, review_id),
+                json_body={
+                    'message': dismissal_message,
+                    'event': 'DISMISS',
+                },
+            )
+        except RuntimeError as e:
+            print('warning: failed to dismiss review {}: {}'.format(
+                review_id, e), file=sys.stderr)
+
+
+# ---------------------------------------------------------------------------
+# Review posting
+# ---------------------------------------------------------------------------
+
+def _chunk(lst, n):
+    """Yield successive n-sized slices of lst."""
+    for i in range(0, len(lst), n):
+        yield lst[i:i + n]
+
+
+def _build_review_body(marker, summary, chunk_index, chunk_total):
+    """Construct the review body text.
+
+    Always begins with the marker (so future runs can find and dismiss
+    this review). Appends a chunk index when the comment set is split
+    across multiple reviews, and the producer-supplied summary if any.
+    """
+    parts = [marker]
+    if chunk_total > 1:
+        parts.append('({}/{})'.format(chunk_index + 1, chunk_total))
+    if summary:
+        parts.append('')
+        parts.append(summary)
+    return '\n'.join(parts)
+
+
+def _comment_to_api(entry):
+    """Project a validated comment dict to the GitHub API shape."""
+    api = {
+        'path': entry['path'],
+        'line': entry['line'],
+        'side': entry.get('side', 'RIGHT'),
+        'body': entry['body'],
+    }
+    if 'start_line' in entry:
+        api['start_line'] = entry['start_line']
+        api['start_side'] = entry.get('start_side', api['side'])
+    return api
+
+
+def post_review(client, repo, pr_number, marker, event, commit_sha, summary,
+                comments):
+    """Post one or more reviews containing the validated comments.
+
+    Comments are split into COMMENTS_PER_REVIEW-sized chunks. Each chunk
+    becomes its own review POST. A failed chunk logs a warning and the
+    loop continues to the next chunk.
+    """
+    chunks = list(_chunk(comments, COMMENTS_PER_REVIEW))
+    total = len(chunks)
+    if total == 0:
+        print('No comments to post; skipping review creation.')
+        return
+
+    posted_any = False
+    for idx, chunk in enumerate(chunks):
+        if idx > 0:
+            time.sleep(SLEEP_BETWEEN_CHUNKS_SECONDS)
+        body = _build_review_body(marker, summary, idx, total)
+        payload = {
+            'commit_id': commit_sha,
+            'body': body,
+            'event': event,
+            'comments': [_comment_to_api(c) for c in chunk],
+        }
+        print('Posting review chunk {}/{} with {} comment(s)'.format(
+            idx + 1, total, len(chunk)))
+        try:
+            client.request(
+                'POST',
+                'repos/{}/pulls/{}/reviews'.format(repo, pr_number),
+                json_body=payload,
+            )
+            posted_any = True
+        except RuntimeError as e:
+            # Most common cause is HTTP 422: a comment refers to a line
+            # GitHub does not consider part of the diff. Skip the bad
+            # chunk and keep going so other findings still get posted.
+            print('warning: review chunk {}/{} failed: {}'.format(
+                idx + 1, total, e), file=sys.stderr)
+
+    if not posted_any:
+        # If every single chunk failed, surface that as a hard error so
+        # the workflow turns red and a human looks at it.
+        _fail('all review chunks failed to post; see warnings above')
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print(('ok: pr_number={} marker_len={} event={} commit_sha={} '
+           'comments={} summary_len={}').format(
+        result['pr_number'],
+        len(result['marker']),
+        result['event'],
+        result['commit_sha'],
+        len(result['comments']),
+        len(result['summary']),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # Empty comment lists short-circuit silently. A producer that ran but
+    # found nothing to flag should not generate noise on the PR.
+    if len(result['comments']) == 0:
+        print('No comments in artifact; nothing to post.')
+        return 0
+
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
+        dismiss_stale_reviews(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+        )
+        post_review(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            event=result['event'],
+            commit_sha=result['commit_sha'],
+            summary=result['summary'],
+            comments=result['comments'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post line-anchored PR review comments '
+                    'from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and comments.json in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then dismiss any stale review and post a new one. '
+             'Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -10,6 +10,7 @@ CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -47,6 +48,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -73,7 +75,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -101,3 +102,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -83,10 +83,12 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
+	dps310 -I start
 fi

 #external baro
 icp201xx -X start
+dps310 -X start

 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -34,8 +34,5 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start

