MPC: LAND: create Stop motion primitive to also be used elsewhere

Expanded Vehicleconstraints to xy for emergency braking
MPC: LAND: Split Landing out of the FlightTask Auto, any by that is able to compensate initial velocities better.
2026-05-25 21:17:35 +08:00 · 2024-12-16 15:30:30 +01:00 · 2024-12-16 15:30:30 +01:00 · 2024-12-16 15:30:30 +01:00 · 2024-12-16 16:16:25 +03:00 · 2024-12-16 10:49:13 +01:00
214 changed files with 4393 additions and 2087 deletions
@@ -25,28 +25,27 @@ jobs:
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
          "px4_sitl_allyes",
-          "airframe_metadata",
          "module_documentation",
-          "parameters_metadata",
        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
+      - name: Building [${{ matrix.check }}]
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}
+
+      - name: Uploading Coverage to Codecov.io
+        if: contains(matrix.check, 'coverage')
+        uses: codecov/codecov-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: unittests
+          file: coverage/lcov.info
@@ -11,13 +11,17 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{secrets.ACCESS_TOKEN}}
+        fetch-depth: 0

-    - uses: corrupt952/actions-retry-command@v1.0.7
+    - name: Testing (clang-tidy-quiet)
+      uses: addnab/docker-run-action@v3
      with:
-        command: make clang-tidy-quiet
-        max_attempts: 3
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy-quiet
@@ -19,13 +19,11 @@ jobs:
          ]
    steps:
    - name: install Python 3.10
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
      with:
        python-version: "3.10"

-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
+    - uses: actions/checkout@v4

    - name: setup
      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
@@ -37,7 +35,7 @@ jobs:
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
-      uses: actions/cache@v2
+      uses: actions/cache@v4
      with:
        path: ~/.ccache
        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -25,8 +25,14 @@ jobs:
          submodules: false
          fetch-depth: 0

+      - name: Set PX4 Tag
+        id: px4-tag
+        run: |
+          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 }}
@@ -44,16 +50,15 @@ jobs:
        with:
          images: |
            ghcr.io/PX4/px4-dev
-            px4io/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
          tags: |
-            type=schedule
            type=semver,pattern={{version}}
            type=semver,pattern={{major}}.{{minor}}
            type=semver,pattern={{major}}
-            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}},priority=600
+            type=ref,event=branch,value=${{ steps.px4-tag.outputs.tag }},priority=700
+            type=ref,event=branch,suffix=-{{date 'YYYY-MM-DD'}},priority=600
            type=ref,event=branch,suffix=,priority=500
            type=ref,event=pr
-            type=sha

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
@@ -1,21 +1,28 @@
 name: EKF Change Indicator

-on: pull_request
+on:
+  pull_request:
+    branches:
+    - '*'

 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
+
    - name: main test
-      run: make tests TESTFILTER=EKF
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
    - name: Check if there is a functional change
      run: git diff --exit-code
      working-directory: src/modules/ekf2/test/change_indication
@@ -5,25 +5,40 @@ on: push
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
    steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
+
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
      working-directory: src/modules/ekf2/test/change_indication
+
    - name: auto-commit any changes to change indication
      uses: stefanzweifel/git-auto-commit-action@v4
      with:
-        commit_message: '[AUTO COMMIT] update change indication'
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
        commit_user_name: ${GIT_COMMITTER_NAME}
        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
+        commit_message: |
+          '[AUTO COMMIT] update change indication'
+
+          See .github/workflopws/ekf_update_change_indicator.yml for more details
+
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
      run: exit 1
@@ -24,21 +24,23 @@ jobs:
      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - name: Install Node v20.18.0
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20.18.0

-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install empscripten
+        run: |
+          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+          cd _emscripten_sdk
+          ./emsdk install latest
+          ./emsdk activate latest
+
+      - name: Testing [${{ matrix.check }}]
+        run: |
+          . ./_emscripten_sdk/emsdk_env.sh
+          make ${{ matrix.check }}
@@ -8,6 +8,10 @@ on:
    branches:
      - '*'

+env:
+  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
+  MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
+
 jobs:
  analyze_flash:
    name: Analyzing ${{ matrix.target }}
@@ -18,8 +22,10 @@ jobs:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
    outputs:
-      px4_fmu-v5x: ${{ steps.gen-output.outputs.output_px4_fmu-v5x }}
-      px4_fmu-v6x: ${{ steps.gen-output.outputs.output_px4_fmu-v6x }}
+      px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
+      px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
+      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
+      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -30,19 +36,20 @@ jobs:
        run: git config --system --add safe.directory '*'

      - name: Build Target
-        run: make ${{ matrix.target }}
+        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF with the change
-        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./with-change.elf
+        run: cp ./build/**/*.elf ./with-change.elf

      - name: Clean previous build
        run: |
          make clean
          make distclean

-      - name: If it's a PR checkout the base commit
+      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
-        run: git checkout ${{ github.event.pull_request.base.sha }}
+        # As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
+        run: git checkout ${{ github.event.pull_request.base.ref }}

      - name: If it's a push checkout the previous commit
        if: github.event_name == 'push'
@@ -52,30 +59,39 @@ jobs:
        run: make submodulesupdate

      - name: Build
-        run: make ${{ matrix.target }}
+        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF before the change
-        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./before-change.elf
+        run: cp ./build/**/*.elf ./before-change.elf

      - name: bloaty-action
-        uses: carlosperate/bloaty-action@v1.1.0
+        uses: PX4/bloaty-action@v1.0.0
        id: bloaty-step
        with:
-          bloaty-args: -d sections,compileunits -n 0 ./with-change.elf -- ./before-change.elf
+          bloaty-file-args: ./with-change.elf -- ./before-change.elf
+          bloaty-additional-args: -d sections,compileunits -s vm -n 20
          output-to-summary: true

      - name: Generate output
        id: gen-output
        run: |
          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-          echo "output_${{ matrix.target }}<<$EOF" >> $GITHUB_OUTPUT
+          echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
          echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT
+          echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
+          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
+          echo "$EOF" >> $GITHUB_OUTPUT

  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: ${{ github.event.pull_request }}
    steps:
      - name: Find Comment
@@ -92,25 +108,32 @@ jobs:
          echo "timestamp=$(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
+            ## 🔎 FLASH Analysis
            <details>
-              <summary>px4_fmu-v5x</summary>
+              <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 }}
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
              ```
            </details>

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

@@ -11,131 +11,26 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
        config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "iris",          mission: "MC_mission_box"}
+          - {vehicle: "rover",         mission: "rover_mission_1"}

-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0

-    - 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::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - name: Build SITL and Run Tests
+      uses: addnab/docker-run-action@v3
      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{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 = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
@@ -17,120 +17,21 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}

-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0

-    - 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::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - name: Build PX4 and Run Tests
+      uses: addnab/docker-run-action@v3
      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{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 = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
@@ -11,22 +11,27 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
    strategy:
      matrix:
        config: [
-          px4_fmu-v5,
+          px4_fmu-v5_default,
          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}

