Update docs_crowdin_upload.yml

Fixes to docs_crowdin_upload for testing
Revert almost entirely to QGC
2026-05-31 16:10:06 +08:00 · 2025-03-19 14:52:05 +11:00 · 2025-03-19 14:32:10 +11:00 · 2025-03-19 14:05:19 +11:00
1829 changed files with 28579 additions and 61721 deletions
@@ -3,3 +3,6 @@ contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
    about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,33 +0,0 @@
-name: 📑 Documentation Bug report
-description: Create a report to help us improve the docs
-title: "[Docs] [Bug] "
-labels: ["Documentation 📑"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-      placeholder: |
-          # A PR to fix the bug is often better than adding this issue!
-          #
-          # If you can't create a PR please provide the following:
-          # - What page and/or section has the problem
-          # - What is the problem - missing information, incorrect information?
-          # - Suggested fixes, links to corresponding code PRs
-          # - Any additional context
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Page URL
-      description: The URL of the problem page.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-    validations:
-      required: false
@@ -16,15 +16,13 @@ on:
      - 'release/**'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
      - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  group_targets:
@@ -34,6 +32,7 @@ jobs:
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+      tagname: ${{ steps.set-tag.outputs.tagname }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
      - uses: actions/checkout@v4
@@ -54,13 +53,7 @@ jobs:
        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

      - id: set-branch
-        run: |
-          echo "branchname=${{
-            github.event_name == 'pull_request' &&
-            format('pr-{0}', github.event.pull_request.number) ||
-            github.head_ref ||
-            github.ref_name
-          }}" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"

      - name: Debug Matrix Output
        if: runner.debug == '1'
@@ -70,9 +63,9 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build Group [${{ matrix.group }}]
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -107,7 +100,7 @@ jobs:

      - name: Building [${{ matrix.group }}]
        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}

      - name: Arrange Build Artifacts
        run: |
@@ -125,7 +118,7 @@ jobs:
  artifacts:
    name: Upload Artifacts to S3
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
    steps:
@@ -153,12 +146,10 @@ jobs:

  release:
    name: Create Release and Upload Artifacts
-    permissions:
-      contents: write
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/')
+    if: startsWith(github.ref, 'refs/tags/v')
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v4
@@ -17,9 +17,6 @@ on:
      - 'docs/**'
      - '.github/**'

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

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

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

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

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

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

-      - name: Build and Load Container Image
+      - name: Build and load container image
        uses: docker/build-push-action@v6
        id: docker
        with:
          context: Tools/setup
-          tags: |
-            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-          labels: ${{ needs.setup.outputs.meta_labels }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-          provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          load: true
+          push: false
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

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

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

-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
-
-      - name: Create and Push Multi-Arch Manifest for GHCR
-        run: |
-          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
+      - name: Push container image
+        uses: docker/build-push-action@v6
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          provenance: mode=max
+          push: ${{ github.event_name != 'pull_request' }}
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
@@ -15,35 +15,23 @@ jobs:
  synchronize-with-crowdin:
    name: Synchronize with Crowdin
    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1 # Should be 1 to avoid parallel builds
-      matrix:
-        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
    steps:
      - name: Checkout
        uses: actions/checkout@v4
-      - name: Debug Environment Variables
-        run: |
-          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
-          echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
-      - name: Matrix
+      - name: crowdin action
        uses: crowdin/github-action@v2
        with:
          config: 'docs/crowdin_docs.yml'
          upload_sources: false
          upload_translations: false
          download_translations: true
-          commit_message: New Crowdin translations - ${{ matrix.lc }}
-          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
+          commit_message: New Crowdin translations
+          localization_branch_name: l10n_crowdin_docs_translations
          crowdin_branch_name: main
          create_pull_request: true
          pull_request_base_branch_name: 'main'
-          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
-          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
-          pull_request_labels: 'Documentation 📑'
-          pull_request_reviewers: hamishwillee
-          download_language: ${{ matrix.lc }}
+          pull_request_title: New PX4 guide translations (Crowdin)
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action)'
        env:
          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
@@ -8,18 +8,18 @@ on:
      - main
    paths:
      - 'docs/en/**'
-  #pull_request:
-  #  types:
-  #    - closed
-  #  branches:
-  #    - main
-  #  paths:
-  #    - 'docs/en/**'
+  pull_request:
+    types:
+      - closed
+    branches:
+      - main
+    paths:
+      - 'docs/en/**'
  workflow_dispatch:

 jobs:
  upload-to-crowdin:
-    #if: github.event.pull_request.merged == true || github.event_name == 'push'  || github.event_name == 'workflow_dispatch'
+    if: github.event.pull_request.merged == true || github.event_name == 'push' || github.event_name == 'workflow_dispatch'
    runs-on: ubuntu-latest

    steps:
@@ -5,6 +5,8 @@ on:
    branches:
      - 'main'
      - 'release/**'
+    tags:
+      - 'v*'
    paths:
      - 'docs/en/**'
  pull_request:
@@ -68,7 +70,7 @@ jobs:
  deploy:
    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
    needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]

    steps:
      - name: Download Artifact
@@ -79,21 +81,16 @@ jobs:

      - name: Deploy
        run: |
-          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch      
+          git clone --single-branch --branch main https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
+          rm -rf docs.px4.io/${BRANCH_NAME}
+          mkdir -p docs.px4.io/${BRANCH_NAME}
+          cp -r ~/_book/* docs.px4.io/${BRANCH_NAME}/
          cd docs.px4.io
-          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
-          git checkout --orphan "${CURRENT_DATETIME}_main"
-          rm -rf ${BRANCH_NAME}
-          mkdir -p ${BRANCH_NAME}
-          cp -r ~/_book/* ${BRANCH_NAME}/
          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add .
+          git add ${BRANCH_NAME}
          git commit -a -m "PX4 docs build update (vitepress) `date`"
-          # push branch as backup
-          git push origin "${CURRENT_DATETIME}_main"
-          # Now make main from backup and push updated
-          git branch -D main
-          git checkout -b main
+          #git add .
+          #git commit --amend -m "PX4 docs build update (vitepress) `date`"
+          #git commit --allow-empty -m "Empty commit to force rebuild"
          git push origin main -f
@@ -21,13 +21,13 @@ jobs:
      - name: Install Node.js
        uses: actions/setup-node@v3
        with:
-          node-version: '18'
+          node-version: '16'

      - name: Create logs directory
        run: |
          mkdir logs

-      - name: Get changed english doc files
+      - name: Get changed english files
        id: get_changed_markdown_english
        uses: tj-actions/changed-files@v35.9.2
        with:
@@ -48,10 +48,10 @@ jobs:
      - name: Run link checker
        id: link-check
        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md
+          npm -g install markdown_link_checker_sc@0.0.134
+          markdown_link_checker_sc -r ${{ github.workspace }} -d en -f ./docs/logs/prFiles.json -i assets -u docs.px4.io/main/ > ./docs/logs/errorsFilteredByPrPages.md
          mkdir -p ./pr
-          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+          cp ./docs/logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md

      - name: Read errorsFilteredByPrPages.md file
        id: read-errors-by-page
@@ -27,7 +27,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -39,9 +39,6 @@ jobs:
        with:
          fetch-depth: 0

-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
      - name: Install empscripten
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
@@ -28,7 +28,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev-nuttx-focal
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -80,7 +80,7 @@ jobs:
        id: bloaty-step
        with:
          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,symbols -s vm -n 20
+          bloaty-additional-args: -d sections,compileunits -s vm -n 20
          output-to-summary: true

      - name: Generate output
@@ -95,61 +95,62 @@ jobs:
          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.
+  # This part of the workflow is causing errors, we should find a way to fix this and enable this test again
  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
-  post_pr_comment:
-    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [analyze_flash]
-    env:
-      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
-      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
-      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
-      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
-    steps:
-      - name: Find Comment
-        uses: peter-evans/find-comment@v3
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+  #
+  #post_pr_comment:
+    #name: Publish Results
+    #runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    #needs: [analyze_flash]
+    #env:
+      #V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
+      #V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
+      #V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
+      #V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
+    #if: ${{ github.event.pull_request }}
+    #steps:
+      #- name: Find Comment
+        #uses: peter-evans/find-comment@v3
+        #id: fc
+        #with:
+          #issue-number: ${{ github.event.pull_request.number }}
+          #comment-author: 'github-actions[bot]'
+          #body-includes: FLASH Analysis

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

-      - name: Create or update comment
-        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
-        if: |
-          steps.fc.outputs.comment-id != '' ||
-          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+      #- name: Create or update comment
+        ## This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
+        #if: |
+          #steps.fc.outputs.comment-id != '' ||
+          #env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          #env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          #env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          #env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        #uses: peter-evans/create-or-update-comment@v4
+        #with:
+          #comment-id: ${{ steps.fc.outputs.comment-id }}
+          #issue-number: ${{ github.event.pull_request.number }}
+          #body: |
+            ### 🔎 FLASH Analysis
+            #<details>
+              #<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>

-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              #```
+            #</details>

-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+            #<details>
+              #<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>

-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              #```
+            #</details>