-# Start the task_watchdog as we do not have the logger watchdog
-task_watchdog start
-
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Board early init.
+#
+# On FRAM boards STORAGE_AVAILABLE=yes will set the USE_* flags. Additional
+# enable required for task watchdog as this is not a generally used feature.
+# On EEPROM boards: Only airframes and params are needed.
+#
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+then
+	# Start the task_watchdog as we do not have the logger watchdog
+	set USE_TASK_WATCHDOG yes
+else
+	set PARAM_FILE /fs/microsd/params
+	set STORAGE_CHECK no
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_ALT_UPDATE_DIRS yes
+fi
@@ -0,0 +1,107 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=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_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_INPUT=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+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_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_LOCAL_POSITION_ESTIMATOR=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_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_BOARD_VENDOR="saam"
+CONFIG_BOARD_MODEL="saampixv1_1"
+CONFIG_BOARD_NAME="SaamPixV1_1"
@@ -0,0 +1,13 @@
+{
+    "board_id": 1,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SaamPixV1_1 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "SaamPixV1_1",      
+    "version": "1.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_A_PER_V 17.0
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# SaamPixV1_1 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# external I2C compasses, if present
+hmc5883 -X start
+qmc5883l -X start
+
+# internal SPI sensors
+ms5611 -s start
+icm20602 -s start
+mpu9250 -s start
+lis3mdl -s start
@@ -0,0 +1,271 @@
+/************************************************************************************
+ * boards/saam/saampixv1_1/nuttx-config/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The SaamPixV1_1 uses a 8MHz crystal connected to the HSE.
+ *
+ * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000     (STM32_BOARD_XTAL)
+ *   PLLM                          : 8           (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PPQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+
+/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode.  These values have not been
+ * tuned!!!
+ *
+ * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
+ */
+
+#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2	/* RC_INPUT */
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_2
+#define GPIO_USART2_TX	GPIO_USART2_TX_2
+#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+
+#define GPIO_USART3_RX	GPIO_USART3_RX_3
+#define GPIO_USART3_TX	GPIO_USART3_TX_3
+#define GPIO_USART3_CTS	0 // unused
+#define GPIO_USART3_RTS	0 // unused
+
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
+
+#define GPIO_USART6_RX	GPIO_USART6_RX_2
+#define GPIO_USART6_TX	GPIO_USART6_TX_2
+
+#define GPIO_UART7_RX	GPIO_UART7_RX_1
+#define GPIO_UART7_TX	GPIO_UART7_TX_1
+
+/* UART8 has no alternate pin config */
+
+/*
+ * CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+/*
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |                  |                  |                  |                  |                  |                  |                  |                  |
+
+
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        |                  | SDIO             |                  |
+ */
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI4_RX    DMAMAP_SPI4_RX_1   // DMA2, Stream 0, Channel 4    (SPI sensors RX)
+#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+//      AVAILABLE                             // DMA2, Stream 3
+#define DMACHAN_SPI4_TX    DMAMAP_SPI4_TX_2   // DMA2, Stream 4, Channel 5    (SPI sensors TX)
+//      AVAILABLE                             // DMA2, Stream 5, Channel 6
+#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4
@@ -0,0 +1,255 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/saam/saampixv1_1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F427V=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x008E
+CONFIG_CDCACM_PRODUCTSTR="SaamPixV1_1 Flight Controller"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="Saam Drones"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDIO_BLOCKSETUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_BBSRAM=y
+CONFIG_STM32_BBSRAM_FILES=5
+CONFIG_STM32_BKPSRAM=y
+CONFIG_STM32_CCMDATARAM=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_I=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=10
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SAVE_CRASHDUMP=y
+CONFIG_STM32_SDIO=y
+CONFIG_STM32_SDIO_CARD=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI4_DMA=y
+CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI_DMATHRESHOLD=8
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART6=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=300
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=300
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=300
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=300
+CONFIG_UART8_TXBUFSIZE=300
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=300
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=300
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,51 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+
+add_library(drivers_board
+	can.c
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * SaamPixV1_1 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+
+/* SaamPixV1_1 GPIOs ***********************************************************************************/
+/* LEDs */
+#define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define BOARD_OVERLOAD_LED     LED_RED
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_5V_RAIL_SENSE		4
+#define ADC_BATTERY_CURRENT_CHANNEL	10
+#define ADC_BATTERY_VOLTAGE_CHANNEL	12
+#define ADC_RC_RSSI_CHANNEL		11
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
+
+/* Power supply control and monitoring GPIOs */
+// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER	14	/* timer 14 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
+
+/* AUX PWMs
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS	8
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
+
+#define HRT_PPM_CHANNEL		1
+#define GPIO_PPM_IN		GPIO_TIM8_CH1IN_1
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
+#define PWMIN_TIMER		4
+#define PWMIN_TIMER_CHANNEL	1
+#define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2
+
+#define RC_SERIAL_PORT		"/dev/ttyS0"
+
+// #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+#define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
+
+#define GPIO_FRSKY_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define INVERT_FRSKY(_invert_true)    px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);
+
+/* Power switch controls */
+#define SPEKTRUM_POWER(_on_true)      do { } while (0)
+
+/*
+ * SaamPixV1_1 has one RC_IN
+ *
+ * GPIO PPM_IN on PC6 T8CH1
+ * SPEKTRUM_RX (it's TX or RX in Bind) on PC6 UART1
+ * Inversion is possible via the 74LVC2G86 controlled by the FMU
+ * The FMU can drive GPIO PPM_IN as an output
+ */
+
+#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the SaamPixV1_1 board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+
+#define board_peripheral_reset(ms)
+
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2026 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_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(2),
+};
@@ -0,0 +1,299 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * SaamPixV1_1-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+#include <px4_arch/io_timer.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	/* configure the GPIO pins to outputs and keep them low */
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/**
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	// Reset all PWM to Low outputs.
+
+	board_on_reset(-1);
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure ADC pins */
+
+	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	stm32_configgpio(GPIO_ADC1_IN10);	/* BATT_CURRENT_SENS */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* BATT_VOLTAGE_SENS */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
+
+	/* configure power supply control/sense pins */
+
+	stm32_configgpio(GPIO_SBUS_INV);
+	stm32_configgpio(GPIO_FRSKY_INV);
+
+	/* configure CAN interface */
+
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	stm32_configgpio(GPIO_I2C2_SCL);
+	stm32_configgpio(GPIO_I2C2_SDA);
+
+	stm32_configgpio(GPIO_I2C1_SCL);
+	stm32_configgpio(GPIO_I2C1_SDA);
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
+static struct sdio_dev_s *sdio;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_AMBER);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_AMBER);
+	}
+
+	/* Configure SPI-based devices */
+
+	spi4 = px4_spibus_initialize(4);
+
+	if (!spi4) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	up_udelay(20);
+
+	/* Get the SPI port for the FRAM */
+
+	spi1 = stm32_spibus_initialize(1);
+
+	if (!spi1) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
+	SPI_SETBITS(spi1, 8);
+
+
+	spi2 = px4_spibus_initialize(2);
+
+	/* Default SPI2 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi2, 10000000);
+	SPI_SETBITS(spi2, 8);
+
+
+#ifdef CONFIG_MMCSD
+	/* First, get an instance of the SDIO interface */
+
+	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+	if (!sdio) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+	}
+
+	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+	sdio_mediachange(sdio, true);
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * SaamPixV1_1 LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+
+	stm32_configgpio(GPIO_LED1);
+}
+
+__EXPORT void led_on(int led)
+{
+	if (led == 1) {
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+}
+
+__EXPORT void led_off(int led)
+{
+	if (led == 1) {
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+}
+
+__EXPORT void led_toggle(int led)
+{
+	if (led == 1) {
+		if (stm32_gpioread(GPIO_LED1)) {
+			stm32_gpiowrite(GPIO_LED1, false);
+
+		} else {
+			stm32_gpiowrite(GPIO_LED1, true);
+		}
+	}
+}
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2026 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_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+		initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortD, GPIO::Pin11}),
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the SaamPixV1_1 board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -17,10 +17,7 @@ then
 fi