-    - name: make ${{matrix.config}}
-      env:
-        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
-      run: |
-        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-        make ${{matrix.config}} nuttx_context
-        # Check that the config option is set
-        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+          make ${{ matrix.config }} nuttx_context
+          echo "Check that the config option is set"
+          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -12,14 +12,18 @@ jobs:
  build:
    runs-on: ubuntu-24.04
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
+
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+
    - name: Install tools
      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+
    - name: Check MAVSDK test scripts with flake8
      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
@@ -231,9 +231,13 @@ pipeline {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
              sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
              sh('rm -rf px4_msgs')
@@ -2,7 +2,7 @@

 [![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)

-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

 [![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

@@ -38,4 +38,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

+param set-default EKF2_GPS_DELAY 0
+
 param set SIH_VEHICLE_TYPE 0
@@ -45,7 +45,9 @@ param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 202
-param set-default PWM_MAIN_FUNC5 203
-param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+
+param set-default EKF2_GPS_DELAY 0
@@ -11,6 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

+param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters

 param set-default SENS_EN_GPSSIM 1
@@ -0,0 +1 @@
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
@@ -26,7 +26,6 @@ param set-default RD_MAX_THR_SPD 2.15
 param set-default RD_SPEED_P 0.1
 param set-default RD_SPEED_I 0.01
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 2
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 param set-default RD_MAX_YAW_ACCEL 1000
@@ -29,7 +29,6 @@ param set-default RD_MAX_SPEED 8
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0.1
 param set-default RD_MAX_YAW_RATE 30
-param set-default RD_MISS_SPD_DEF 8
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

@@ -13,18 +13,18 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge

 # Rover parameters
 param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_MAN_YAW_SCALE 0.1
-param set-default RM_YAW_RATE_I 0
-param set-default RM_YAW_RATE_P 0.01
+param set-default RM_YAW_RATE_I 0.1
+param set-default RM_YAW_RATE_P 0.1
 param set-default RM_MAX_ACCEL 3
+param set-default RM_MAX_DECEL 5
 param set-default RM_MAX_JERK 5
-param set-default RM_MAX_SPEED 4
-param set-default RM_MAX_THR_SPD 7
-param set-default RM_MAX_THR_YAW_R 7.5
+param set-default RM_MAX_SPEED 2
+param set-default RM_MAX_THR_SPD 2.2
+param set-default RM_MAX_THR_YAW_R 1.2
 param set-default RM_YAW_P 5
 param set-default RM_YAW_I 0.1
-param set-default RM_MAX_YAW_RATE 180
-param set-default RM_MISS_SPD_DEF 3
+param set-default RM_MAX_YAW_RATE 120
+param set-default RM_MAX_YAW_ACCEL 240
 param set-default RM_MISS_VEL_GAIN 1
 param set-default RM_SPEED_I 0.01
 param set-default RM_SPEED_P 0.1
@@ -42,23 +42,23 @@ param set-default SENS_EN_ARSPDSIM 0

 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100

 param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100

 param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
-param set-default SIM_GZ_WH_MIN3 0
-param set-default SIM_GZ_WH_MAX3 200
+param set-default SIM_GZ_WH_MIN3 70
+param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100

 param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
-param set-default SIM_GZ_WH_MIN4 0
-param set-default SIM_GZ_WH_MAX4 200
+param set-default SIM_GZ_WH_MIN4 70
+param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100

 param set-default SIM_GZ_WH_REV 10
@@ -0,0 +1,97 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.23
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.23
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.23
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.23
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default FD_FAIL_R 70
+
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.5
+param set-default FW_PSP_OFF 2
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.2
+param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
+param set-default FW_YR_I 0
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
+param set-default FW_AIRSPD_STALL 10
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 18
+param set-default FW_AIRSPD_MAX 22
+
+param set-default MC_AIRMODE 2
+param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_FW_DIFTHR_EN 7
+param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0
+
+param set-default EKF2_FUSE_BETA 0
@@ -49,6 +49,7 @@ px4_add_romfs_files(
 	1022_gazebo-classic_uuv_bluerov2_heavy
 	1030_gazebo-classic_plane
 	1031_gazebo-classic_plane_cam
+	1031_gazebo-classic_plane_cam.post
 	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
@@ -89,6 +90,7 @@ px4_add_romfs_files(
 	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
+	4018_gz_quadtailsitter

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -33,6 +33,10 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		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"
@@ -153,6 +157,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 	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

@@ -12,28 +12,24 @@

 . ${R}etc/init.d/rc.fw_defaults

-
 param set UAVCAN_ENABLE 0

 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10

-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
+param set HIL_ACT_REV 1
+param set HIL_ACT_FUNC1 201
+param set HIL_ACT_FUNC2 202
+param set HIL_ACT_FUNC3 203
+param set HIL_ACT_FUNC4 101

 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
@@ -21,7 +21,6 @@

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

-
 param set-default MAV_TYPE 14

 param set-default CA_ROTOR_COUNT 8
@@ -11,7 +11,6 @@

 . ${R}etc/init.d/rc.heli_defaults

-
 # Disable PID gains for initial setup. These should be enabled after setting the FF gain.
 # P is expected to be lower than FF.
 param set-default MC_ROLLRATE_P 0
@@ -22,7 +22,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-
 param set-default BAT1_CAPACITY 2500
 param set-default BAT1_N_CELLS 3

@@ -41,7 +40,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

-
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -20,7 +20,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-
 param set-default BAT1_CAPACITY 3300
 param set-default BAT1_N_CELLS 3

@@ -19,7 +19,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30

-
 param set-default CA_ROTOR_COUNT 12
 # Bottom motors
 param set-default CA_ROTOR0_PX 0
@@ -21,7 +21,6 @@ param set-default MC_PITCHRATE_P 0.08
 param set-default MC_PITCHRATE_D 0.001
 param set-default MC_YAW_P 4

-
 param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000
@@ -38,7 +38,6 @@ param set-default COM_FLTMODE5 -1
 param set-default COM_FLTMODE6  1
 param set-default COM_RC_LOSS_T 3

-
 # ekf2
 param set-default EKF2_BARO_NOISE 2

@@ -79,19 +78,16 @@ param set-default EKF2_RNG_POS_Z 0.033

 param set-default EKF2_TERR_NOISE 1

-
 # Maximum allowed angle velocity in the landed state
 param set-default LNDMC_ROT_MAX 40

 # Maximum vertical velocity allowed in the landed state
 param set-default LNDMC_Z_VEL_MAX 0.7

-
 # filtering
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 65

-
 # Pitch angle & rate setting
 param set-default MC_PITCHRATE_P 0.075
 param set-default MC_PITCHRATE_I 0.1
@@ -148,7 +144,6 @@ param set-default RC_MAP_RETURN_SW  7

 param set-default RC1_TRIM          1000

-
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
@@ -30,7 +30,6 @@ param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

 # System
-
 param set-default SENS_BOARD_ROT 10

 # EKF2
@@ -18,7 +18,6 @@
 #
 . ${R}etc/init.d/rc.mc_defaults

-
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0
@@ -85,6 +84,5 @@ param set-default PWM_MAIN_MAX3 255

 param set-default SENS_FLOW_MINRNG 0.05

-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
@@ -31,7 +31,6 @@ param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_MAX_YAW_ACCEL 600
 param set-default RD_MAX_YAW_RATE 250
-param set-default RD_MISS_SPD_DEF 1.5
 param set-default RD_SPEED_P 0.1
 param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
@@ -41,7 +40,6 @@ param set-default RD_YAW_I 0.1
 param set-default RD_YAW_RATE_P 0.1
 param set-default RD_YAW_RATE_I 0.01