-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+            #**Updated: _${{ steps.bt.outputs.timestamp }}_**
+          #edit-mode: replace
@@ -1,61 +0,0 @@
-name: ITCM check
-
-permissions:
-  contents: read
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-      - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  check_itcm:
-    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - target: px4_fmu-v5x
-            scripts: >
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
-          - target: px4_fmu-v6xrt
-            scripts: >
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_tropic-community
-            scripts: >
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}
-
-      - name: Copy built ELF
-        run: cp ./build/**/*.elf ./built.elf
-
-      - name: Install itcm-check dependencies
-        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
-
-      - name: Execute the itcm-check
-        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
@@ -31,7 +31,7 @@ jobs:
    - name: Build PX4 and Run Test [${{ matrix.config }}]
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-ondemand
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -1,123 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: ROS Integration Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-ros2-galactic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
-      run: git config --system --add safe.directory '*'
-
-    - name: Install gazebo
-      run: |
-        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
-
-    - 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::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{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 = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Get and build micro-xrce-dds-agent
-      run: |
-        cd /opt
-        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-        cd Micro-XRCE-DDS-Agent
-        git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
-        sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
-        mkdir build
-        cd build
-        cmake ..
-        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
-
-    - name: Get and build the ros2 interface library
-      shell: bash
-      run: |
-        PX4_DIR="$(pwd)"
-        . /opt/ros/galactic/setup.bash
-        mkdir -p /opt/px4_ws/src
-        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        cd ..
-        # Copy messages to ROS workspace
-        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(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
-      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
-
-    - name: Core dump settings
-      run: |
-        ulimit -c unlimited
-        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run tests
-      shell: bash
-      run: |
-        . /opt/px4_ws/install/setup.bash
-        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --upload --force-color
-      timeout-minutes: 45
-
-    - name: Upload failed logs
-      if: failure()
-      uses: actions/upload-artifact@v4
-      with:
-        name: failed-logs.zip
-        path: |
-          logs/**/**/**/*.log
-          logs/**/**/**/*.ulg
-          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg
@@ -116,7 +116,7 @@ jobs:
          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}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
        timeout-minutes: 45

      - name: Upload failed logs
@@ -127,7 +127,7 @@ jobs:
          path: |
            logs/**/**/**/*.log
            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg

      - name: Look at Core files
        if: failure() && ${{ hashFiles('px4.core') != '' }}
@@ -108,4 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp

 # colcon
 log/
-keys/
@@ -231,11 +231,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: bitcraze_crazyflie_default
-    bluerobotics_navigator_default:
-      short: bluerobotics_navigator
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bluerobotics_navigator_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
@@ -301,11 +296,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7dualimu_default:
-      short: holybro_kakuteh7dualimu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7dualimu_default
    matek_h743-slim_default:
      short: matek_h743-slim
      buildType: MinSizeRel
@@ -7,34 +7,33 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma

 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
-| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
-| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
-| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
-| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>


 **Documentation Maintainers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |

 **Release Managers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>

 **Retired Maintainers**

@@ -300,8 +300,6 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

 px4io_update:
@@ -35,11 +35,8 @@ add_subdirectory(airframes)

 px4_add_romfs_files(
 	px4-rc.mavlink
+	px4-rc.params
 	px4-rc.simulator
-	px4-rc.gzsim
-	px4-rc.jmavsim
-	px4-rc.mavlinksim
-	px4-rc.sihsim
 	rc.replay
 	rcS
 )
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name HexarotorX SITL for SIH
-#
-# @type Hexarotor x
-# @class Copter
-#
-# @maintainer Matthias Grob <maetugr@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-param set SIH_VEHICLE_TYPE 4
-
-# Symmetric hexacopter X clockwise motor numbering
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.866
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 1
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.866
-param set-default CA_ROTOR2_PY 0.5
-param set-default CA_ROTOR3_PX -0.866
-param set-default CA_ROTOR3_PY -0.5
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_PX 0
-param set-default CA_ROTOR4_PY -1
-param set-default CA_ROTOR5_PX 0.866
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-param set-default EKF2_GPS_DELAY 0
@@ -37,8 +37,8 @@ param set-default RO_YAW_P 5

 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -109,7 +109,6 @@ px4_add_romfs_files(
 	10041_sihsim_airplane
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
-	10044_sihsim_hex

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
@@ -1,206 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-# Enforce minimum gz version as Harmonic (gz-sim8)
-MIN_GZ_VERSION="8.0.0"
-GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
-
-if [ -z "$GZ_SIM_VERSION" ]; then
-	echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-	exit 1
-fi
-
-# Use sort compare, check that MIN_GZ_VERSION is ordered last
-if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
-	gz_command="gz"
-	gz_sub_command="sim"
-
-	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
-
-	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-	fi
-else
-	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-	exit 1
-fi
-
-# If not standalone launch the world
-if [ -z "${PX4_GZ_STANDALONE}" ]; then
-
-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		# Setup gz environment variables
-		if [ -f ./gz_env.sh ]; then
-			. ./gz_env.sh
-
-		elif [ -f ../gz_env.sh ]; then
-			. ../gz_env.sh
-		fi
-
-		echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-		${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			echo "INFO  [init] Starting gz gui"
-			${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
-		fi
-
-	else
-		# Gazebo is already running
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
-	fi
-
-else
-	echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
-fi
-
-# Wait for Gazebo world to be ready before proceeding
-check_scene_info() {
-	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
-	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
-		return 0
-	else
-		return 1
-	fi
-}
-
-ATTEMPTS=30
-while [ $ATTEMPTS -gt 0 ]; do
-	if check_scene_info; then
-		echo "INFO  [init] Gazebo world is ready"
-		break
-	fi
-	ATTEMPTS=$((ATTEMPTS-1))
-	if [ $ATTEMPTS -eq 0 ]; then
-		echo "ERROR [init] Timed out waiting for Gazebo world"
-		exit 1
-	fi
-	echo "INFO  [init] Waiting for Gazebo world..."
-	sleep 1
-done
-
-# World is ready, check if custom location is provided
-if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
-	# must have all three
-	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
-		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
-		exit 1
-	fi
-	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
-		--reqtype gz.msgs.SphericalCoordinates \
-		--reptype gz.msgs.Boolean \
-		--timeout 1000 \
-		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
-fi
-
-# Start gz_bridge - either spawn a model or connect to existing one
-if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-	# Spawn a model
-	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
-	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
-
-	sdf_pose_str=""
-
-	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
-		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
-		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
-
-		pose_x=${pose_x:-0}
-		pose_y=${pose_y:-0}
-		pose_z=${pose_z:-0}
-		pose_roll=${pose_roll:-0}
-		pose_pitch=${pose_pitch:-0}
-		pose_yaw=${pose_yaw:-0}
-
-		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
-		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
-	fi
-
-	echo "INFO  [init] Spawning Gazebo model"
-
-	# include the actual SDF in this one, containing the pose if given
-	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
-
-	# Spawn model
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
-			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
-
-	# Wait for model to spawn
-	sleep 1
-
-	# Start gz_bridge
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
-		echo "ERROR [init] gz_bridge failed to start and spawn model"
-		exit 1
-	fi
-
-	# Set physics parameters for faster-than-realtime simulation if needed
-	if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
-		echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
-		${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
-					--reptype gz.msgs.Boolean --timeout 5000 \
-					--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
-	fi
-
-	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
-
-		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
-
-		# Set camera to follow the model
-		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
-		# Set default camera offset if not specified
-		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
-		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
-		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
-
-		# Set camera offset
-		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
-
-		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
-	fi
-
-elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-	# Connect to existing model
-	echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
-		echo "ERROR [init] gz_bridge failed to start and attach to existing model"
-		exit 1
-	fi
-else
-	echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
-	exit 1
-fi
-
-# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
-# the magnetometer sensor in the model.sdf.
-if param compare -s SENS_EN_MAGSIM 1
-then
-	sensor_mag_sim start
-fi
-# NOTE: new gz has airspeed sensor, remove once added
-if param compare -s SENS_EN_ARSPDSIM 1
-then
-	sensor_airspeed_sim start
-fi
@@ -1,14 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-echo "INFO  [init] jMAVSim simulator"
-
-if jps | grep -i jmavsim; then
-	kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
-	sleep 1
-fi
-
-param set IMU_INTEG_RATE 250
-./jmavsim_run.sh -l -r 250 &
-
-simulator_mavlink start -h localhost $((4560+px4_instance))
@@ -1,27 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-# EKF2 specifics
-param set-default EKF2_GPS_DELAY 10
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-	if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-		echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
-		simulator_mavlink start -c $simulator_tcp_port
-	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
-		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
-	fi
-
-else
-	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
-	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-fi
@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250
@@ -1,38 +0,0 @@
-#!/bin/sh
-
-echo "INFO  [init] SIH simulator"
-
-if [ -n "${PX4_HOME_LAT}" ]; then
-	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-fi
-
-if [ -n "${PX4_HOME_LON}" ]; then
-	param set SIH_LOC_LON0 ${PX4_HOME_LON}
-fi
-if [ -n "${PX4_HOME_ALT}" ]; then
-	param set SIH_LOC_H0 ${PX4_HOME_ALT}
-fi
-
-if simulator_sih start; then
-
-	if param compare -s SENS_EN_BAROSIM 1
-	then
-		sensor_baro_sim start
-	fi
-	if param compare -s SENS_EN_GPSSIM 1
-	then
-		sensor_gps_sim start
-	fi
-	if param compare -s SENS_EN_MAGSIM 1
-	then
-		sensor_mag_sim start
-	fi
-	if param compare -s SENS_EN_AGPSIM 1
-	then
-		sensor_agp_sim start
-	fi
-
-else
-	echo "ERROR [init] simulator_sih failed to start"
-	exit 1
-fi
@@ -8,18 +8,268 @@ param set-default IMU_INTEG_RATE 250
 param set-default COM_MODE_ARM_CHK 1

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-    # Run SIH
-    . px4-rc.sihsim
+
+	echo "INFO  [init] SIH simulator"
+
+	if [ -n "${PX4_HOME_LAT}" ]; then
+		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+	fi
+
+	if [ -n "${PX4_HOME_LON}" ]; then
+		param set SIH_LOC_LON0 ${PX4_HOME_LON}
+	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi
+
+	if simulator_sih start; then
+
+		if param compare -s SENS_EN_BAROSIM 1
+		then
+			sensor_baro_sim start
+		fi
+		if param compare -s SENS_EN_GPSSIM 1
+		then
+			sensor_gps_sim start
+		fi
+		if param compare -s SENS_EN_MAGSIM 1
+		then
+			sensor_mag_sim start
+		fi
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi
+
+	else
+		echo "ERROR [init] simulator_sih failed to start"
+		exit 1
+	fi