 # baro
-if ! dps310 -I start -a 0x76
-then
-	spl06 -I  start -a 0x76
-fi
+spl06 -I  start -a 0x76

 # internal mag
 qmc5883p -I -R 4 start
@@ -243,7 +243,6 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
@@ -49,8 +49,6 @@ uint16_t board_get_can_interfaces(void)
 {
 	uint16_t enabled_interfaces = 0x3;

-	enabled_interfaces &= ~(1 << 1);
-
 	return enabled_interfaces;
 }

@@ -1,6 +1,6 @@
 - [Introduction](index.md)
  - [Basic Concepts](getting_started/px4_basic_concepts.md)
-
+- [Try PX4 (Simulation)](simulation/px4_simulation_quickstart.md)
 - [Multicopters](frames_multicopter/index.md)
  - [Features](features_mc/index.md)
    - [Flight Modes](flight_modes_mc/index.md)
@@ -474,6 +474,7 @@
      - [Worlds](sim_gazebo_classic/worlds.md)
      - [Multi-Vehicle Sim](sim_gazebo_classic/multi_vehicle_simulation.md)
    - [Simulate Failsafes](simulation/failsafes.md)
+    - [Pre-built Packages](simulation/px4_sitl_prebuilt_packages.md)
  - [Hardware](hardware/index.md)
    - [Flight Controller Reference Design](hardware/reference_design.md)
    - [Manufacturer’s Board Support Guide](hardware/board_support_guide.md)
@@ -1,5 +1,10 @@
 # Setting up a Developer Environment (Toolchain)

+::: tip
+You only need a toolchain if you want to **modify and build** PX4 from source.
+If you just want to run PX4 simulation without changing the code, use a pre-built [Docker container or .deb package](../simulation/px4_sitl_prebuilt_packages.md) instead.
+:::
+
 The _supported platforms_ for PX4 development are:

 - [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md)
@@ -2,6 +2,7 @@

 This section contains topics about getting started with PX4 development:

+- [PX4 Simulation QuickStart](../simulation/px4_simulation_quickstart.md) — Try PX4 in simulation without a build environment!
 - [Initial Setup](../dev_setup/config_initial.md)
 - [Toolchain Installation](../dev_setup/dev_env.md)
 - [Building the Code](../dev_setup/building_px4.md)
@@ -26,7 +26,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 - On-board sensors
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
  - Mag: QMC5883P
-  - Barometer: DPS310(Version1),SPL06(Version2)
+  - Barometer: SPL06

 ### Interfaces

@@ -21,11 +21,13 @@ Documented changes since the stable release are captured in the evolving [releas

 </div>

+## Try PX4
+
+No hardware needed. Run PX4 in simulation with a single command using [Docker or a .deb package](simulation/px4_simulation_quickstart.md). Connect [QGroundControl](https://qgroundcontrol.com), [MAVSDK](https://mavsdk.mavlink.io/), or [ROS 2](ros2/index.md) and start flying immediately.
+
 ## For Developers

-:::tip
-Building on PX4 or extending the platform? Start here: [Development Guide](development/development.md). Set up your [dev environment](dev_setup/config_initial.md), [build from source](dev_setup/building_px4.md), run [SITL simulation](simulation/index.md), or integrate via [ROS 2](ros2/index.md) and [MAVSDK](https://mavsdk.mavlink.io/).
-:::
+Want to modify PX4 or build from source? Start with the [Development Guide](development/development.md): set up your [dev environment](dev_setup/dev_env.md), [build the code](dev_setup/building_px4.md), and run [SITL simulation](simulation/index.md).

 ## Getting Started

@@ -95,207 +95,207 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Gripper](../msg_docs/Gripper.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [Ping](../msg_docs/Ping.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [Event](../msg_docs/Event.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [EscReport](../msg_docs/EscReport.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [InputRc](../msg_docs/InputRc.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
 - [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [EventV0](../msg_docs/EventV0.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
 - [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
 - [MountOrientation](../msg_docs/MountOrientation.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [Vtx](../msg_docs/Vtx.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [DebugValue](../msg_docs/DebugValue.md)
 - [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
 - [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [Mission](../msg_docs/Mission.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
 - [SatelliteInfo](../msg_docs/SatelliteInfo.md)
 - [TuneControl](../msg_docs/TuneControl.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
 - [SystemPower](../msg_docs/SystemPower.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
 - [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [RangingBeacon](../msg_docs/RangingBeacon.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [Mission](../msg_docs/Mission.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
 - [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [Event](../msg_docs/Event.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [Ping](../msg_docs/Ping.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
  :::
@@ -6,6 +6,11 @@ SIH (Simulation-In-Hardware) is a lightweight, headless simulator with zero exte
 No GUI, no external processes, no rendering overhead — just PX4 running a C++ physics model.
 This makes it the fastest way to iterate on flight code.