-
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
@@ -15,7 +15,6 @@

 . ${R}etc/init.d/rc.rover_defaults

-
 param set-default BAT1_N_CELLS 2

 param set-default EKF2_ANGERR_INIT 0.01
@@ -22,7 +22,6 @@

 . ${R}etc/init.d/rc.uuv_defaults

-
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
-param set-default COM_POS_FS_DELAY 5
-
 # 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
@@ -211,6 +211,13 @@ then
 	spl06 -X -a 0x77 start
 fi

+# SPA06 sensor external I2C
+if param compare -s SENS_EN_SPA06 1
+then
+	spa06 -X start
+	spa06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -386,6 +386,7 @@ else
 			sensor_baro_sim start
 			sensor_mag_sim start
 			sensor_gps_sim start
+			sensor_agp_sim start
 		fi

 	else
@@ -43,7 +43,7 @@ fi

 # install git pre-commit hook
 HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
-if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
+if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
 	echo ""
 	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
 	echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"
@@ -73,7 +73,7 @@ def process_target(px4board_file, target_name):
        px4board_file.endswith("bootloader.px4board"):
        kconf.load_config(px4board_file, replace=True)
    else: # Merge config with default.px4board
-        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
+        default_kconfig = re.sub(r'[a-zA-Z\d_-]+\.px4board', 'default.px4board', px4board_file)
        kconf.load_config(default_kconfig, replace=True)
        kconf.load_config(px4board_file, replace=False)

@@ -1,62 +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.Cipher import ChaCha20
 from Crypto.Hash import SHA256
-import binascii
+from pathlib import Path
 import argparse
-#from pathlib import Path
-import sys
+

 if __name__ == "__main__":

    parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
-    parser.add_argument("ulog_file", help=".ulog file", nargs='?', default=None)
-    parser.add_argument("ulog_key", help=".ulogk, encrypted key", nargs='?', default=None)
+    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()

-    # Only generate a key pair, don't sign
-    if not args.ulog_file or not args.ulog_key or not args.rsa_key:
-        print('Need all arguments, the encrypted ulog file, the key and the key decryption key')
-        sys.exit(1);
+    # 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='')

-    # Read the encrypted xchacha key and the nonce
-    with open(args.ulog_key, 'rb') as f:
+    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("ULogKey".encode())):
+            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];
+            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("Keyfile format error")
-            sys.exit(1);
+            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 .ulgc
+    # 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:
-        with open(args.ulog_file.rstrip(args.ulog_file[-1]), 'wb') as out:
+        if data_offset > 0:
+            f.seek(data_offset)
+        with open(outfilename, 'wb') as out:
            out.write(cipher.decrypt(f.read()))
@@ -11,9 +11,22 @@ import sys

 def get_msgs_list(msgdir):
    """
-    Makes list of msg files in the given directory
+    Makes a list of relative paths of .msg files in the given directory
+    and its subdirectories.
+
+    Parameters:
+    msgdir (str): The directory to search for .msg files.
+
+    Returns:
+    list: A list of relative paths to .msg files.
    """
-    return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
+    msgs = []
+    for root, _, files in os.walk(msgdir):
+        for fn in files:
+            if fn.endswith(".msg"):
+                relative_path = os.path.relpath(os.path.join(root, fn), msgdir)
+                msgs.append(relative_path)
+    return msgs


 if __name__ == "__main__":
@@ -29,10 +42,11 @@ if __name__ == "__main__":
    msg_files = get_msgs_list(msg_path)
    msg_files.sort()

-    filelist_in_markdown=''
+    versioned_msgs_list = ''
+    unversioned_msgs_list = ''

    for msg_file in msg_files:
-        msg_name = os.path.splitext(msg_file)[0]
+        msg_name = os.path.splitext(os.path.basename(msg_file))[0]
        output_file = os.path.join(output_dir, msg_name+'.md')
        msg_filename = os.path.join(msg_path, msg_file)
        print("{:} -> {:}".format(msg_filename, output_file))
@@ -81,10 +95,17 @@ if __name__ == "__main__":
        with open(output_file, 'w') as content_file:
            content_file.write(markdown_output)

-        index_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
-        if summary_description:
-            index_markdown_file_link+=" — %s" % summary_description
-        filelist_in_markdown+=index_markdown_file_link+"\n"
+        # Categorize as versioned or unversioned
+        if "versioned" in msg_file:
+            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                versioned_msgs_list += " — %s" % summary_description
+            versioned_msgs_list += "\n"
+        else:
+            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                unversioned_msgs_list += " — %s" % summary_description
+            unversioned_msgs_list += "\n"

    # Write out the index.md file
    index_text="""# uORB Message Reference
@@ -94,10 +115,20 @@ This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Too
 :::

 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
+
+[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment.
+These messages are most likely shared through the PX4-ROS 2 Bridge.
+
 Graphs showing how these are used [can be found here](../middleware/uorb_graph.md).

+## Versioned Messages
+
 %s
-    """ % (filelist_in_markdown)
+
+## Unversioned Messages
+
+%s
+    """ % (versioned_msgs_list, unversioned_msgs_list)
    index_file = os.path.join(output_dir, 'index.md')
    with open(index_file, 'w') as content_file:
            content_file.write(index_text)
@@ -137,7 +137,7 @@ div.frame_variant td, div.frame_variant th {
                            #print(output_name,value, attribstrs[0].strip(),attribstrs[1].strip())
                    outputs += '</ul>'
                    if has_outputs:
-                        outputs_entry = '<p><b>Specific Outputs:</b>' + outputs + '</p>'
+                        outputs_entry = '<br><b>Specific Outputs:</b>' + outputs
                    else:
                        outputs_entry = ''

@@ -179,17 +179,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			gazebo_classic_version=11
 			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
 		fi
-	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-		echo "Gazebo (Garden) 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 jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo
-		gazebo_packages="gz-garden"
 	else
 		# Expects Ubuntu 22.04 > by default
 		echo "Gazebo (Harmonic) will be installed"
@@ -0,0 +1 @@
+CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
@@ -46,9 +46,8 @@
 /* CAN  Silent mode control */
 #define GPIO_CAN1_SILENT_S0   /* PB7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)

-// TODO: figure out
 /* Boot config */
-//#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+#define GPIO_BOOT_CONFIG      /* PC14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN14|GPIO_EXTI)

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
 #define GPIO_nLED_RED          /* PB0  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
@@ -68,6 +67,10 @@
 // TODO figure out
 #define GPIO_GETNODEINFO_JUMPER 0 //(GPIO_BOOT_CONFIG & ~GPIO_EXTI)

+// CAN termination set by param, available from RC02
+#define GPIO_CAN1_TERMINATION /* PA12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
 #define FLASH_BASED_PARAMS

 /* High-resolution timer */
@@ -96,6 +96,7 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_CAN1_TX);

 	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);

 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();
@@ -11,4 +11,7 @@ then
 	icm42688p -R 6 -s start
 fi

-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi
@@ -12,4 +12,7 @@ then
  fi
 fi

-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi
@@ -9,4 +9,7 @@ then
 	icm42688p -R 0 -s start
 fi