 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-    # Run Gazebo (gz)
-    . px4-rc.gzsim
+	# Use Gazebo
+
+	echo "INFO  [init] Gazebo simulator"
+
+	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
+	if [ -z "${PX4_GZ_STANDALONE}" ]; then
+
+		# "gz sim" only available in Garden and later
+		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+		then
+			# "gz sim" from Garden on
+			gz_command="gz"
+			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
+		else
+			echo "ERROR [init] Gazebo gz please install gz-garden"
+			exit 1
+		fi
+
+		# Look for an already running world
+		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+		# shellcheck disable=SC2153
+		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+			# Setup gz environment variables
+			if [ -f ./gz_env.sh ]; then
+				. ./gz_env.sh
+
+			elif [ -f ../gz_env.sh ]; then
+				. ../gz_env.sh
+			fi
+
+			echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+
+			${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+			if [ -z "${HEADLESS}" ]; then
+				echo "INFO  [init] Starting gz gui"
+				${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
+			fi
+
+			# Wait for Gazebo world to be ready before proceeding
+			check_scene_info() {
+				SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
+				if echo "$SERVICE_INFO" | grep -q "Service providers"; then
+					return 0
+				else
+					return 1
+				fi
+			}
+
+			ATTEMPTS=30
+			while [ $ATTEMPTS -gt 0 ]; do
+				if check_scene_info; then
+					echo "INFO  [init] Gazebo world is ready"
+					break
+				fi
+				ATTEMPTS=$((ATTEMPTS-1))
+				if [ $ATTEMPTS -eq 0 ]; then
+					echo "ERROR [init] Timed out waiting for Gazebo world"
+					exit 1
+				fi
+				echo "INFO  [init] Waiting for Gazebo world..."
+				sleep 1
+			done
+
+		else
+			# Gazebo is already running
+			echo "INFO  [init] gazebo already running world: ${gz_world}"
+			PX4_GZ_WORLD=${gz_world}
+		fi
+
+	else
+		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
+	fi
+
+	# Start gz_bridge - either spawn a model or connect to existing one
+	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+		# Spawn a model
+		MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
+		MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
+
+		POSE_ARG=""
+		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+			pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+			pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+			pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+			pos_x=${pos_x:-0}
+			pos_y=${pos_y:-0}
+			pos_z=${pos_z:-0}
+
+			POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+			echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
+		fi
+
+		echo "INFO  [init] Spawning model"
+
+		# Spawn model
+		${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+
+		# Wait for model to spawn
+		sleep 1
+
+		# Start gz_bridge
+		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
+			echo "ERROR [init] gz_bridge failed to start and spawn model"
+			exit 1
+		fi
+
+		# Set physics parameters for faster-than-realtime simulation if needed
+		if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
+			echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
+			${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
+						--reptype gz.msgs.Boolean --timeout 5000 \
+						--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
+		fi
+
+		# Set up camera to follow the model if requested
+		if [ -n "${PX4_GZ_FOLLOW}" ]; then
+
+			echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
+
+			# Set camera to follow the model
+			${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
+			# Set default camera offset if not specified
+			follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
+			follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
+			follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
+
+			# Set camera offset
+			${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+
+			echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
+		fi
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+		# Connect to existing model
+		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
+			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
+			exit 1
+		fi
+	else
+		echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+		exit 1
+	fi
+	# Start the sensor simulator modules
+	if param compare -s SENS_EN_BAROSIM 1
+	then
+		sensor_baro_sim start
+	fi
+	if param compare -s SENS_EN_GPSSIM 1
+	then
+		sensor_gps_sim start
+	fi
+	if param compare -s SENS_EN_MAGSIM 1
+	then
+		sensor_mag_sim start
+	fi
+	if param compare -s SENS_EN_ARSPDSIM 1
+	then
+		sensor_airspeed_sim start
+	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi

 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-    # Run jMAVSim
-    . px4-rc.jmavsim
+
+	echo "INFO  [init] jMAVSim simulator"
+
+	if jps | grep -i jmavsim; then
+		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+		sleep 1
+	fi
+
+	param set IMU_INTEG_RATE 250
+	./jmavsim_run.sh -l -r 250 &
+
+	simulator_mavlink start -h localhost $((4560+px4_instance))

 else
-    # Run simulator_mavlink module for interface with gazebo-classic
-    . px4-rc.mavlinksim
+	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			simulator_mavlink start -c $simulator_tcp_port
+		else
+			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+		fi
+
+	else
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+	fi
+
 fi
@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi

-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -236,6 +227,9 @@ then
 	exit 1
 fi

+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start

 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -295,15 +289,10 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
-	# Override, as variable is set (empty or not)
-	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
-		# Override namespace if environment variable is non-empty
-		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
-	else
-		# Clear namespace if variable is empty
-		uxrce_dds_ns=""
-	fi
+if [ -n "$PX4_UXRCE_DDS_NS" ]
+then
+	# Override namespace if environment variable is defined
+	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then
@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -37,14 +37,14 @@ param set-default RO_JERK_LIM 5
 param set-default RO_MAX_THR_SPEED 1.9

 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_I 0.01
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600

 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 2.5
+param set-default RO_YAW_P 5

 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6
@@ -30,12 +30,12 @@ param set-default RO_JERK_LIM 20
 param set-default RO_MAX_THR_SPEED 2.8

 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0

 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 2.5
+param set-default RO_YAW_P 0

 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5
@@ -15,8 +15,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_mode_manager start
-fw_lat_lon_control start
+fw_pos_control start
 airspeed_selector start

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

 param set-default COM_POS_LOW_EPH 50
@@ -20,5 +20,7 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

+param set-default GPS_UBX_DYNMODEL 6
+
 # lower RNG_FOG since MC are expected to fly closer over obstacles
 param set-default EKF2_RNG_FOG 1.0
@@ -71,6 +71,12 @@ then
 fi


+# Heater driver for temperature regulated IMUs.
+if param compare -s SENS_EN_THERMAL 1
+then
+	heater start
+fi
+
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
@@ -226,7 +232,10 @@ then

 	# compasses
 	hmc5883 -T -X -q start
-	iis2mdc -X -q start
+	if ! iis2mdc -X -q start
+	then
+		lis2mdl -X -q start
+	fi
 	ist8308 -X -q start
 	ist8310 -X -q start
 	if ! lis3mdl -X -q start
@@ -27,8 +27,7 @@ fi

 fw_rate_control start vtol
 fw_att_control start vtol
-fw_mode_manager start
-fw_lat_lon_control start vtol
+fw_pos_control start vtol
 fw_autotune_attitude_control start vtol

 # Start Land Detector
@@ -10,6 +10,9 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22

+# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
+param set-default COM_POS_FS_EPH 50
+
 param set-default COM_POS_LOW_EPH 50

 param set-default MIS_TAKEOFF_ALT 20
@@ -39,7 +39,7 @@ set VEHICLE_TYPE none
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
+# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
 set PARAM_DEFAULTS_VER 1

 #
@@ -404,14 +404,6 @@ else
 		fi
 	fi

-	# Heater driver for temperature regulated IMUs.
-	# The heater needs to start after px4io.
-	if param compare -s SENS_EN_THERMAL 1
-	then
-		heater start
-	fi
-
-
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
@@ -27,9 +27,9 @@ do
    # - An old .msg version exists
    # - A translation header exists and is included

-    # Ignore changes to comments or constants and trim whitespace
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
+    # Ignore changes to comments or constants
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
    if [ "${content_a}" == "${content_b}" ]; then
      echo "No version update required for ${file}"
      continue
@@ -86,17 +86,21 @@ def process_target(px4board_file, target_name):
    assert platform, f"PLATFORM not found in {px4board_file}"

    if platform not in excluded_platforms:
-        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+        # get the container based on the platform and toolchain
        if platform == 'posix':
+            container = 'px4io/px4-dev-base-focal:2021-09-08'
            group = 'base'
            if toolchain:
                if toolchain.startswith('aarch64'):
+                    container = 'px4io/px4-dev-aarch64:2022-08-12'
                    group = 'aarch64'
                elif toolchain == 'arm-linux-gnueabihf':
+                    container = 'px4io/px4-dev-armhf:2023-06-26'
                    group = 'armhf'
                else:
                    if verbose: print(f'unmatched toolchain: {toolchain}')
        elif platform == 'nuttx':
+            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
            group = 'nuttx'
        else:
            if verbose: print(f'unmatched platform: {platform}')
@@ -120,7 +124,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -202,7 +206,6 @@ if (args.group):
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
-        runner = 'x64' if arch == 'nuttx' else 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
        temp_group = []
@@ -220,7 +223,6 @@ if (args.group):
                    "container": grouped_targets[arch]['container'],
                    "targets": targets,
                    "arch": arch,
-                    "runner": runner,
                    "group": group_name,
                    "len": len(grouped_targets[arch]['manufacturers'][man])
                })
@@ -238,7 +240,6 @@ if (args.group):
                        "container": grouped_targets[arch]['container'],
                        "targets": targets,
                        "arch": arch,
-                        "runner": runner,
                        "group": group_name,
                        "len": len(chunk),
                    })
@@ -259,7 +260,6 @@ if (args.group):
                "container": grouped_targets[arch]['container'],
                "targets": targets,
                "arch": arch,
-                "runner": runner,
                "group": group_name,
                "len": temp_len
            })
@@ -277,7 +277,6 @@ if (args.group):
                    "container": grouped_targets[arch]['container'],
                    "targets": targets,
                    "arch": arch,
-                    "runner": runner,
                    "group": group_name,
                    "len": len(chunk),
                })
@@ -4,8 +4,8 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
-  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
+  build_dir=${build_dir::${#build_dir}-1}
  mkdir artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
  # Airframe
@@ -26,23 +26,21 @@ for build_dir_path in build/*/ ; do
  echo "----------"
 done