+::: tip
+SIH is also available as a [prebuilt Docker container or .deb package](../simulation/px4_sitl_prebuilt_packages.md), which is useful if you don't need to modify PX4 itself.
+See [PX4 Simulation QuickStart](px4_simulation_quickstart.md) for a one-line instruction on how this is used.
+:::
+
 ## Overview

 SIH runs as a PX4 module that replaces real sensor and actuator hardware with a simulated physics model.
@@ -201,8 +206,25 @@ See [Port Reference](#port-reference) for the complete list of ports.

 ## SIH on Flight Controller Hardware {#sih-on-flight-controller-hardware}

-SIH can also run on flight controller hardware with `SYS_HITL=2`, replacing real sensors with simulated data while running on the actual autopilot.
-See [SIH on Flight Controller Hardware](hardware.md) for setup instructions.
+SIH can also run on flight controller hardware by replacing real sensors with simulated data while running on the actual autopilot. Setting it is a simple as selecting the appropriate SIH airframe. The easiest method to run the SIH Quadrotor X is to set the parameter `SYS_AUTOSTART=1100` then reboot the vehicle. 
+
+::: tip
+To ensure that the vehicles behaves well, it is recommended to reset all the parameters to firmware's default before modifying `SYS_AUTOSTART`.
+:::
+
+The following airframes are supported
+
+| SIH Airframe    | SYS_AUTOSTART | Status            |
+| --------------- | ------------- | ----------------- |
+| Quadrotor X     | 1100          | Stable            |
+| Airplane        | 1101          | Experimental      |
+| Tailsitter Duo  | 1102          | Experimental      |
+| Standard VTOL   | 1103          | Experimental      |
+| Ackermann Rover | 1104          | Experimental      |
+| Hexacopter X    | 1105          | Experimental      |
+
+
+See [SIH on Flight Controller Hardware](hardware.md) for more details and compilation instructions.

 ## Adding New Airframes

@@ -27,11 +27,15 @@ See [PX4-Autopilot#23602](https://github.com/PX4/PX4-Autopilot/issues/23602) for
 | Simulator                                        | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
 | ------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | [Gazebo](../sim_gazebo_gz/index.md)              | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04<br><br>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control. <br><br><strong>Supported Vehicles:</strong> Quad, VTOL (Standard, Tailsitter, Tiltroter), Plane, Rovers |
-| [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.<br><br>**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine                    |
 | [SIH](../sim_sih/index.md)                       | A lightweight, headless simulator that runs physics directly inside PX4 as a C++ module (no external dependencies). Headless by default for fastest iteration. Supports ROS 2 via uXRCE-DDS. Can also run on flight controller hardware (`SYS_HITL=2`).<br><br>**Supported Vehicles:** Quad, Hex, Plane, Tailsitter, Standard VTOL, Rover                                                                                                                                                                                                                                                                                                                      |
+| [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.<br><br>**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine                    |

 There are also a number of [Community Supported Simulators](../simulation/community_supported_simulators.md).

+:::tip
+To run PX4 SITL without setting up a build environment, [pre-built packages and containers](px4_sitl_prebuilt_packages.md) are available.
+:::
+
 ### Simulator Comparison