-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi
@@ -67,7 +67,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
@@ -0,0 +1 @@
+CONFIG_BOARD_LINKER_PREFIX="flash-analysis"
@@ -0,0 +1,6 @@
+INCLUDE "script.ld"
+
+MEMORY
+{
+    FLASH_AXIM (rx) : ORIGIN = 0x08008000, LENGTH = 10080K
+}
@@ -68,7 +68,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -0,0 +1 @@
+CONFIG_BOARD_LINKER_PREFIX="flash-analysis"
@@ -0,0 +1,6 @@
+INCLUDE "script.ld"
+
+MEMORY
+{
+    FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 10080K
+}
@@ -52,6 +52,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
 CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
@@ -40,19 +40,14 @@ set(msg_files
 	ActionRequest.msg
 	ActuatorArmed.msg
 	ActuatorControlsStatus.msg
-	ActuatorMotors.msg
 	ActuatorOutputs.msg
-	ActuatorServos.msg
 	ActuatorServosTrim.msg
 	ActuatorTest.msg
 	AdcReport.msg
 	Airspeed.msg
 	AirspeedValidated.msg
 	AirspeedWind.msg
-	ArmingCheckReply.msg
-	ArmingCheckRequest.msg
 	AutotuneAttitudeControlStatus.msg
-	BatteryStatus.msg
 	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
@@ -61,7 +56,6 @@ set(msg_files
 	CanInterfaceStatus.msg
 	CellularStatus.msg
 	CollisionConstraints.msg
-	ConfigOverrides.msg
 	ControlAllocatorStatus.msg
 	Cpuload.msg
 	DatamanRequest.msg
@@ -109,7 +103,6 @@ set(msg_files
 	GimbalManagerSetAttitude.msg
 	GimbalManagerSetManualControl.msg
 	GimbalManagerStatus.msg
-	GotoSetpoint.msg
 	GpioConfig.msg
 	GpioIn.msg
 	GpioOut.msg
@@ -119,7 +112,6 @@ set(msg_files
 	Gripper.msg
 	HealthReport.msg
 	HeaterStatus.msg
-	HomePosition.msg
 	HoverThrustEstimate.msg
 	InputRc.msg
 	InternalCombustionEngineStatus.msg
@@ -135,7 +127,6 @@ set(msg_files
 	LogMessage.msg
 	MagnetometerBiasEstimate.msg
 	MagWorkerData.msg
-	ManualControlSetpoint.msg
 	ManualControlSwitches.msg
 	MavlinkLog.msg
 	MavlinkTunnel.msg
@@ -144,7 +135,6 @@ set(msg_files
 	Mission.msg
 	MissionResult.msg
 	MountOrientation.msg
-	ModeCompleted.msg
 	NavigatorMissionItem.msg
 	NavigatorStatus.msg
 	NormalizedUnsignedSetpoint.msg
@@ -181,8 +171,6 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RegisterExtComponentReply.msg
-	RegisterExtComponentRequest.msg
 	RoverAckermannGuidanceStatus.msg
 	RoverAckermannSetpoint.msg
 	RoverAckermannStatus.msg
@@ -223,7 +211,6 @@ set(msg_files
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
 	TrajectoryBezier.msg
-	TrajectorySetpoint.msg
 	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
@@ -231,39 +218,52 @@ set(msg_files
 	UavcanParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
-	UnregisterExtComponent.msg
 	VehicleAcceleration.msg
 	VehicleAirData.msg
 	VehicleAngularAccelerationSetpoint.msg
-	VehicleAngularVelocity.msg
-	VehicleAttitude.msg
-	VehicleAttitudeSetpoint.msg
-	VehicleCommand.msg
-	VehicleCommandAck.msg
 	VehicleConstraints.msg
-	VehicleControlMode.msg
-	VehicleGlobalPosition.msg
 	VehicleImu.msg
 	VehicleImuStatus.msg
-	VehicleLandDetected.msg
-	VehicleLocalPosition.msg
 	VehicleLocalPositionSetpoint.msg
 	VehicleMagnetometer.msg
-	VehicleOdometry.msg
 	VehicleOpticalFlow.msg
 	VehicleOpticalFlowVel.msg
-	VehicleRatesSetpoint.msg
 	VehicleRoi.msg
-	VehicleStatus.msg
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
 	VehicleTrajectoryBezier.msg
 	VehicleTrajectoryWaypoint.msg
 	VelocityLimits.msg
-	VtolVehicleStatus.msg
 	WheelEncoders.msg
 	Wind.msg
 	YawEstimatorStatus.msg
+	versioned/ActuatorMotors.msg
+	versioned/ActuatorServos.msg
+	versioned/ArmingCheckReply.msg
+	versioned/ArmingCheckRequest.msg
+	versioned/BatteryStatus.msg
+	versioned/ConfigOverrides.msg
+	versioned/GotoSetpoint.msg
+	versioned/HomePosition.msg
+	versioned/ManualControlSetpoint.msg
+	versioned/ModeCompleted.msg
+	versioned/RegisterExtComponentReply.msg
+	versioned/RegisterExtComponentRequest.msg
+	versioned/TrajectorySetpoint.msg
+	versioned/UnregisterExtComponent.msg
+	versioned/VehicleAngularVelocity.msg
+	versioned/VehicleAttitude.msg
+	versioned/VehicleAttitudeSetpoint.msg
+	versioned/VehicleCommandAck.msg
+	versioned/VehicleCommand.msg
+	versioned/VehicleControlMode.msg
+	versioned/VehicleGlobalPosition.msg
+	versioned/VehicleLandDetected.msg
+	versioned/VehicleLocalPosition.msg
+	versioned/VehicleOdometry.msg
+	versioned/VehicleRatesSetpoint.msg
+	versioned/VehicleStatus.msg
+	versioned/VtolVehicleStatus.msg
 )
 list(SORT msg_files)

@@ -315,7 +315,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -336,7 +336,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--json
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_source_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -374,7 +374,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${ucdr_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
@@ -396,7 +396,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_source_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -447,7 +447,7 @@ if(CONFIG_LIB_CDRSTREAM)
 	# Copy .msg files
 	foreach(msg_file ${msg_files})
 		get_filename_component(msg ${msg_file} NAME_WE)
-		configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
+		configure_file(${msg_file} ${idl_out_path}/${msg}.msg COPYONLY)
 		list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
 		list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
 		list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
@@ -492,7 +492,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			--uorb-idl-header
 			-f ${msg_files}
-			-i ${CMAKE_CURRENT_SOURCE_DIR}
+			-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 			-o ${idl_uorb_path}
 			-e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream
 		DEPENDS
@@ -5,7 +5,7 @@ float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward s
 float32 lateral_speed_setpoint            # [m/s] Desired lateral speed
 float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
 float32 yaw_rate_setpoint                 # [rad/s] Desired yaw rate
-float32 yaw_rate_setpoint_normalized      # [-1, 1] Desired normalized yaw rate
+float32 speed_diff_setpoint_normalized    # [-1, 1] Normalized speed difference between the left and right wheels
 float32 yaw_setpoint 	                  # [rad] Desired yaw (heading)