-if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata
-  mkdir artifacts/_general/
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  # Airframe
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  # Parameters
-  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-  # Actuators
-  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-  # Events
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # ROS 2 msgs
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # Module Docs
-  ls -la artifacts/_general/
-fi
+# general metadata
+mkdir artifacts/_general/
+cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+# Airframe
+cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+# Parameters
+cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+# Actuators
+cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+# Events
+cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+# ROS 2 msgs
+cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+# Module Docs
+ls -la artifacts/_general/
@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+
+import nacl.encoding
+import nacl.signing
+import nacl.hash
+import struct
+import binascii
+import json
+import time
+import argparse
+from pathlib import Path
+import sys
+
+def make_public_key_h_file(signing_key,key_name):
+    """
+    This file generate the public key header file
+    to be included into the bootloader build.
+    """
+    public_key_c='\n'
+    for i,c in enumerate(signing_key.verify_key.encode(encoder=nacl.encoding.RawEncoder)):
+        public_key_c+= hex(c)
+        public_key_c+= ', '
+        if((i+1)%8==0):
+            public_key_c+= '\n'
+    with open(key_name+'.pub' ,mode='w') as f:
+        f.write("//Public key to verify signed binaries")
+        f.write(public_key_c)
+
+def make_key_file(signing_key, key_name):
+    """
+    Writes the key.json file.
+    Attention do not override your existing key files.
+    Do not publish your private key!!
+    """
+
+    key_file = Path(key_name+'.json')
+    if key_file.is_file():
+        print("ATTENTION: key.json already exists, are you sure you want to overwrite it?")
+        print("Remove file and run script again.")
+        print("Script aborted!")
+        sys.exit(1)
+
+    keys={}
+    keys["date"] = time.asctime()
+    keys["public"] = (signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)).decode()
+    keys["private"] = binascii.hexlify(signing_key._seed).decode()
+    #print (keys)
+    with open(key_name+'.json', "w") as write_file:
+        json.dump(keys, write_file)
+    return keys
+
+def ed25519_sign(private_key, signee_bin):
+    """
+    This function creates the signature. It takes the private key and the binary file
+    and returns the tuple (signature, public key)
+    """
+
+    signing_key = nacl.signing.SigningKey(private_key, encoder=nacl.encoding.HexEncoder)
+
+    # Sign a message with the signing key
+    signed = signing_key.sign(signee_bin,encoder=nacl.encoding.RawEncoder)
+
+    # Obtain the verify key for a given signing key
+    verify_key = signing_key.verify_key
+
+    # Serialize the verify key to send it to a third party
+    verify_key_hex = verify_key.encode(encoder=nacl.encoding.HexEncoder)
+
+    return signed.signature, verify_key_hex
+
+
+def sign(bin_file_path, key_file_path=None, generated_key_file=None):
+    """
+    reads the binary file and the key file.
+    If the key file does not exist, it generates a
+    new key file.
+    """
+
+    with open(bin_file_path,mode='rb') as f:
+        signee_bin = f.read()
+        # Align to 4 bytes. Signature always starts at
+        # 4 byte aligned address, but the signee size
+        # might not be aligned
+        if len(signee_bin)%4 != 0:
+            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+
+    try:
+        with open(key_file_path,mode='r') as f:
+            keys = json.load(f)
+        #print(keys)
+    except:
+        print('ERROR: Key file',key_file_path,'not  found')
+        sys.exit(1)
+
+    signature, public_key = ed25519_sign(keys["private"], signee_bin)
+
+    # Do a sanity check. This type of signature is always 64 bytes long
+    assert len(signature) == 64
+
+    # Print out the signing information
+    print("Binary \"%s\" signed."%bin_file_path)
+    print("Signature:",binascii.hexlify(signature))
+    print("Public key:",binascii.hexlify(public_key))
+
+    return signee_bin + signature, public_key
+
+def generate_key(key_file):
+    """
+    Generate two files:
+      "key_file.pub" containing the public key in C-format to be included in the bootloader build
+      "key_file.json, containt both private and public key.
+    Do not leak or loose the key file. This is mandatory for signing
+    all future binaries you want to deploy!
+    """
+
+    # Generate a new random signing key
+    signing_key = nacl.signing.SigningKey.generate()
+     # Serialize the verify key to send it to a third party
+    verify_key_hex = signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)
+    print("public key :",verify_key_hex)
+
+    private_key_hex=binascii.hexlify(signing_key._seed)
+    print("private key :",private_key_hex)
+
+    keys = make_key_file(signing_key,key_file)
+    make_public_key_h_file(signing_key,key_file)
+    return keys
+
+if(__name__ == "__main__"):
+
+    parser = argparse.ArgumentParser(description="""CLI tool to calculate and add signature to px4. bin files\n
+                                                  if given it takes an existing key file, else it generate new keys""",
+                                    epilog="Output: SignedBin.bin and a key.json file")
+    parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
+    parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
+
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
+    parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
+    parser.add_argument("--genkey", help="new generated key", default=None)
+    args = parser.parse_args()
+
+    # Only generate a key pair, don't sign
+    if args.genkey:
+        # Only create a key file, don't sign
+        generate_key(args.genkey)
+        print('New key file generated:',args.genkey)
+        sys.exit(0);
+
+    # Check that both signee and signed exist
+    if not args.signee or not args.signed:
+        print("ERROR: Must either provide file names for both signee and signed")
+        print("       or --genkey [key] to generate a new key pair")
+        sys.exit(1)
+
+    # Issue a warning when signing with testing key
+    if args.key=='Tools/test_keys/test_keys.json':
+        print("WARNING: Signing with PX4 test key")
+
+    # Sign the binary
+    signed, public_key = sign(args.signee, args.key, args.genkey)
+
+    with open(args.signed, mode='wb') as fs:
+        # Write signed binary
+        fs.write(signed)
+
+    # Append rdcert if given
+    try:
+        with open(args.rdct ,mode='rb') as f:
+            with open(args.signed, mode='ab') as fs:
+                fs.write(f.read())
+    except:
+        pass
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+
+import sys
+
+try:
+    from Crypto.Cipher import ChaCha20
+except ImportError as e:
+    print("Failed to import crypto: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pycryptodome")
+    print("")
+    sys.exit(1)
+
+from Crypto.PublicKey import RSA
+from Crypto.Cipher import PKCS1_OAEP
+from Crypto.Hash import SHA256
+from pathlib import Path
+import argparse
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
+    parser.add_argument("ulog_file", help=".ulge/.ulgc, encrypted log file", nargs='?', default=None)
+    parser.add_argument("ulog_key", help=".ulgk, legacy encrypted key (give empty string '' to ignore for .ulge)", nargs='?', default=None)
+    parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
+
+    args = parser.parse_args()
+
+    # Check all arguments are given
+    if not args.rsa_key:
+        print('Need all arguments, the encrypted ulog file, key file (or empty string if not needed) and the key decryption key (.pem)')
+        sys.exit(1)
+
+    # Read the private RSA key to decrypt the cahcha key
+    with open(args.rsa_key, 'rb') as f:
+        r = RSA.importKey(f.read(), passphrase='')
+
+    if args.ulog_key == "":
+        key_data_filename = args.ulog_file
+        magic = "ULogEnc"
+    else:
+        key_data_filename = args.ulog_key
+        magic = "ULogKey"
+
+    with open(key_data_filename, 'rb') as f:
+        # Read the encrypted xchacha key and the nonce
+        ulog_key_header = f.read(22)
+
+        # Parse the header
+        try:
+            # magic
+            if not ulog_key_header.startswith(bytearray(magic.encode())):
+                print("Incorrect header magic")
+                raise Exception()
+            # version
+            if ulog_key_header[7] != 1:
+                print("Unsupported header version")
+                raise Exception()
+            # expected key exchange algorithm (RSA_OAEP)
+            if ulog_key_header[16] != 4:
+                print("Unsupported key algorithm")
+                raise Exception()
+            key_size = ulog_key_header[19] << 8 | ulog_key_header[18]
+            nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20]
+            ulog_key_cipher = f.read(key_size)
+            nonce = f.read(nonce_size)
+        except:
+            print("Keydata format error")
+            sys.exit(1)
+
+    if magic == "ULogEnc":
+        data_offset = 22 + key_size + nonce_size
+    else:
+        data_offset = 0
+
+    # Decrypt the xchacha key
+    cipher_rsa = PKCS1_OAEP.new(r,SHA256)
+    ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
+    #print(binascii.hexlify(ulog_key))
+
+    # Read and decrypt the ulog data
+    cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
+
+    outfilename = Path(args.ulog_file).stem + ".ulog"
+    with open(args.ulog_file, 'rb') as f:
+        if data_offset > 0:
+            f.seek(data_offset)
+        with open(outfilename, 'wb') as out:
+            out.write(cipher.decrypt(f.read()))
@@ -2,7 +2,19 @@

 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
+		# posix_rpi_cross, posix_bebop_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
@@ -15,9 +27,17 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
 fi