 | Feature                   | Gazebo                                    | SIH                                                                 |
@@ -0,0 +1,25 @@
+# PX4 Simulation QuickStart
+
+First install [Docker](https://docs.docker.com/get-docker/) (a free tool that runs containers).
+
+The following command will then run a PX4 quadrotor simulation that you can connect to [QGroundControl](https://qgroundcontrol.com), [MAVSDK](https://mavsdk.mavlink.io/) or [ROS 2](../ros2/user_guide.md) (on Linux, macOS, and Windows):
+
+```sh
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest
+```
+
+That's it — open [QGroundControl](https://qgroundcontrol.com) and fly!
+
+::: tip
+
+To try [other vehicle types](../sim_sih/#supported-vehicle-types) append the corresponding line below to the command:
+
+```sh
+-e PX4_SIM_MODEL=sihsim_airplane # Plane
+-e PX4_SIM_MODEL=sihsim_standard_vtol # Standard VTOL
+-e PX4_SIM_MODEL=sihsim_rover # Ackermann rover
+```
+
+For more information and options see [Container Images](../simulation/px4_sitl_prebuilt_packages.md#container-images) (in _Pre-built SITL Packages_) and [SIH Simulation](../sim_sih/index.md).
+
+:::
@@ -0,0 +1,297 @@
+# Pre-built SITL Packages
+
+Pre-built packages let you run [PX4 SITL simulation](index.md) without setting up a build environment.
+
+This is very useful if you don't need to modify PX4 itself.
+For example, if you want to write drone apps using [MAVSDK](https://mavsdk.mavlink.io) or [ROS 2](../ros2/user_guide.md), or you just want to fly with PX4.
+
+::: tip
+See [PX4 Simulation QuickStart](px4_simulation_quickstart.md) for a one-line instruction to run the SIH package in a container.
+:::
+
+## What's Available
+
+Two simulators are packaged, each available as a `.deb` package (Ubuntu) or a Docker [container](#container-images) (any OS):
+
+| Simulator                                    | Format    | Package / Image         | Size    |
+| -------------------------------------------- | --------- | ----------------------- | ------- |
+| [SIH](../sim_sih/index.md)                   | .deb      | `px4`                   | ~10 MB  |
+|                                              | container | `px4io/px4-sitl`        | ~100 MB |
+| [Gazebo Harmonic](../sim_gazebo_gz/index.md) | .deb      | `px4-gazebo`            | ~30 MB  |
+|                                              | container | `px4io/px4-sitl-gazebo` | ~2 GB   |
+
+SIH is a lightweight, headless simulator built into PX4 with no external dependencies.
+Gazebo provides full 3D simulation with camera, LiDAR, and custom worlds.
+Sizes are approximate and vary between releases.
+
+For help choosing between simulators, see the [simulator comparison table](index.md#simulator-comparison).
+
+### Versions and Releases
+
+Packages and images are versioned to match PX4 tags (e.g. `v1.17.0`, `v1.17.0~beta1`).
+`.deb` packages are built for **Ubuntu 22.04 (Jammy)** and **24.04 (Noble)**, on both **amd64** and **arm64**.
+Container images support **amd64** and **arm64**.
+Stable releases and pre-releases are published on the [PX4 Releases](https://github.com/PX4/PX4-Autopilot/releases) page.
+
+## .deb Packages (Ubuntu)
+
+Download the `.deb` file for your Ubuntu version and architecture from the [PX4 Releases](https://github.com/PX4/PX4-Autopilot/releases) page, then install as shown below.
+After installation the binary is added to the default Ubuntu system paths, and can be run from anywhere.
+
+### px4 (SIH)
+
+No extra repositories are required:
+
+```bash
+sudo apt install ./px4_*.deb
+```
+
+### px4-gazebo (Gazebo Harmonic)
+
+The package depends on Gazebo Harmonic runtime libraries from the OSRF repository.
+Add the repository first, then install:
+
+```bash
+# Add OSRF Gazebo repository (one-time setup)
+sudo curl -fsSL 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
+sudo apt update
+
+# Install (resolves Gazebo dependencies automatically)
+sudo apt install ./px4-gazebo_*.deb
+```
+
+### Uninstalling
+
+```bash
+sudo apt remove px4          # SIH package
+sudo apt remove px4-gazebo   # Gazebo package
+```
+
+## Container Images
+
+Container images are built using the same `.deb` packages described above, packaged into minimal Docker images.
+They are published to [Docker Hub](https://hub.docker.com/u/px4io) on every tagged release.
+You will need to [install Docker](https://docs.docker.com/get-docker/).
+
+| Image                         | Simulator       |
+| ----------------------------- | --------------- |
+| `px4io/px4-sitl:<tag>`        | SIH (headless)  |
+| `px4io/px4-sitl-gazebo:<tag>` | Gazebo Harmonic |
+
+Tags follow PX4 versions (e.g. `v1.17.0`).
+
+### Running
+
+```bash
+# SIH
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest
+
+# Gazebo
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl-gazebo:latest
+```
+
+Pass environment variables with `-e`:
+
+```bash
+docker run --rm -it -p 14550:14550/udp \
+  -e PX4_SIM_MODEL=sihsim_airplane \
+  px4io/px4-sitl:latest
+```
+
+The quick-start command above only exposes the QGroundControl port.
+To use MAVSDK, uXRCE-DDS (ROS 2), or MAVSim Viewer, expose the additional ports:
+
+```bash
+docker run --rm -it \
+  -p 14550:14550/udp \
+  -p 14540:14540/udp \
+  -p 8888:8888/udp \
+  -p 19410:19410/udp \
+  px4io/px4-sitl:latest
+```
+
+| Port  | Protocol | Used by                     |
+| ----- | -------- | --------------------------- |
+| 14550 | UDP      | QGroundControl              |
+| 14540 | UDP      | MAVSDK / offboard API       |
+| 8888  | UDP      | uXRCE-DDS agent (ROS 2)     |
+| 19410 | UDP      | SIH display (MAVSim Viewer) |
+
+On Linux, you can skip individual port flags and use `--network host` instead:
+
+```bash
+docker run --rm -it --network host px4io/px4-sitl:latest
+```
+