 # TOPICS rover_mecanum_setpoint
@@ -1,13 +1,17 @@
 uint64 timestamp # time since system start (microseconds)

-float32 measured_forward_speed        # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
-float32 measured_lateral_speed        # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
-float32 adjusted_yaw_rate_setpoint    # [rad/s] Yaw rate setpoint output of the closed loop yaw controller
-float32 measured_yaw_rate  	      # [rad/s] Measured yaw rate
-float32 measured_yaw        	      # [rad] Measured yaw
-float32 pid_yaw_rate_integral  	      # Integral of the PID for the closed loop yaw rate controller
-float32 pid_yaw_integral       	      # Integral of the PID for the closed loop yaw controller
-float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
-float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
+float32 measured_forward_speed          # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
+float32 measured_lateral_speed          # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
+float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
+float32 measured_yaw_rate  	        # [rad/s] Measured yaw rate
+float32 clyaw_yaw_rate_setpoint         # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
+float32 adjusted_yaw_rate_setpoint      # [rad/s] Yaw rate setpoint from the closed loop yaw controller
+float32 measured_yaw        	        # [rad] Measured yaw
+float32 adjusted_yaw_setpoint           # [rad] Yaw setpoint after applying slew rate
+float32 pid_yaw_rate_integral  	        # Integral of the PID for the closed loop yaw rate controller
+float32 pid_yaw_integral       	        # Integral of the PID for the closed loop yaw controller
+float32 pid_forward_throttle_integral   # Integral of the PID for the closed loop forward speed controller
+float32 pid_lateral_throttle_integral   # Integral of the PID for the closed loop lateral speed controller

 # TOPICS rover_mecanum_status
@@ -5,5 +5,6 @@ uint64 timestamp # time since system start (microseconds)

 float32 speed_up # in meters/sec
 float32 speed_down # in meters/sec
+float32 speed_xy # in meters/sec

 bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
@@ -1,4 +1,7 @@
 # Motor control message
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled

@@ -1,4 +1,7 @@
 # Servo control message
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 uint8 request_id
@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 # broadcast message to request all registered arming checks to be reported
@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp				# time since system start (microseconds)
 bool connected					# Whether or not a battery is connected, based on a voltage threshold
 float32 voltage_v				# Battery voltage in volts, 0 if unknown
@@ -1,4 +1,7 @@
 # Configurable overrides by (external) modes or mode executors
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)

 bool disable_auto_disarm         # Prevent the drone from automatically disarming after landing (if configured)
@@ -5,6 +5,8 @@
 # Unset optional setpoints are not controlled
 # Unset optional constraints default to vehicle specifications

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 # setpoints
@@ -1,5 +1,7 @@
 # GPS home position in WGS84 coordinates.

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)

 float64 lat				# Latitude in degrees
@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp                        # time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)

@@ -2,6 +2,9 @@
 # The possible values of nav_state are defined in the VehicleStatus msg.
 # Note that this is not always published (e.g. when a user switches modes or on
 # failsafe activation)
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp				 # time since system start (microseconds)


@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 uint64 request_id          # ID from the request
@@ -1,4 +1,7 @@
 # Request to register an external component
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 uint64 request_id                  # ID, set this to a random value
@@ -3,6 +3,8 @@
 # Needs to be kinematically consistent and feasible for smooth flight.
 # setting a value to NaN means the state should not be controlled

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 # NED local world frame
@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 char[25] name                      # either the mode name, or component name
@@ -1,3 +1,4 @@
+uint32 MESSAGE_VERSION = 0

 uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample   # timestamp of the data sample on which this message is based (microseconds)
@@ -1,6 +1,8 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
 # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp                # time since system start (microseconds)

 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)

 float32 yaw_sp_move_rate	# rad/s (commanded by user)
@@ -1,6 +1,8 @@
 # Vehicle Command uORB message. Used for commanding a mission / action / etc.
 # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp					# time since system start (microseconds)

 uint16 VEHICLE_CMD_CUSTOM_0 = 0				# test command
@@ -2,6 +2,8 @@
 # Used for acknowledging the vehicle command being received.
 # Follows the MAVLink COMMAND_ACK message definition

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)

 # Result cases. This follows the MAVLink MAV_RESULT enum definition
@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 bool flag_armed			# synonym for actuator_armed.armed

@@ -5,6 +5,8 @@
 # e.g. control inputs of the vehicle in a Kalman-filter implementation.
 #

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp	# time since system start (microseconds)

 bool freefall		# true if vehicle is currently in free-fall
@@ -1,6 +1,8 @@
 # Fused local position in NED.
 # The coordinate system origin is the vehicle position at the time when the EKF2-module was started.

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)

@@ -1,4 +1,7 @@
 # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_sample

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp	# time since system start (microseconds)

 # body angular rates in FRD frame
@@ -1,5 +1,7 @@
 # Encodes the system state of the vehicle published by commander

+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)

 uint64 armed_time # Arming timestamp (microseconds)
@@ -1,4 +1,7 @@
 # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
+
+uint32 MESSAGE_VERSION = 0
+
 uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
@@ -11,6 +11,7 @@ menu "barometer"
        select DRIVERS_BAROMETER_MS5611
        select DRIVERS_BAROMETER_MAIERTEK_MPC2520
        select DRIVERS_BAROMETER_GOERTEK_SPL06
+        select DRIVERS_BAROMETER_GOERTEK_SPA06
        select DRIVERS_BAROMETER_INVENSENSE_ICP101XX
        select DRIVERS_BAROMETER_INVENSENSE_ICP201XX
        ---help---
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2022-2024 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
@@ -32,3 +32,4 @@
 ############################################################################