+# docker hygiene
+
+#Delete all stopped containers (including data-only containers)
+#docker rm $(docker ps -a -q)
+
+#Delete all 'untagged/dangling' (<none>) images
+#docker rmi $(docker images -q -f dangling=true)
+
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -1,185 +0,0 @@
-#! /usr/bin/env python3
-
-"""
-Checks if the functions that should be mapped to ITCM are contained in the built ELF file.
-
-This helps against linker scripts that "rot" as the linker does not warn in case of a function
-not existing. Thus, it is possible to forget to update the linker script after a code update.
-
-The tool uses the DWARF debug info and the ELF symbol table section to identify which functions
-exist in the built ELF file.
-
-It is expected that the linker scripts that are analyzed by the tool are linker script include
-files that only contain the name of the sections (functions) that should be mapped to ITCM in
-the following format:
-```
-*(.text.arm_ack_irq)
-*(.text.arm_doirq)
-*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
-*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
-[...]
-```
-
-A specific entry in the linker script file can be ignored by adding a comment, as shown in the following example:
-```
-*(.text.arm_ack_irq) /* itcm-check-ignore */
-```
-"""
-
-import argparse
-import re
-from elftools.elf.elffile import ELFFile
-from elftools.elf.sections import SymbolTableSection
-from elftools.dwarf.die import DIE
-from pathlib import Path
-from typing import List, Set
-
-
-def die_get_funcs_rec(die: DIE, ret: Set[str]):
-    """
-    Recursively gets the mangled and demangled name of all functions in the given `die`.
-
-    :param die: DIE to be processed. Is gathered recursively after passing a top DIE.
-    :param ret: Output set where all function names are added to.
-    """
-    if die.tag in ("DW_TAG_subprogram", "DW_TAG_inlined_subroutine"):
-        link_name_att = die.attributes.get("DW_AT_linkage_name")
-        name_att = die.attributes.get("DW_AT_name")
-        if link_name_att:
-            ret.add(link_name_att.value.decode("utf-8"))
-        if name_att:
-            ret.add(name_att.value.decode("utf-8"))
-
-    # Recurse into the DIE children
-    for child in die.iter_children():
-        die_get_funcs_rec(child, ret)
-
-
-def get_elf_symbols_from_debug(elf_path: Path) -> Set[str]:
-    """
-    Gets all functions contained in the built ELF file using the DWARF debug info.
-
-    :param elf_path: Path to the ELF file.
-
-    :return: The names of the contained functions.
-    """
-    ret = set()
-    with open(elf_path, 'rb') as f:
-        elf = ELFFile(f)
-        if not elf.has_dwarf_info():
-            print("ELF does not have debug info. Compile with debug info.")
-            exit(1)
-        dwarf_info = elf.get_dwarf_info()
-        for CU in dwarf_info.iter_CUs():
-            top_die = CU.get_top_DIE()
-            die_get_funcs_rec(top_die, ret)
-
-    return ret
-
-
-def get_elf_symbols_from_sections(elf_path: Path) -> Set[str]:
-    """
-    Gets all functions contained in the built ELF file using the symbol table section.
-
-    :param elf_path: Path to the ELF file.
-
-    :return: The names of the contained functions.
-    """
-    ret = set()
-    with open(elf_path, 'rb') as f:
-        elf = ELFFile(f)
-        for section in elf.iter_sections():
-            if isinstance(section, SymbolTableSection):
-                for sym in section.iter_symbols():
-                    ret.add(sym.name)
-    return ret
-
-
-def is_section_supported(section: str) -> bool:
-    """
-    Returns whether this type of section can be checked.
-
-    :param section: Name of the section that should be checked for support.
-
-    :return: Whether the type of section is supported.
-    """
-    not_supported_sections = [".isra", ".part", ".constprop"]
-    return not any(not_supported in section for not_supported in not_supported_sections)
-
-
-def get_input_sections(script_path: Path) -> List[str]:
-    """
-    Gets all sections (named after the functions) that should be mapped to ITCM according
-    to the linker script.
-
-    :param script_path: Path of the linker script.
-
-    :return: The names of the sections
-    """
-    ret = []
-    section_pattern = re.compile(r"^\*\(\.([a-zA-Z0-9_\.]+)\)$")
-    ignored_marker = "itcm-check-ignore"
-    with open(script_path, 'r') as f:
-        for line in f:
-            match = section_pattern.match(line)
-            if match and ignored_marker not in line:
-                section_name = match.group(1).replace("text.", "")
-                if is_section_supported(section_name):
-                    ret.append(section_name)
-    return ret
-
-
-def check_itcm(elf_path: Path, script_paths: List[Path]):
-    """
-    Checks if all the functions that should be mapped to ITCM are contained in the built ELF file.
-
-    :param elf_path: Path of the ELF file.
-    :param script_paths: Path of all linker scripts that should be checked.
-    """
-    elf_symbols_from_debug = get_elf_symbols_from_debug(elf_path)
-    elf_symbols_from_sections = get_elf_symbols_from_sections(elf_path)
-    elf_symbols = elf_symbols_from_debug.union(elf_symbols_from_sections)
-    input_sections = []
-    for script_path in script_paths:
-        script_input_sections = get_input_sections(script_path)
-        if script_input_sections:
-            input_sections.extend(script_input_sections)
-        else:
-            print(f"No input sections found in {script_path}, please check if the path is correct.")
-
-    check_passed = True
-    for input_section in input_sections:
-        if input_section not in elf_symbols:
-            check_passed = False
-            print(f"Section: {input_section} not found in the ELF file!")
-
-    if check_passed:
-        print("ITCM check passed!")
-        exit(0)
-    else:
-        print("ITCM check failed!")
-        exit(1)
-
-
-def main():
-    parser = argparse.ArgumentParser(description="Checks if functions marked for ITCM mapping exist in the ELF file.")
-    parser.add_argument(
-        "--elf-file",
-        help="Path of the compiled ELF file",
-        type=Path,
-        required=True
-    )
-    parser.add_argument(
-        "--script-files",
-        help="Paths of the linker script files",
-        nargs="+",
-        type=Path,
-        required=True
-    )
-
-    args = parser.parse_args()
-    check_itcm(args.elf_file, args.script_files)
-
-
-if __name__ == '__main__':
-    main()
@@ -1,86 +0,0 @@
-# PX4 Log Encryption Tools
-
-Tools for generating encryption keys, building PX4 firmware with encrypted logs, downloading logs, and decrypting them.
-
-For more information see: https://docs.px4.io/main/en/dev_log/log_encryption.html
-
-## Usage
-
-1. **Get the board file**:
-   In order to use these tools you need to create an `encrypted_logs` target in your target board directory. For example:
-   ```bash
-   encrypted_logs.px4board
-   ```
-   Using `make menuconfig` you should enable these settings: `Blake2s hash algorithm`, `entropy pool` and `strong random number generator` and select `use interrupts` to feed timing randomness to the entropy pool.
-   Once you have generated the keys make sure you add them to the boardconfig.
-
-   ```bash
-   make <your_board_name>_encrypted_logs menuconfig
-   ```
-
-2. **Generate Keys**:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-   python3 generate_keys.py
-   ```
-
-   Make sure you have the right key in your board file
-   ```CONFIG_PUBLIC_KEY1="../../../keys/public/public_key.pub"```
-
-3. **Build Firmware**:
-   ```bash
-   cd PX4-Autopilot
-
-   AND
-
-   make <your_board_name>_encrypted_logs
-
-   FOR INSTANCE
-   make_ark_fpv_encrypted_logs
-
-   Upload the custom firmware on your flight controller and record some logs
-   ```
-
-4. **Download Logs**:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-
-   python3 download_logs.py /dev/ttyACM0 --baudrate 57600
-
-   OR
-
-   python3 download_logs.py udp:0.0.0.0:14550
-   ```
-
-   Addresses might need to be adjusted
-
-5. **Decrypt Logs**:
-   The easiest way to run this is to have your private key and encrypted logs in the following folders respectively:
-   ```bash
-   PX4-Autopilot/keys/private
-   PX4-Autopilot/logs/encrypted
-   ```
-   Then run:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-
-   AND
-   # Uses default key + default folder
-   python3 decrypt_logs.py
-
-   OR
-   # Use --help to get all the options
-   python3 decrypt_logs.py --help
-   ```
-
-   Your decrypted logs can be found in:
-   ```bash
-   PX4-Autopilot/logs/decrypted
-   ```
-   Otherwise
-
-## Directory Structure
-
- **`keys/`**: Encryption keys.
- **`logs/encrypted/`**: Downloaded encrypted logs.
- **`logs/decrypted/`**: Decrypted logs.
@@ -1,135 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import argparse
-from pathlib import Path
-
-try:
-    from Crypto.Cipher import ChaCha20
-    from Crypto.PublicKey import RSA
-    from Crypto.Cipher import PKCS1_OAEP
-    from Crypto.Hash import SHA256
-except ImportError as e:
-    print("Failed to import crypto: " + str(e))
-    print("You may need to install it using:")
-    print("    pip3 install --user pycryptodome")
-    sys.exit(1)
-
-PX4_MAIN_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
-ENCRYPTED_LOGS_DIR = os.path.join(PX4_MAIN_DIR, "logs/encrypted")
-DECRYPTED_LOGS_DIR = os.path.join(PX4_MAIN_DIR, "logs/decrypted")
-DEFAULT_PRIVATE_KEY = os.path.join(PX4_MAIN_DIR, "keys/private/private_key.pem")
-
-def decrypt_log_file(ulog_file, private_key, output_folder):
-    """Decrypts a single encrypted log file (.ulge) and saves it as .ulg in the output folder."""
-
-    try:
-        # Read the private RSA key
-        with open(private_key, 'rb') as f:
-            key = RSA.import_key(f.read())
-
-        magic = "ULogEnc"
-        header_size = 22
-
-        with open(ulog_file, 'rb') as f:
-            # Encrypted .ulge file contains following sections:
-            # -------------------------
-            # | Header                |
-            # -------------------------
-            # | Wrapped symmetric key |
-            # -------------------------
-            # | Encrypted ulog data   |
-            # -------------------------
-            header = f.read(header_size)
-
-            # Parse the header
-            if not header.startswith(bytearray(magic.encode())):
-                print(f"Skipping {ulog_file}: Incorrect header magic")
-                return
-            if header[7] != 1:
-                print(f"Skipping {ulog_file}: Unsupported header version")
-                return
-            if header[16] != 4:
-                print(f"Skipping {ulog_file}: Unsupported key algorithm")
-                return
-
-            key_size = header[19] << 8 | header[18]
-            nonce_size = header[21] << 8 | header[20]
-            cipher = f.read(key_size)
-            nonce = f.read(nonce_size)
-
-        data_offset = header_size + key_size + nonce_size
-
-        # Try to decrypt the ChaCha key
-        cipher_rsa = PKCS1_OAEP.new(key, SHA256)
-        try:
-            ulog_key = cipher_rsa.decrypt(cipher)
-        except ValueError:
-            print(f"Skipping {ulog_file}: Incorrect decryption (wrong key)")
-            return
-
-        # Read and decrypt the log data
-        cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
-
-        # Save decrypted log with .ulg extension
-        output_path = os.path.join(output_folder, Path(ulog_file).stem + ".ulg")
-        with open(ulog_file, 'rb') as f:
-            if data_offset > 0:
-                f.seek(data_offset)
-            with open(output_path, 'wb') as out:
-                out.write(cipher.decrypt(f.read()))
-
-        print(f"{output_path}")
-
-    except Exception as e:
-        print(f"Skipping {ulog_file}: Error occurred - {e}")
-
-