+## Configuration
+
+These options apply to both `.deb` packages and containers.
+Note that after the first section below we only show how to use them with the deb packages (the pattern for using the options doesn't change).
+
+### Vehicle Selection
+
+Set `PX4_SIM_MODEL` to choose a vehicle.
+
+SIH:
+
+```bash
+# Deb package
+PX4_SIM_MODEL=sihsim_airplane px4
+
+# Container
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest -e PX4_SIM_MODEL=sihsim_airplane
+```
+
+Gazebo:
+
+```
+# Deb package
+PX4_SIM_MODEL=gz_x500 px4-gazebo
+
+# Container
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl-gazebo:latest -e PX4_SIM_MODEL=gz_x500
+```
+
+See [SIH Supported Vehicles](../sim_sih/index.md#supported-vehicle-types) and [Gazebo Vehicles](../sim_gazebo_gz/vehicles.md) for the full lists.
+
+### World Selection (Gazebo only)
+
+```sh
+PX4_GZ_WORLD=baylands PX4_SIM_MODEL=gz_x500 px4-gazebo
+```
+
+See [Gazebo Worlds](../sim_gazebo_gz/worlds.md) for available worlds.
+
+### Environment Variables
+
+| Variable             | Description                                                        | Default              |
+| -------------------- | ------------------------------------------------------------------ | -------------------- |
+| `PX4_SIM_MODEL`      | Vehicle model (e.g. `gz_x500`, `sihsim_quadx`)                     | (required)           |
+| `PX4_GZ_WORLD`       | Gazebo world name, without `.sdf` (e.g. `baylands`)                | `default`            |
+| `HEADLESS`           | Set to `1` to disable Gazebo GUI                                   | (unset)              |
+| `PX4_UXRCE_DDS_PORT` | uXRCE-DDS agent UDP port                                           | `8888`               |
+| `PX4_UXRCE_DDS_NS`   | uXRCE-DDS ROS namespace                                            | (none)               |
+| `XDG_DATA_HOME`      | Base directory for per-instance working data (parameters, dataman) | `$HOME/.local/share` |
+
+## Multi-Instance
+
+Multiple simulated vehicles can run simultaneously by passing the `-i` flag with an instance number.
+Each instance must be started in a separate terminal (or container). This works with both simulators.
+
+```sh
+# Terminal 1
+PX4_SIM_MODEL=sihsim_quadx px4 -i 0
+
+# Terminal 2
+PX4_SIM_MODEL=sihsim_quadx px4 -i 1
+```
+
+MAVLink and uXRCE-DDS port numbers are automatically offset by the instance number.
+
+Each package (`px4` and `px4-gazebo`) is a standalone install. Do not mix instances from the two packages in the same session.
+
+## MAVLink and QGroundControl
+
+PX4 opens several MAVLink UDP ports on startup.
+[QGroundControl](https://qgroundcontrol.com) auto-connects on UDP port 14550.
+You can also connect [MAVSDK](https://mavsdk.mavlink.io) or any MAVLink-compatible tool.
+
+| Link                   | Mode    | UDP Local Port   | UDP Remote Port  | Data Rate |
+| ---------------------- | ------- | ---------------- | ---------------- | --------- |
+| GCS link               | Normal  | 18570 + instance | 14550            | 4 Mbps    |
+| API/Offboard link      | Onboard | 14580 + instance | 14540 + instance | 4 Mbps    |
+| Onboard link to camera | Onboard | 14280 + instance | 14030 + instance | 4 kbps    |
+| Onboard link to gimbal | Gimbal  | 13030 + instance | 13280 + instance | 400 kbps  |
+| SIH display (SIH only) | Custom  | 19450 + instance | 19410 + instance | 400 kbps  |
+
+By default, MAVLink only listens on localhost.
+Set parameter `MAV_{i}_BROADCAST = 1` to enable network access.
+
+## ROS 2 Integration
+
+The `uxrce_dds_client` module starts automatically and connects to a Micro XRCE-DDS Agent over UDP.
+Run the agent before starting PX4:
+
+```sh
+MicroXRCEAgent udp4 -p 8888
+```
+
+| Setting    | Default     |
+| ---------- | ----------- |
+| Transport  | UDP         |
+| Agent IP   | `127.0.0.1` |
+| Agent Port | `8888`      |
+
+Environment variables `PX4_UXRCE_DDS_PORT` and `PX4_UXRCE_DDS_NS` override the corresponding PX4 parameters ([UXRCE_DDS_PRT](../advanced_config/parameter_reference.md#UXRCE_DDS_PRT), [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX)) at runtime without modifying stored parameters:
+
+```sh
+PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone1 PX4_SIM_MODEL=sihsim_quadx px4
+```
+
+## Daemon Mode
+
+Start PX4 without an interactive shell (useful for CI pipelines and automated testing):
+
+```sh
+PX4_SIM_MODEL=sihsim_quadx px4 -d
+```
+
+## Installed File Layout
+
+### px4
+
+```txt
+/opt/px4/
+  bin/
+    px4           # PX4 binary
+    px4-*         # Module symlinks
+    px4-alias.sh  # Shell aliases
+  etc/            # ROMFS (init scripts, mixers, airframes)
+    init.d-posix/
+
+/usr/bin/px4 -> /opt/px4/bin/px4
+```
+
+### px4-gazebo
+
+```txt
+/opt/px4-gazebo/
+  bin/
+    px4           # PX4 binary
+    px4-gazebo    # Gazebo wrapper (sets GZ_SIM_* env vars)
+    px4-*         # Module symlinks
+    px4-alias.sh  # Shell aliases
+  etc/            # ROMFS (init scripts, mixers, airframes)
+    init.d-posix/
+  share/gz/
+    models/       # Gazebo vehicle models
+    worlds/       # Gazebo world files
+    server.config
+  lib/gz/plugins/ # PX4 Gazebo plugins
+
+/usr/bin/px4-gazebo -> /opt/px4-gazebo/bin/px4-gazebo
+```
+
+### Runtime directories (created on first run, per user)
+
+```sh
+$XDG_DATA_HOME/px4/rootfs/<instance>/   # parameters, dataman, eeprom
+```
+
+## Building .deb Files Locally
+
+To build `.deb` files locally (e.g. to package a custom PX4 branch):
+
+```sh
+# SIH — produces px4_*.deb
+make px4_sitl_sih
+cd build/px4_sitl_sih && cpack -G DEB
+
+# Gazebo — produces px4-gazebo_*.deb
+make px4_sitl_default
+cd build/px4_sitl_default && cpack -G DEB
+```
@@ -225,6 +225,12 @@ function(px4_os_add_flags)
 		if(UNIX AND APPLE)
 			add_definitions(-D__PX4_DARWIN)