 add_subdirectory(spl06)
+add_subdirectory(spa06)
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__barometer__spa06
+	MAIN spa06
+	SRCS
+		SPA06.cpp
+		SPA06.hpp
+		SPA06_I2C.cpp
+		SPA06_SPI.cpp
+		spa06_main.cpp
+	DEPENDS
+		px4_work_queue
+	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_BAROMETER_GOERTEK_SPA06
+	bool "spa06"
+	default n
+	---help---
+		Enable support for spa06
@@ -0,0 +1,259 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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 "SPA06.hpp"
+
+SPA06::SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *interface) :
+	I2CSPIDriver(config),
+	_interface(interface),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
+{
+}
+
+SPA06::~SPA06()
+{
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+/*
+float
+SPA06::scale_factor(int oversampling_rate)
+{
+	float k;
+
+	switch (oversampling_rate) {
+	case 1:
+		k = 524288.0f;
+		break;
+
+	case 2:
+		k = 1572864.0f;
+		break;
+
+	case 4:
+		k = 3670016.0f;
+		break;
+
+	case 8:
+		k = 7864320.0f;
+		break;
+
+	case 16:
+		k = 253952.0f;
+		break;
+
+	case 32:
+		k = 516096.0f;
+		break;
+
+	case 64:
+		k = 1040384.0f;
+		break;
+
+	case 128:
+		k = 2088960.0f;
+		break;
+
+	default:
+		k = 0;
+		break;
+	}
+
+	return k;
+}
+*/
+
+int
+SPA06::calibrate()
+{
+	uint8_t buf[21];
+
+	_interface->read(SPA06_ADDR_CAL, buf, sizeof(buf));
+
+	_cal.c0 = (uint16_t)(buf[0]) << 4 | (uint16_t)(buf[1]) >> 4;
+	// If value is negative, we need to fill the missing bits.
+	_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
+
+	_cal.c1 = (uint16_t)(buf[1] & 0x0F) << 8 | buf[2];
+	_cal.c1 = (_cal.c1 & 1 << 11) ? (0xf000 | _cal.c1) : _cal.c1;
+
+	_cal.c00 = (uint32_t)(buf[3]) << 12 | (uint32_t)(buf[4]) << 4 | (buf[5]) >> 4;
+	_cal.c00 = (_cal.c00 & 1 << 19) ? (0xfff00000 | _cal.c00) : _cal.c00;
+
+	_cal.c10 = (uint32_t)(buf[5] & 0x0F) << 16 | (uint32_t)(buf[6]) << 8 | buf[7];
+	_cal.c10 = (_cal.c10 & 1 << 19) ? (0xfff00000 | _cal.c10) : _cal.c10;
+
+	_cal.c01 = (uint16_t)(buf[8]) << 8 | buf[9];
+
+	_cal.c11 = (uint16_t)(buf[10]) << 8 | buf[11];
+
+	_cal.c20 = (uint16_t)(buf[12]) << 8 | buf[13];
+
+	_cal.c21 = (uint16_t)(buf[14]) << 8 | buf[15];
+
+	_cal.c30 = (uint16_t)(buf[16]) << 8 | buf[17];
+
+	_cal.c31 = (uint16_t)(buf[18]) << 4 | (uint16_t)(buf[19] & 0xF0) >> 4;
+	_cal.c31 = (_cal.c31 & 1 << 11) ? (0xf000 | _cal.c31) : _cal.c31;
+
+	_cal.c40 = (uint16_t)(buf[19] & 0x0F) << 8 | buf[20];
+	_cal.c40 = (_cal.c40 & 1 << 11) ? (0xf000 | _cal.c40) : _cal.c40;
+
+	PX4_DEBUG("c0:%d\nc1:%d\nc00:%ld\nc10:%ld\nc01:%d\nc11:%d\nc20:%d\nc21:%d\nc30:%d\nc31:%d\nc40:%d\n",
+		  _cal.c0, _cal.c1,
+		  _cal.c00, _cal.c10,
+		  _cal.c01, _cal.c11, _cal.c20, _cal.c21, _cal.c30, _cal.c31, _cal.c40);
+
+	return OK;
+}
+int
+SPA06::init()
+{
+	int8_t tries = 5;
+	// reset sensor
+	_interface->set_reg(SPA06_VALUE_RESET, SPA06_ADDR_RESET);
+	usleep(10000);
+
+	// check id
+	if (_interface->get_reg(SPA06_ADDR_ID) != SPA06_VALUE_ID) {
+		PX4_DEBUG("id of your baro is not: 0x%02x", SPA06_VALUE_ID);
+		return -EIO;
+	}
+
+	while (tries--) {
+		uint8_t meas_cfg = _interface->get_reg(SPA06_ADDR_MEAS_CFG);
+
+		if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
+			break;
+		}
+
+		usleep(10000);
+	}
+
+	if (tries < 0) {
+		PX4_DEBUG("spa06 sensor or coef not ready");
+		return -EIO;
+	}
+
+	// get calibration and pre process them
+	calibrate();
+
+	// set config, recommended settings
+	_interface->set_reg(_curr_prs_cfg, SPA06_ADDR_PRS_CFG);
+	kp = 253952.0f; // refer to scale_factor()
+	_interface->set_reg(_curr_tmp_cfg, SPA06_ADDR_TMP_CFG);
+	kt = 524288.0f;
+
+	// Enable FIFO
+	_interface->set_reg(1 << 2, SPA06_ADDR_CFG_REG);
+	// Continuous pressure and temperature mesasurement.
+	_interface->set_reg(7, SPA06_ADDR_MEAS_CFG);
+
+	Start();
+
+	return OK;
+}
+
+void
+SPA06::Start()
+{
+	// schedule a cycle to start things
+	ScheduleNow();
+}
+
+void
+SPA06::RunImpl()
+{
+	collect();
+
+	ScheduleDelayed(_measure_interval);
+}
+int
+SPA06::collect()
+{
+	perf_begin(_sample_perf);
+
+	// this should be fairly close to the end of the conversion, so the best approximation of the time
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	if (_interface->read(SPA06_ADDR_DATA, (uint8_t *)&_data, sizeof(_data)) != OK) {
+		perf_count(_comms_errors);
+		perf_cancel(_sample_perf);
+		return -EIO;
+	}
+
+	int32_t temp_raw = (uint32_t)_data.t_msb << 16 | (uint32_t)_data.t_lsb << 8 | (uint32_t)_data.t_xlsb;
+	temp_raw = (temp_raw & 1 << 23) ? (0xff000000 | temp_raw) : temp_raw;
+
+	int32_t press_raw = (uint32_t)_data.p_msb << 16 | (uint32_t) _data.p_lsb << 8 | (uint32_t) _data.p_xlsb;
+	press_raw = (press_raw & 1 << 23) ? (0xff000000 | press_raw) : press_raw;
+
+	// calculate
+	float ftsc = (float)temp_raw / kt;
+	float fpsc = (float)press_raw / kp;
+	float qua2 = (float)_cal.c10 + fpsc * ((float)_cal.c20 + fpsc * ((float)_cal.c30) + fpsc * (float)_cal.c40);
+	float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * ((float)_cal.c21) + fpsc * (float)_cal.c31);
+
+	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
+	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
+
+
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = fp;
+	sensor_baro.temperature = temperature;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
+
+	perf_end(_sample_perf);
+
+	return OK;
+}
+
+void
+SPA06::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_measure_perf);
+	perf_print_counter(_comms_errors);
+}
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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
+
+#include "spa06.h"
+
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <lib/perf/perf_counter.h>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
+
+class SPA06 : public I2CSPIDriver<SPA06>
+{
+public:
+	SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *interface);
+	virtual ~SPA06();
+
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
+	static void print_usage();
+
+	int			init();
+	void			print_status();
+
+	void			RunImpl();
+private:
+	void			Start();
+	// float scale_factor(int oversampling_rate);
+
+	int			collect(); //get results and publish
+	int			calibrate();
+
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+
+	spa06::ISPA06		*_interface;
+	spa06::data_s		_data;
+	spa06::calibration_s	_cal{};
+
+	// set config, recommended settings
+	//
+	// oversampling rate  : single | 2       | 4       | 8       | 16     | 32     | 64      | 128
+	// scale factor(KP/KT): 524288 | 1572864 | 3670016 | 7864320 | 253952 | 516096 | 1040384 | 2088960
+
+	// configuration of pressure measurement rate (PM_RATE) and resolution (PM_PRC)
+	//