-def decrypt_all_logs(private_key_path, log_source_path=None):
-    """Decrypts all logs in the given folder or a single file."""
-
-    if log_source_path and os.path.isfile(log_source_path):
-        logs = [log_source_path]
-    else:
-        # Use default encrypted logs directory if not provided
-        folder = log_source_path if log_source_path else ENCRYPTED_LOGS_DIR
-        logs = [os.path.join(folder, f) for f in os.listdir(folder) if f.endswith(".ulge")]
-
-    if not logs:
-        print("No encrypted logs found.")
-        return
-
-    print(f"Found {len(logs)} encrypted log(s). Decrypting...")
-
-    os.makedirs(DECRYPTED_LOGS_DIR, exist_ok=True)
-
-    for log_path in logs:
-        decrypt_log_file(log_path, private_key_path, DECRYPTED_LOGS_DIR)
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(
-    description="Decrypt PX4 encrypted log files (.ulge) using a ChaCha20+RSA scheme.\n\n"
-                "Usage examples:\n"
-                "  python3 decrypt_logs.py /path/to/private_key.pem /path/to/custom_log.ulge\n"
-                "  python3 decrypt_logs.py /path/to/private_key.pem /path/to/folder_with_ulge_files\n"
-                "  python3 decrypt_logs.py                  # Uses default key + default log folder\n",
-    formatter_class=argparse.RawTextHelpFormatter
-    )
-
-    parser.add_argument("private_key", nargs="?", default=None,
-                        help="Path to the private RSA key (.pem). If omitted, uses default key.")
-    parser.add_argument("log_file_or_folder", nargs="?", default=None,
-                        help="Path to a single .ulge file or folder containing them. If omitted, uses default encrypted log folder.")
-
-
-    args = parser.parse_args()
-
-    private_key_path = args.private_key if args.private_key else DEFAULT_PRIVATE_KEY
-
-    if not os.path.exists(private_key_path):
-        print(f"Error: Private key file not found at {private_key_path}")
-        sys.exit(1)
-
-    decrypt_all_logs(private_key_path, args.log_file_or_folder)
@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-import shutil
-import threading
-from pymavlink import mavutil
-from argparse import ArgumentParser
-
-class MavlinkLogDownloader:
-    def __init__(self, connection_url, output_dir, baudrate=57600, source_system=254):
-        self.connection_url = connection_url
-        self.output_dir = output_dir
-        self.encrypted_dir = os.path.join(output_dir, "encrypted")
-        self.running = True
-
-        # Ensure directories exist
-        os.makedirs(self.output_dir, exist_ok=True)
-        os.makedirs(self.encrypted_dir, exist_ok=True)
-
-        # # Handle serial or UDP connections
-        if os.path.exists(connection_url):  # likely a serial device
-            self.mav = mavutil.mavlink_connection(connection_url, baud=baudrate, source_system=source_system)
-        else:
-            self.mav = mavutil.mavlink_connection(connection_url, source_system=source_system)
-
-
-        self.mav.WIRE_PROTOCOL_VERSION = "2.0"
-
-        # Start heartbeat thread
-        self.heartbeat_thread = threading.Thread(target=self.send_heartbeat_thread)
-        self.heartbeat_thread.daemon = True
-        self.heartbeat_thread.start()
-
-        self.mav.wait_heartbeat()
-        print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}")
-
-        # Waking up the autopilot, it is needed to ensure we get answer for log request
-        self.mav.mav.command_long_send(
-            self.mav.target_system,
-            self.mav.target_component,
-            mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,  # Command ID 512
-            0,  # Confirmation
-            mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION,  # param1: Message ID 148
-            0, 0, 0, 0, 0, 0  # params 2–7 are not used for this message
-        )
-
-        # Allow heartbeats to establish connection
-        time.sleep(3)
-
-
-    def send_heartbeat_thread(self):
-        while self.running:
-            self.mav.mav.heartbeat_send(
-                mavutil.mavlink.MAV_TYPE_GCS,
-                mavutil.mavlink.MAV_AUTOPILOT_GENERIC,
-                0, 0, 0
-            )
-            time.sleep(1)
-
-
-    def download_logs(self):
-        """Downloads logs to the output_dir."""
-        print("Request logs...")
-        self.mav.mav.log_request_list_send(self.mav.target_system, self.mav.target_component, 0, 0xFFFF)
-
-        log_entries = {}
-        total_logs = None
-        start_time = time.time()
-        last_entry_time = None
-
-        while True:
-            current_time = time.time()
-
-            # Case 1: If we haven't received any entries yet and we've waited more than 5 seconds
-            if not log_entries and current_time > start_time + 5:
-                print("Timed out waiting for first log entry (5s)")
-                break
-
-            # Case 2: If we have received at least one entry and it's been more than 3 seconds since the last one
-            if last_entry_time and current_time - last_entry_time > 3:
-                print(f"No new log entries received for 3 seconds. Moving on.")
-                break
-
-            # Case 3: If we've received all expected logs
-            if total_logs is not None and len(log_entries) >= total_logs:
-                print(f"Received all {total_logs} log entries.")
-                break
-
-            msg = self.mav.recv_match(type='LOG_ENTRY', blocking=True, timeout=1)
-
-            if msg and msg.id not in log_entries:
-                last_entry_time = time.time()
-                log_entries[msg.id] = msg
-
-                if total_logs is None:
-                    total_logs = msg.num_logs
-
-                print(f"Log ID: {msg.id}, Size: {msg.size} bytes, Date: {msg.time_utc} ({len(log_entries)}/{total_logs})")
-
-        if not log_entries:
-            print("No log entries found.")
-            return
-
-        for entry in log_entries.values():
-            self.download_log_file(entry)
-
-        self.classify_logs()
-
-
-    def download_log_file(self, log_entry):
-        """Downloads a log file to the output_dir."""
-        log_id = log_entry.id
-        log_size = log_entry.size
-        log_date = time.strftime("%Y-%m-%d_%H-%M-%S", time.gmtime(log_entry.time_utc))
-        output_filename = os.path.join(self.output_dir, f"log-{log_date}_{log_id}.ulg")
-
-        print(f"Downloading log {log_id} ({log_size} bytes) to {output_filename}...")
-
-        with open(output_filename, 'wb') as f:
-            self.mav.mav.log_request_data_send(self.mav.target_system, self.mav.target_component, log_id, 0, 0xFFFFFFFF)
-
-            bytes_received = 0
-            while bytes_received < log_size:
-                msg = self.mav.recv_match(type='LOG_DATA', blocking=True, timeout=5)
-                if msg:
-                    data_bytes = bytes(msg.data[:msg.count])
-                    f.write(data_bytes)
-                    bytes_received += msg.count
-                else:
-                    print("Timeout waiting for log data.")
-                    break
-
-        print(f"Finished downloading log {log_id}.")
-
-    def classify_logs(self):
-        """Classifies logs as encrypted (.ulge) based on file content."""
-        for log_file in os.listdir(self.output_dir):
-            log_path = os.path.join(self.output_dir, log_file)
-
-            if not os.path.isfile(log_path):
-                continue
-
-            # Read first 10 bytes to check for "ULogEnc"
-            with open(log_path, 'rb') as f:
-                first_bytes = f.read(10)
-
-            if b'ULogEnc' in first_bytes:
-                new_filename = log_file.replace(".ulg", ".ulge")
-                new_path = os.path.join(self.encrypted_dir, new_filename)
-                print(f"Found encrypted log: {new_path}")
-                shutil.move(log_path, new_path)
-
-
-    def cleanup(self):
-        """Stop the heartbeat thread and clean up resources."""
-        self.running = False
-        if self.heartbeat_thread.is_alive():
-            self.heartbeat_thread.join(timeout=2.0)
-
-
-def main():
-    parser = ArgumentParser(description="Download PX4 log files over MAVLink.")
-    parser.add_argument('connection_url', help="MAVLink connection URL (e.g., udp:0.0.0.0:14550, /dev/ttyACM0 --baudrate 57600)")
-    parser.add_argument('--output', '-o', default=os.path.join(os.path.dirname(__file__), "../..", "logs"), help="Output directory for log files (default: ../../logs)")
-    parser.add_argument('--baudrate', type=int, default=57600, help="Baudrate for serial connection (default: 57600)")
-    parser.add_argument('--source-system', type=int, default=254, help="MAVLink source system ID (default: 254)")
-
-
-    args = parser.parse_args()
-
-    output_dir = os.path.abspath(args.output)
-
-    print(f"Connecting to {args.connection_url}...")
-    log_downloader = MavlinkLogDownloader(
-        args.connection_url,
-        output_dir,
-        baudrate=args.baudrate,
-        source_system=args.source_system
-    )
-
-
-    try:
-        log_downloader.download_logs()
-    finally:
-        log_downloader.cleanup()
-
-if __name__ == '__main__':
-    main()
@@ -1,59 +0,0 @@
-import os
-import subprocess
-
-# Define the main PX4 directory (one level up from Tools)
-PX4_MAIN_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
-
-# Define the key folder paths
-KEY_FOLDER = os.path.join(PX4_MAIN_DIR, "keys")
-PUBLIC_KEY_FOLDER = os.path.join(KEY_FOLDER, "public")
-PRIVATE_KEY_FOLDER = os.path.join(KEY_FOLDER, "private")
-
-# Define the key file paths
-PRIVATE_KEY_PATH = os.path.join(PRIVATE_KEY_FOLDER, "private_key.pem")
-PUBLIC_KEY_DER_PATH = os.path.join(PUBLIC_KEY_FOLDER, "public_key.der")
-PUBLIC_KEY_PUB_PATH = os.path.join(PUBLIC_KEY_FOLDER, "public_key.pub")
-
-def create_key_folders():
-    """Creates key, public, and private folders if they do not exist."""
-    for folder in [KEY_FOLDER, PUBLIC_KEY_FOLDER, PRIVATE_KEY_FOLDER]:
-        if not os.path.exists(folder):
-            os.makedirs(folder)
-            print(f"Created '{folder}' directory.")
-        else:
-            print(f"'{folder}' directory already exists.")
-
-def generate_private_key():
-    """Generates a private key if it does not exist."""
-    if not os.path.exists(PRIVATE_KEY_PATH):
-        print("Generating private key...")
-        subprocess.run(["openssl", "genpkey", "-algorithm", "RSA", "-out", PRIVATE_KEY_PATH, "-pkeyopt", "rsa_keygen_bits:2048"])
-        print(f"Private key generated at: {PRIVATE_KEY_PATH}")
-    else:
-        print("Private key already exists.")
-
-def generate_public_key():
-    """Generates a public key in DER and PUB formats if they do not exist."""
-    if not os.path.exists(PUBLIC_KEY_DER_PATH):
-        print("Generating public key in DER format...")
-        subprocess.run(["openssl", "rsa", "-pubout", "-in", PRIVATE_KEY_PATH, "-outform", "DER", "-out", PUBLIC_KEY_DER_PATH])
-        print(f"Public key (DER) generated at: {PUBLIC_KEY_DER_PATH}")
-    else:
-        print("Public key (DER) already exists.")
-
-    if not os.path.exists(PUBLIC_KEY_PUB_PATH):
-        print("Generating public key in hex format...")
-        with open(PUBLIC_KEY_PUB_PATH, "w") as pub_file:
-            process = subprocess.Popen(["xxd", "-p", PUBLIC_KEY_DER_PATH], stdout=subprocess.PIPE)
-            output, _ = process.communicate()
-            hex_string = output.decode().strip().replace("\n", "")
-            formatted_hex = ", ".join(f"0x{hex_string[i:i+2]}" for i in range(0, len(hex_string), 2))
-            pub_file.write(formatted_hex)
-        print(f"Public key (hex) generated at: {PUBLIC_KEY_PUB_PATH}")
-    else:
-        print("Public key (hex) already exists.")
-
-if __name__ == "__main__":
-    create_key_folders()
-    generate_private_key()
-    generate_public_key()
@@ -30,12 +30,12 @@ def find_matching_brackets(brackets, s, verbose):