+			# Silence Apple ld warning about duplicate static libs. CMake intentionally
+			# re-emits them to resolve circular deps (px4_layer, px4_work_queue,
+			# px4_daemon, lockstep_scheduler). See also CMAKE_*_ARCHIVE_FINISH override
+			# at the top of the root CMakeLists.txt for the matching ranlib silence.
+			add_link_options(LINKER:-no_warn_duplicate_libraries)
+
 		elseif(CYGWIN)
 			add_definitions(
 				-D__PX4_CYGWIN
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)

 # We want to test the lockstep schedule even if it is not used otherwise.
 px4_add_library(lockstep_scheduler
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)

 add_executable(lockstep_scheduler_test
    src/lockstep_scheduler_test.cpp
@@ -210,16 +210,15 @@ BMP388::collect()
 bool
 BMP388::soft_reset()
 {
-	bool    result = false;
 	uint8_t status;
-	int     ret;
-
-	ret = _interface->get_reg(BMP3_SENS_STATUS_REG_ADDR, &status);
+	int ret = _interface->get_reg(BMP3_SENS_STATUS_REG_ADDR, &status);

 	if (ret != OK) {
 		return false;
 	}

+	bool result = false;
+
 	if (status & BMP3_CMD_RDY) {
 		ret = _interface->set_reg(BPM3_CMD_SOFT_RESET, BMP3_CMD_ADDR);

@@ -248,16 +247,9 @@ BMP388::soft_reset()
 static int8_t cal_crc(uint8_t seed, uint8_t data)
 {
 	int8_t poly = 0x1D;
-	int8_t var2;
-	uint8_t i;

-	for (i = 0; i < 8; i++) {
-		if ((seed & 0x80) ^ (data & 0x80)) {
-			var2 = 1;
-
-		} else {
-			var2 = 0;
-		}
+	for (uint8_t i = 0; i < 8; i++) {
+		int8_t var2 = ((seed & 0x80) ^ (data & 0x80)) ? 1 : 0;

 		seed = (seed & 0x7F) << 1;
 		data = (data & 0x7F) << 1;
@@ -276,7 +268,6 @@ bool
 BMP388::validate_trimming_param()
 {
 	uint8_t crc = 0xFF;
-	uint8_t stored_crc;
 	uint8_t *trim_param = (uint8_t *)_cal;

 	static_assert(BMP3_CALIB_DATA_LEN <= sizeof(*_cal), "unexpected struct size");
@@ -287,6 +278,8 @@ BMP388::validate_trimming_param()

 	crc = (crc ^ 0xFF);

+	uint8_t stored_crc;
+
 	if (_interface->get_reg(BMP3_TRIM_CRC_DATA_ADDR, &stored_crc) != OK) {
 		return false;
 	}
@@ -425,18 +418,14 @@ BMP388::set_sensor_settings()
 bool
 BMP388::set_op_mode(uint8_t op_mode)
 {
-	bool    result = false;
-	uint8_t last_set_mode;
 	uint8_t op_mode_reg_val;
-	int     ret = OK;
-
-	ret = _interface->get_reg(BMP3_PWR_CTRL_ADDR, &op_mode_reg_val);
+	int ret = _interface->get_reg(BMP3_PWR_CTRL_ADDR, &op_mode_reg_val);

 	if (ret != OK) {
 		return false;
 	}

-	last_set_mode = BMP3_GET_BITS(op_mode_reg_val, BMP3_OP_MODE);
+	uint8_t last_set_mode = BMP3_GET_BITS(op_mode_reg_val, BMP3_OP_MODE);

 	/* Device needs to be put in sleep mode to transition */
 	if (last_set_mode != BMP3_SLEEP_MODE) {
@@ -450,6 +439,8 @@ BMP388::set_op_mode(uint8_t op_mode)
 		px4_usleep(BMP3_POST_SLEEP_WAIT_TIME);
 	}

+	bool result = false;
+
 	if (ret == OK) {
 		ret = _interface->get_reg(BMP3_PWR_CTRL_ADDR, &op_mode_reg_val);

@@ -478,13 +469,9 @@ BMP388::set_op_mode(uint8_t op_mode)
 */
 static void parse_sensor_data(const uint8_t *reg_data, struct bmp3_uncomp_data *uncomp_data)
 {
-	uint32_t data_xlsb;
-	uint32_t data_lsb;
-	uint32_t data_msb;
-
-	data_xlsb = (uint32_t)reg_data[0];
-	data_lsb = (uint32_t)reg_data[1] << 8;
-	data_msb = (uint32_t)reg_data[2] << 16;
+	uint32_t data_xlsb = (uint32_t)reg_data[0];
+	uint32_t data_lsb = (uint32_t)reg_data[1] << 8;
+	uint32_t data_msb = (uint32_t)reg_data[2] << 16;
 	uncomp_data->pressure = data_msb | data_lsb | data_xlsb;

 	data_xlsb = (uint32_t)reg_data[3];
@@ -503,24 +490,16 @@ static void parse_sensor_data(const uint8_t *reg_data, struct bmp3_uncomp_data *
 */
 static int64_t compensate_temperature(const struct bmp3_uncomp_data *uncomp_data, struct bmp3_calib_data *calib_data)
 {
-	int64_t partial_data1;
-	int64_t partial_data2;
-	int64_t partial_data3;
-	int64_t partial_data4;
-	int64_t partial_data5;
-	int64_t partial_data6;
-	int64_t comp_temp;
-
-	partial_data1 = ((int64_t)uncomp_data->temperature - (256 * calib_data->reg_calib_data.par_t1));
-	partial_data2 = calib_data->reg_calib_data.par_t2 * partial_data1;
-	partial_data3 = (partial_data1 * partial_data1);
-	partial_data4 = (int64_t)partial_data3 * calib_data->reg_calib_data.par_t3;
-	partial_data5 = ((int64_t)(partial_data2 * 262144) + partial_data4);
-	partial_data6 = partial_data5 / 4294967296;
+	int64_t partial_data1 = ((int64_t)uncomp_data->temperature - (256 * calib_data->reg_calib_data.par_t1));
+	int64_t partial_data2 = calib_data->reg_calib_data.par_t2 * partial_data1;
+	int64_t partial_data3 = (partial_data1 * partial_data1);
+	int64_t partial_data4 = (int64_t)partial_data3 * calib_data->reg_calib_data.par_t3;
+	int64_t partial_data5 = ((int64_t)(partial_data2 * 262144) + partial_data4);
+	int64_t partial_data6 = partial_data5 / 4294967296;