+	// PM_RATE[7:4]    : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7   | 8     | 9    | 10   | 11   | 12 | 13 | 14  | 15
+	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128 | 25/16 | 25/8 | 25/4 | 25/2 | 25 | 50 | 100 | 200
+	// note: applicable for measurements in background mode only
+	//
+	// PM_PRC[3:0]         : 0      | 1   | 2   | 3    | 4    | 5    | 6     | 7
+	// oversampling (times): single | 2   | 4   | 8    | 16   | 32   | 64    | 128
+	// measurement time(ms): 3.6    | 5.2 | 8.4 | 14.8 | 27.6 | 53.2 | 104.4 | 206.8
+	// precision(PaRMS)    : 5.0    |     | 2.5 |      | 1.2  | 0.9  | 0.5   |
+	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
+	//
+	// -> 32 measurements per second, 16 oversampling
+	static constexpr uint8_t	_curr_prs_cfg{5 << 4 | 4};
+
+	// configuration of temperature measurment rate (TMP_RATE) and resolution (TMP_PRC)
+	//
+	// temperature measurement: internal sensor (in ASIC) | external sensor (in pressure sensor MEMS element)
+	// PM_RATE[7:4]    : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7   | 8     | 9    | 10   | 11   | 12 | 13 | 14  | 15
+	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128 | 25/16 | 25/8 | 25/4 | 25/2 | 25 | 50 | 100 | 200
+	// note: applicable for measurements in background mode only
+	//
+	// TMP_PRC[2:0]        : 0      | 1 | 2 | 3 | 4  | 5  | 6  | 7
+	// oversampling (times): single | 2 | 4 | 8 | 16 | 32 | 64 | 128
+	// note: single(default) measurement time 3.6ms, other settings are optional, and may not be relevant
+	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
+
+	// -> 32 measurements per second, single oversampling
+	static constexpr uint8_t	_curr_tmp_cfg{5 << 4 | 0};
+
+	bool			_collect_phase{false};
+	float kp;
+	float kt;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_measure_perf;
+	perf_counter_t		_comms_errors;
+
+	static constexpr uint32_t _sample_rate{32};
+	static constexpr uint32_t _measure_interval{1000000 / _sample_rate};
+};
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file SPA06_I2C.cpp
+ *
+ * SPI interface for Goertek SPA06
+ */
+
+#include "spa06.h"
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/device/i2c.h>
+
+#if defined(CONFIG_I2C)
+
+class SPA06_I2C: public device::I2C, public spa06::ISPA06
+{
+public:
+	SPA06_I2C(uint8_t bus, uint32_t device, int bus_frequency);
+	virtual ~SPA06_I2C() override = default;
+
+	int init() override { return I2C::init(); }
+
+	uint8_t	get_reg(uint8_t addr) override;
+	int	set_reg(uint8_t value, uint8_t addr) override;
+
+	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
+	//spa06::data_s		*get_data(uint8_t addr) override;
+	//spa06::calibration_s	*get_calibration(uint8_t addr) override;
+
+	uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
+
+	uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
+private:
+	spa06::calibration_s	_cal{};
+	spa06::data_s		_data{};
+};
+
+spa06::ISPA06 *spa06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
+{
+	return new SPA06_I2C(busnum, device, bus_frequency);
+}
+
+SPA06_I2C::SPA06_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
+	I2C(DRV_BARO_DEVTYPE_SPA06, MODULE_NAME, bus, device, bus_frequency)
+{
+}
+
+uint8_t
+SPA06_I2C::get_reg(uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr), 0};
+	transfer(&cmd[0], 1, &cmd[1], 1);
+
+	return cmd[1];
+}
+
+int
+SPA06_I2C::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr), value};
+	return transfer(cmd, sizeof(cmd), nullptr, 0);
+}
+
+int
+SPA06_I2C::read(uint8_t addr, uint8_t *buf, uint8_t len)
+{
+	return transfer(&addr, 1, buf, len);
+}
+
+#endif // CONFIG_I2C
@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file SPA06_SPI.cpp
+ *
+ * SPI interface for Goertek SPA06
+ */
+
+#include "spa06.h"
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/device/spi.h>
+
+#if defined(CONFIG_SPI)
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)  //for set
+#define DIR_WRITE			~(1<<7) //for clear
+
+class SPA06_SPI: public device::SPI, public spa06::ISPA06
+{
+public:
+	SPA06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+	virtual ~SPA06_SPI() override = default;
+
+	int init() override { return SPI::init(); }
+
+	uint8_t	get_reg(uint8_t addr) override;
+	int	set_reg(uint8_t value, uint8_t addr) override;
+
+	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
+
+	uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
+
+	uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
+};
+
+spa06::ISPA06 *
+spa06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
+{
+	return new SPA06_SPI(busnum, device, bus_frequency, spi_mode);
+}
+
+SPA06_SPI::SPA06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
+	SPI(DRV_BARO_DEVTYPE_SPA06, MODULE_NAME, bus, device, spi_mode, bus_frequency)
+{
+}
+
+uint8_t
+SPA06_SPI::get_reg(uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; // set MSB bit
+	transfer(&cmd[0], &cmd[0], 2);
+
+	return cmd[1];
+}
+
+int
+SPA06_SPI::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; // clear MSB bit
+	return transfer(&cmd[0], nullptr, 2);
+}
+
+int
+SPA06_SPI::read(uint8_t addr, uint8_t *buf, uint8_t len)
+{
+	uint8_t tx_buf[len + 1] = {(uint8_t)(addr | DIR_READ)}; // GCC support VLA, let's use it
+
+	return transfer(tx_buf, buf, len);
+}
+
+#endif // CONFIG_SPI
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Goertek SPA06 Barometer (external I2C)
+ *
+ * @reboot_required true
+ * @group Sensors
+ * @boolean
+  */
+PARAM_DEFINE_INT32(SENS_EN_SPA06, 0);
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Claudio Chies	4d003fd782	MPC: LAND: create Stop motion primitive to also be used elsewhere	2024-12-16 15:30:30 +01:00
Claudio Chies	b04b64c260	Expanded Vehicleconstraints to xy for emergency braking	2024-12-16 15:30:30 +01:00
Claudio Chies	ca141642ac	MPC: LAND: Split Landing out of the FlightTask Auto, any by that is able to compensate initial velocities better.	2024-12-16 15:30:30 +01:00
Roman Bapst	93c25efb62	Fixed-wing Position Control: Split up control methods for VTOL backtransition (#23893 ) * split methods to control backtransition depening on availablity of position Signed-off-by: RomanBapst <bapstroman@gmail.com> * fixed sign error and replace hardcoded number with constant Signed-off-by: RomanBapst <bapstroman@gmail.com> * make changes such that controller holds initial heading during transition Signed-off-by: RomanBapst <bapstroman@gmail.com> * use reference instead of copy Signed-off-by: RomanBapst <bapstroman@gmail.com> * added comment Signed-off-by: RomanBapst <bapstroman@gmail.com> * flash reduction Signed-off-by: RomanBapst <bapstroman@gmail.com> --------- Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-12-16 16:16:25 +03:00