 def extract_timer(line):
    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
-    search = re.search('Timer::([0-9a-zA-Z_]+)[,)]', line, re.IGNORECASE)
+    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
        return search.group(1), 'generic'

    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,)]', line, re.IGNORECASE)
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
    if search:
        return (search.group(1) + '_' +  search.group(2)), 'imxrt'

@@ -2,7 +2,6 @@

 """
 Generate docs from .msg files
-Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 """

 import os
@@ -10,99 +9,6 @@ import argparse
 import sys


-import yaml
-
-def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
-    """
-    Generates human readable version of dds_topics.yaml.
-    Default output is to docs/en/middleware/dds_topics.md
-    """
-
-    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
-    output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
-
-    try:
-        with open(dds_file_path, 'r') as file:
-            data = yaml.safe_load(file)
-
-        # Get messages and topics that are not published by default
-        # Start by getting all that are published.
-        all_messages_in_source = set()
-        all_message_types =set()
-        all_topics =set()
-        for message in data["publications"]:
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
-        for message in data["subscriptions"]:
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
-        if data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-            for message in data["subscriptions_multi"]:
-                all_message_types.add(message['type'].split("::")[-1])
-                all_topics.add(message['topic'].split('/')[-1])
-        for message in allMessageFiles:
-            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
-        messagesNotExported = all_messages_in_source - all_message_types
-
-        # write out the dds file
-        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
-
-::: info
-This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
-:::
-
-
-The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
-
-This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
-
-## Publications
-
-Topic | Type| Rate Limit
--- | --- | ---
-"""
-
-        for message in data["publications"]:
-            type = message['type']
-            px4Type=type.split("::")[-1]
-            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
-
-        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
-
-        for message in data["subscriptions"]:
-            type = message['type']
-            px4Type=type.split("::")[-1]
-            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
-
-        dds_markdown += "\n## Subscriptions Multi\n\n"
-
-        if not data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-        else:
-            print("Warning - we now have subscription_multi data - check format")
-            dds_markdown += "Topic | Type\n--- | ---\n"
-            for message in data["subscriptions_multi"]:
-                dds_markdown += f"{message['topic']} | {message['type']}\n"
-
-        if messagesNotExported:
-            # Print the topics that are not exported to DDS
-            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
-            dds_markdown += "\n\n::: details See messages\n"
-            for item in  messagesNotExported:
-                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
-            dds_markdown += "\n:::\n" # End of details block
-
-        #print(dds_markdown)
-        with open(output_file_path, 'w') as content_file:
-                content_file.write(dds_markdown)
-
-    except yaml.YAMLError as exc:
-        print(f"Error parsing YAML: {exc}")
-    except FileNotFoundError:
-        print(f"Error: {dds_file_path} not found.")
-
-
 def get_msgs_list(msgdir):
    """
    Makes a list of relative paths of .msg files in the given directory
@@ -124,7 +30,6 @@ def get_msgs_list(msgdir):


 if __name__ == "__main__":
-
    parser = argparse.ArgumentParser(description='Generate docs from .msg files')
    parser.add_argument('-d', dest='dir', help='output directory', required=True)
    args = parser.parse_args()
@@ -227,5 +132,3 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
    index_file = os.path.join(output_dir, 'index.md')
    with open(index_file, 'w') as content_file:
            content_file.write(index_text)
-
-    generate_dds_yaml_doc(msg_files)
@@ -59,7 +59,7 @@ from sys import platform as _platform

 def get_version():
    """
-        Get PX4-Autopilot Latest Git Tag.
+        Get PX4 Firmware latest Git tag.
    """
    px4_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))

@@ -74,7 +74,7 @@ def get_version():
            exit(1)
    else:
        # Else, get it from remote repo tags (requires network access)
-        cmd = "git ls-remote --tags git@github.com:PX4/PX4-Autopilot.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"
+        cmd = "git ls-remote --tags git://github.com/PX4/Firmware.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"

        try:
            version = subprocess.check_output(
@@ -94,7 +94,7 @@ else:


 def main():
-    print("PX4 Release", get_version())
+    print("PX4 release", get_version())


 if __name__ == '__main__':
@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
 ## Categories
 """
        for category in sorted(module_groups):
-            result += f"- [{category.capitalize()}](modules_{category}.md)\n"
+            result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)

        self._outputs['main'] = result

        for category in sorted(module_groups):
-            result = f"# Modules Reference: {category.capitalize()}\n\n"
+            result = "# Modules Reference: %s\n" % category.capitalize()
            subcategories = module_groups[category]
-
            if len(subcategories) > 1:
-                result += 'Subcategories:\n\n'
-                for subcategory in sorted(subcategories): 
+                result += 'Subcategories:\n'
+                for subcategory in subcategories:
                    if subcategory == '':
                        continue
                    subcategory_label = subcategory.replace('_', ' ').title()
                    subcategory_file_name = category+'_'+subcategory
-                    result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'
+                    result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)

                    # add a sub-page for the subcategory
-                    result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
+                    result_subpage = '# Modules Reference: %s (%s)\n' % \
+                        (subcategory_label, category.capitalize())
                    result_subpage += self._ProcessModules(subcategories[subcategory])
                    self._outputs[subcategory_file_name] = result_subpage

@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
    def _ProcessModules(self, module_list):
        result = ''
        for module in module_list:
-            result += f"\n## {module.name()}\n\n"
-            result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
+            result += "## %s\n" % module.name()
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
            doc = module.documentation()
            if len(doc) > 0:
-                result += f"{doc}\n"
+                result += "%s\n" % doc
            usage_string = module.usage_string()
            if len(usage_string) > 0:
-                result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
+                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
        return result

    def Save(self, dirname):
@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
    """

    # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this

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

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

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

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

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

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

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

-GREEN='\033[0;32m'
-NO_COLOR='\033[0m' # No Color
-SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
-
-echo -e "$SCRIPTID Starting"
-
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo -e "$SCRIPTID Starting Xvfb"
+	echo "[docker-entrypoint.sh] Starting Xvfb"
 	Xvfb :99 -screen 0 1600x1200x24+32 &
 fi

 # Check if the ROS_DISTRO is passed and use it
 # to source the ROS environment
 if [ -n "${ROS_DISTRO}" ]; then
-	echo -e "$SCRIPTID ROS: ${ROS_DISTRO}"
+	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

-echo -e "$SCRIPTID ($( uname -m ))"
-
 exec "$@"
@@ -1,2 +1 @@
-pyelftools>=0.32,<1
 symforce>=0.9.0
@@ -26,4 +26,3 @@ setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
-pycryptodome
@@ -27,12 +27,9 @@ do
 	fi
 done

-echo "[ubuntu.sh] Starting..."
-echo "[ubuntu.sh] arch: $INSTALL_ARCH"
-
 # detect if running in docker
-if [ "$RUNS_IN_DOCKER" = "true" ]; then
-	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
+if [ -f /.dockerenv ]; then
+	echo "Running within docker, installing initial dependencies";
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
@@ -50,7 +47,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
 	return 1
 fi