 	/* Store t_lin in dev. structure for pressure calculation */
 	calib_data->reg_calib_data.t_lin = partial_data6;
-	comp_temp = (int64_t)((partial_data6 * 25) / 16384);
+	int64_t comp_temp = (int64_t)((partial_data6 * 25) / 16384);

 	return comp_temp;
 }
@@ -536,27 +515,19 @@ static uint64_t compensate_pressure(const struct bmp3_uncomp_data *uncomp_data,
 				    const struct bmp3_calib_data *calib_data)
 {
 	const struct bmp3_reg_calib_data *reg_calib_data = &calib_data->reg_calib_data;
-	int64_t partial_data1;
-	int64_t partial_data2;
-	int64_t partial_data3;
-	int64_t partial_data4;
-	int64_t partial_data5;
-	int64_t partial_data6;
-	int64_t offset;
-	int64_t sensitivity;
-	uint64_t comp_press;

-	partial_data1 = reg_calib_data->t_lin * reg_calib_data->t_lin;
-	partial_data2 = partial_data1 / 64;
-	partial_data3 = (partial_data2 * reg_calib_data->t_lin) / 256;
-	partial_data4 = (reg_calib_data->par_p8 * partial_data3) / 32;
-	partial_data5 = (reg_calib_data->par_p7 * partial_data1) * 16;
-	partial_data6 = (reg_calib_data->par_p6 * reg_calib_data->t_lin) * 4194304;
-	offset = (reg_calib_data->par_p5 * 140737488355328) + partial_data4 + partial_data5 + partial_data6;
+	int64_t partial_data1 = reg_calib_data->t_lin * reg_calib_data->t_lin;
+	int64_t partial_data2 = partial_data1 / 64;
+	int64_t partial_data3 = (partial_data2 * reg_calib_data->t_lin) / 256;
+	int64_t partial_data4 = (reg_calib_data->par_p8 * partial_data3) / 32;
+	int64_t partial_data5 = (reg_calib_data->par_p7 * partial_data1) * 16;
+	int64_t partial_data6 = (reg_calib_data->par_p6 * reg_calib_data->t_lin) * 4194304;
+	int64_t offset = (reg_calib_data->par_p5 * 140737488355328) + partial_data4 + partial_data5 + partial_data6;
 	partial_data2 = (reg_calib_data->par_p4 * partial_data3) / 32;
 	partial_data4 = (reg_calib_data->par_p3 * partial_data1) * 4;
 	partial_data5 = (reg_calib_data->par_p2 - 16384) * reg_calib_data->t_lin * 2097152;
-	sensitivity = ((reg_calib_data->par_p1 - 16384) * 70368744177664) + partial_data2 + partial_data4 + partial_data5;
+	int64_t sensitivity = ((reg_calib_data->par_p1 - 16384) * 70368744177664) + partial_data2 + partial_data4 +
+			      partial_data5;
 	partial_data1 = (sensitivity / 16777216) * uncomp_data->pressure;
 	partial_data2 = reg_calib_data->par_p10 * reg_calib_data->t_lin;
 	partial_data3 = partial_data2 + (65536 * reg_calib_data->par_p9);
@@ -568,7 +539,7 @@ static uint64_t compensate_pressure(const struct bmp3_uncomp_data *uncomp_data,
 	partial_data2 = (reg_calib_data->par_p11 * partial_data6) / 65536;
 	partial_data3 = (partial_data2 * uncomp_data->pressure) / 128;
 	partial_data4 = (offset / 4) + partial_data1 + partial_data5 + partial_data3;
-	comp_press = (((uint64_t)partial_data4 * 25) / (uint64_t)1099511627776);
+	uint64_t comp_press = (((uint64_t)partial_data4 * 25) / (uint64_t)1099511627776);

 	return comp_press;
 }
@@ -589,7 +560,7 @@ BMP388::compensate_data(uint8_t sensor_comp,
 	struct bmp3_reg_calib_data *reg_calib_data = &calib_data.reg_calib_data;
 	memcpy(reg_calib_data, _cal, 21);

-	if ((uncomp_data != NULL) && (comp_data != NULL)) {
+	if ((uncomp_data != nullptr) && (comp_data != nullptr)) {
 		if (sensor_comp & (BMP3_PRESS | BMP3_TEMP)) {
 			comp_data->temperature = compensate_temperature(uncomp_data, &calib_data);
 		}
@@ -599,10 +570,10 @@ BMP388::compensate_data(uint8_t sensor_comp,
 		}

 	} else {
-		rslt = -1;
+		rslt = ERROR;
 	}

-	return (rslt == 0);
+	return (rslt == OK);
 }

 /*!
@@ -613,13 +584,12 @@ BMP388::compensate_data(uint8_t sensor_comp,
 bool
 BMP388::get_sensor_data(uint8_t sensor_comp, struct bmp3_data *comp_data)
 {
+	uint8_t reg_data[BMP3_P_T_DATA_LEN] {};
+
+	int8_t rslt = _interface->get_reg_buf(BMP3_SENS_STATUS_REG_ADDR, reg_data, BMP3_P_T_DATA_LEN);
+
 	bool result = false;
-	int8_t rslt;
-
-	uint8_t reg_data[BMP3_P_T_DATA_LEN];
-	struct bmp3_uncomp_data uncomp_data;
-
-	rslt = _interface->get_reg_buf(BMP3_SENS_STATUS_REG_ADDR, reg_data, BMP3_P_T_DATA_LEN);
+	struct bmp3_uncomp_data uncomp_data {};

 	if (rslt == OK) {
 		uint8_t status = reg_data[0];