@@ -58,8 +55,10 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "[ubuntu.sh] Ubuntu ${UBUNTU_RELEASE}"
-echo "[ubuntu.sh] Installing PX4 general dependencies"
+echo "Ubuntu ${UBUNTU_RELEASE}"
+
+echo
+echo "Installing PX4 general dependencies"

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -92,7 +91,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i

 # Python3 dependencies
 echo
-echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
+echo "Installing PX4 Python3 dependencies"
 PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
 REQUIRED_VERSION="3.11"
 if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
@@ -110,18 +109,18 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
-	sudo apt-get update -y --quiet
+	echo "Installing NuttX dependencies"
+
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
 		build-essential \
 		curl \
-		clang \
-		clang-tidy \
-		clang-format \
 		flex \
+		g++-multilib \
+		gcc-arm-none-eabi \
+		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -140,8 +139,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libstdc++-arm-none-eabi-newlib \
 		libtool \
 		libunwind-dev \
-		lldb \
-		lld \
 		pkg-config \
 		screen \
 		texinfo \
@@ -150,21 +147,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;

-	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			g++-multilib \
-			gcc-arm-none-eabi \
-			gcc-multilib \
-			;
-	fi
-
-	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			g++-aarch64-linux-gnu \
-			g++-arm-linux-gnueabihf \
-			;
-	fi
-
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
@@ -175,7 +157,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then

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

 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -200,8 +182,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-		echo "[ubuntu.sh] Earlier versions will be removed"
+		echo "Gazebo (Harmonic) will be installed"
+		echo "Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
@@ -70,7 +70,7 @@ export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
 if [[ -n "$HEADLESS" ]]; then
 	echo "not running flightgear gui"
 else
-	export FG_AIRCRAFT="${src_path}/Tools/simulation/jsbsim/jsbsim_bridge/models"
+	export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"

 	$FG_BINARY --fdm=null \
 		--native-fdm=socket,in,60,,5550,udp \
@@ -10,7 +10,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -42,8 +41,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -132,7 +132,6 @@ ENTRY(_stext)
 */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi2,
-	.npart = 1,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
-		},
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs = 1,
-	.entries  = {
-		&fmum_fram
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = {
-		&mtd_mft
-	}
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}
@@ -46,8 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -129,7 +129,7 @@ __EXPORT void board_on_reset(int status)
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -15,7 +15,6 @@ CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -20,7 +20,6 @@ CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -21,7 +21,6 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -36,7 +36,6 @@ CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_UAVCANNODE_RAW_AIR_DATA=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
@@ -107,7 +107,7 @@ icm20948_i2c_passthrough -X -q start
 hmc5883 -T -X -q start
 ist8308 -X -q start
 ist8310 -X -q start
-iis2mdc -X -q start
+lis2mdl -X -q start
 lis3mdl -X -q start
 qmc5883l -X -q start
 rm3100 -X -q start
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -25,16 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -56,8 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -76,7 +66,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -1,8 +0,0 @@
-CONFIG_DRIVERS_BATT_SMBUS=n
-CONFIG_DRIVERS_PX4IO=n
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -84,8 +84,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -296,7 +294,6 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART5_RXBUFSIZE=800
 CONFIG_UART5_RXDMA=y
 CONFIG_UART5_TXBUFSIZE=10000
 CONFIG_UART5_TXDMA=y
@@ -127,9 +127,6 @@
 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
 #define SPI6_RESET(on_true)          px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))

-// ADIS16507 hardware reset
-#define GPIO_ADIS16507_RESET(reset) SPI6_RESET(reset)
-
 /* I2C busses */

 /* Devices on the onboard buses.
@@ -8,8 +8,6 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=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
@@ -27,7 +25,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
@@ -37,8 +34,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -57,11 +53,9 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -1,7 +0,0 @@
-
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -34,25 +34,75 @@
 #pragma once

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

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

 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       // 1 BDMA:11 SPI J11
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
@@ -82,8 +82,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -260,6 +258,8 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -270,7 +270,6 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -1,6 +0,0 @@
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -82,8 +82,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -17,7 +17,6 @@ CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -59,6 +59,7 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE

 #define FLASH_BASED_PARAMS
+#define RAM_BASED_MISSIONS

 // Hacks for MAVLink RC button input
 #define ATL_MANTIS_RC_INPUT_HACKS
@@ -1,5 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
@@ -1,56 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_COMMON_HYGROMETERS=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_ARMING_STATUS=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
-CONFIG_UAVCANNODE_ESC_STATUS=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_AIR_DATA=y
-CONFIG_UAVCANNODE_RAW_IMU=y
-CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 83,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the ARK CANnode board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ARKCANNODE",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2080768,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default MBE_ENABLE 0
-param set-default SENS_IMU_CLPNOTI 0
-param set-default SENS_EN_AUAVX 1
-
-pwm_out start
-
-dshot start
@@ -1,123 +0,0 @@
-#!/bin/sh
-#
-# board sensors init
-#------------------------------------------------------------------------------
-icm42688p -R 0 -s start
-
-if param compare -s SENS_EN_BATT 1
-then
-	batt_smbus start -X
-fi
-
-# Lidar-Lite on I2C
-if param compare -s SENS_EN_LL40LS 2
-then
-	ll40ls start -X
-fi
-
-# mappydot lidar sensor
-if param compare -s SENS_EN_MPDT 1
-then
-	mappydot start -X
-fi
-
-# mb12xx sonar sensor
-if param greater -s SENS_EN_MB12XX 0
-then
-	mb12xx start -X
-fi
-
-# Lightware i2c lidar sensor
-if param greater -s SENS_EN_SF1XX 0
-then
-	lightware_laser_i2c start -X
-fi
-
-# vl53l1x i2c distance sensor
-if param compare -s SENS_EN_VL53L1X 1
-then
-	vl53l1x start -X
-fi
-
-# ADIS16448 spi external IMU
-if param compare -s SENS_EN_ADIS164X 1
-then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
-fi
-
-# Eagle Tree airspeed sensor external I2C
-if param compare -s SENS_EN_ETSASPD 1
-then
-	ets_airspeed start -X
-fi
-
-# Sensirion SDP3X differential pressure sensor external I2C
-if param compare -s SENS_EN_SDP3X 1
-then
-	if ! sdp3x start -X
-	then
-		# try another common address
-		sdp3x start -X -a 0x22
-	fi
-fi
-
-# SHT3x temperature and hygrometer sensor, external I2C
-if param compare -s SENS_EN_SHT3X 1
-then
-	sht3x start -X
-	sht3x start -X -a 0x45
-fi
-
-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
-then
-	ms4525do start -X
-fi
-
-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
-then
-	ms5525dso start -X
-fi
-
-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-then
-	irlock start -X
-fi
-
-# SPL06 sensor external I2C
-if param compare -s SENS_EN_SPL06 1
-then
-	spl06 -X start
-	spl06 -X -a 0x77 start
-fi
-
-# AUAV absolute/differential pressure sensor external I2C
-if param greater -s SENS_EN_AUAVX 0
-then
-	auav start -D -X
-	auav start -A -X
-fi
-
-# probe for optional external I2C devices
-icm20948_i2c_passthrough -X -q start
-
-# compasses
-hmc5883 -T -X -q start
-ist8308 -X -q start
-ist8310 -X -q start
-iis2mdc -X -q start
-lis3mdl -X -q start
-qmc5883l -X -q start
-rm3100 -X -q start
-
-# start last (wait for possible icm20948 passthrough mode)
-ak09916 -X -q start
@@ -1,56 +0,0 @@
-#
-# 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_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/cannode/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_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=4096
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BINFMT_DISABLE=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_INIT_STACKSIZE=4096
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=0
-CONFIG_NUNGET_CHARS=0
-CONFIG_PREALLOC_TIMERS=0
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_FLASH_CONFIG_G=y
-CONFIG_STM32_NOEXT_VECTORS=y
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_USEC_PER_TICK=1000
@@ -1,149 +0,0 @@
-/************************************************************************************
- * configs/px4fmu/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.
- *
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
-
-#include <nuttx/config.h>
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include <stm32.h>
-
-/* HSI - 8 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - 8  MHz Crystal
- * LSE - not installed
- */
-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        8000000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-
-/* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
-
-#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
-
-#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
-#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
-
-#define STM32_SYSCLK_FREQUENCY  96000000ul
-
-/* AHB clock (HCLK) is SYSCLK (96MHz) */
-#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/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#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)
-
-/* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
-
-/* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
-
-/* Alternate function pin selections ************************************************/
-
-/* UARTs */
-#define GPIO_USART1_RX	GPIO_USART1_RX_2
-#define GPIO_USART1_TX	GPIO_USART1_TX_3
-
-#define GPIO_USART2_RX	GPIO_USART2_RX_1
-#define GPIO_USART2_TX	GPIO_USART2_TX_1
-
-/* CAN */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
-
-/* SPI */
-#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
-
-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_2  /* PB13 */
-
-/* I2C */
-#define GPIO_MCU_I2C1_SCL
-#define GPIO_MCU_I2C1_SDA
-
-#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
-#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_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#endif /* __ARCH_BOARD_BOARD_H */
@@ -1,50 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
-
-// Assigned in timer_config.cpp
-
-// Timer 2                                    /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
-// Timer 3                                    /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP   */
-// Timer 4                                    /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP   */
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Hamish Willee	22ca615485	Update docs_crowdin_upload.yml	2025-03-19 14:52:05 +11:00
Hamish Willee	7c6dfc76fb	Fixes to docs_crowdin_upload for testing	2025-03-19 14:32:10 +11:00
Hamish Willee	2cfbae81d9	Revert almost entirely to QGC	2025-03-19 14:05:19 +11:00