Claudio Chies	051ced0fee	SENS: RNG: SF45: Added timeout to sensor measurements, to compensate the lower loop time of CollisionPrevention	2024-12-16 10:49:13 +01:00
Alexander Lerach	f34b22907c	SENS: RNG: SF45:Fix startup problems, increase frequency, robust parser, use nonblocking reads	2024-12-16 10:49:13 +01:00
Alexander Lerach	88d771e3e5	SENS: RNG: SF45: Fixed sf45 parser, added general checks to avoid potential out-of-bound access	2024-12-16 10:49:13 +01:00
Claudio Chies	1718b37fe4	SENS: RNG: SF45 changed data processing and publication design, moved to a publishing per sector design. other minor improvements	2024-12-16 10:49:13 +01:00
PX4 BuildBot	a751e900f5	Update submodule mavlink to latest Sat Dec 14 00:39:04 UTC 2024 - mavlink in PX4/Firmware (661ae0c0e3ac493ceddd13120e8ccb5bac47d887): https://github.com/mavlink/mavlink/commit/0e420102dbdd7e9f59617dd00c05a2470f22eef2 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/5e3a42b8f3f53038f2779f9f69bd64767b913bb8 - Changes: https://github.com/mavlink/mavlink/compare/0e420102dbdd7e9f59617dd00c05a2470f22eef2...5e3a42b8f3f53038f2779f9f69bd64767b913bb8 5e3a42b8 2024-12-12 Hamish Willee - development: Remove parameter transaction proposal (#2169) 25f4e9f0 2024-12-11 Hamish Willee - STANDARD_MODE_SAFE_RECOVERY + RTL merge (#2191) d5a8cb43 2024-12-11 Hamish Willee - Docs generate fix (#2194) 35f70c4a 2024-12-05 Hamish Willee - Create index.md, dialects.md and make notes/warning work with vitepress (#2193) 57c02856 2024-12-05 Hamish Willee - CAMERA_THERMAL_RANGE - no longer WIP (#2189) 1ee2ebe1 2024-12-04 Hamish Willee - fetch_dialect_ardupilotmega.yml: Not fail if nothing to commit (#2181) 1aa8c2d0 2024-12-04 Hamish Willee - ardupilotmega - remove_mav_cmd_external_estimate (#2187) 49fa509a 2024-11-30 github-actions[bot] - ardupilotmega dialects from ArduPilot/mavlink: Fri Nov 29 23:49:36 UTC 2024 (#2185) 75ebfc8f 2024-11-30 Hamish Willee - Update fetch_dialect_ardupilotmega.yml - fix copy error (#2184) 8e97709d 2024-11-30 Hamish Willee - fetch_dialect_ardupilotmega.yml - add loweheiser (#2183) 82b81aa8 2024-11-27 github-actions[bot] - ardupilotmega.xml from ArduPilot/mavlink: Wed Nov 27 04:13:16 UTC 2024 (#2178) 5c421a33 2024-11-27 Hamish Willee - Speed uncertainty units /s (#2180) 33f8a327 2024-11-24 David Sastre - Some modifications to multi-GCS protocol (#2179) 9938f940 2024-11-21 Hamish Willee - fetch_dialect_ardupilotmega - create (#2177) a55d0ec5 2024-11-21 Hamish Willee - MAV_CMD_GROUP_START and _GROUP_END delete wip (#2176) 1cf3c721 2024-11-21 Hamish Willee - dev: move FUEL_STATUS to common (#2170) 7ecb8e33 2024-11-21 Hamish Willee - WIFI_NETWORK_SECURITY - wip removal (#2164)	2024-12-13 20:57:48 -05:00
Silvan Fuhrer	4db55cd25f	mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-13 17:56:46 +01:00
Silvan Fuhrer	d7904b5f2c	mixer: FunctionMotors: leave NAN control values at NAN with non-zero THR_MDL_FAC Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-13 17:56:46 +01:00
bresch	3941b19968	ekf2_replay: log groundtruth messages	2024-12-13 17:40:08 +01:00
bresch	3165a77e26	SIH-AGP: add sensor failure simulation	2024-12-13 17:40:08 +01:00
bresch	2a08d4bdb8	add SensorAgpSim to generate Aux Global Position data	2024-12-13 17:40:08 +01:00
GuillaumeLaine	2e166379c7	docs: split msgs as un/versioned	2024-12-13 16:34:37 +01:00
GuillaumeLaine	4d62522942	uxrce_dds_client: remove unused msgdir arg from script	2024-12-13 16:34:37 +01:00
GuillaumeLaine	58e5b75d06	jenkins: update after msg/ restructure	2024-12-13 16:34:37 +01:00
GuillaumeLaine	2d667238f7	tools: update scripts after msg/ restructure	2024-12-13 16:34:37 +01:00
GuillaumeLaine	4fe7d713d3	msg: introduce message versioning	2024-12-13 16:34:37 +01:00
bresch	f9140fcd50	ekf2: set baro bias when GNSS is alt ref Do this even when GNSS altitude fusion is disabled.	2024-12-13 14:55:46 +01:00
bresch	fad9ae855d	EKF2: reset aid src when resetting state to measurement Filtered innovations and test ratios can be large before the reset and would trigger pre-flight warnings	2024-12-13 14:26:57 +01:00
Jacob Dahl	eb829676b0	sim: gz: remove Garden from cmake	2024-12-13 13:20:20 +01:00
Silvan Fuhrer	896c08bd68	COMMON_DISTANCE_SENSOR: remove srf02 from the list Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-13 11:40:59 +01:00
Silvan Fuhrer	f4b5d8e3d8	COMMON_DISTANCE_SENSOR: remove gy_us42 from the list Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-13 11:40:59 +01:00
Silvan Fuhrer	0b4b794de7	COMMON_DISTANCE_SENSOR: remove leddar_one from the list Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-13 11:40:59 +01:00
bresch	cc92979b06	ekf-agp: fix timeout	2024-12-12 15:49:04 +01:00
Pernilla	fc6c678274	Remove gz-garden as it reached EOL	2024-12-12 15:11:54 +01:00
Matthias Grob	d5c9ea048e	LidarLitePWM: refactor static cast and comment	2024-12-12 13:50:17 +01:00
Matthias Grob	5010b01e2e	PCF8583: refactor 1e6f for 1000000.f	2024-12-12 13:50:17 +01:00
Matthias Grob	cbde9729e8	Airframes: remove unnecessary double newlines	2024-12-12 13:50:17 +01:00
Julian Oes	091974e6c5	listener: only clear screen with multiple messages (#24019 ) * listener: only clear screen with multiple messages * listener: fully clear before printing again Otherwise, we end up seeing artifacts from the previous print.	2024-12-11 10:00:36 +13:00
Vincent Poon	0f1a4eb72c	update H-Flow Boot config and add stm32_configgpio (#24086 )	2024-12-11 09:49:06 +13:00
Alexander Lerach	bdbf7fd1dd	Also consider targets that include a '-' (#24087 )	2024-12-10 11:05:55 +01:00
Alexander Lerach	f9ecc0fcd1	Added various features to flash analysis (#24072 ) * Added various features to flash analysis (also run with FLASH overflow, summary in comment output, newer bloaty version, only add comment if change is large enough, ...) * Added feedback from review * Use wildcards * Removed backward-compat logic and use correct base	2024-12-10 10:15:49 +01:00
Riccardo Mengoli	09cd42911d	Mission: Replay gimbal cached items before reaching mission waypoint (#24085 ) When flying patterns, photos are sometimes taken while the gimbal is pitching up or down. To address this, we orient the gimbal before reaching the mission waypoint, allowing more time to complete the action. Additionally, we verify if the vehicle is climbing to avoid orienting the gimbal while on the ground.	2024-12-10 09:20:53 +01:00
PX4 BuildBot	430f0888b3	update all px4board kconfig	2024-12-06 22:09:46 -05:00
Jaeyoung Lim	197aed8bdd	Add mavlink stream for plane camera (#24081 )	2024-12-06 14:52:54 +01:00
Jari Nippula	814b243931	Tools/decrypt_ulog.py: support for .ulge log files	2024-12-05 07:25:29 +01:00
Jari Nippula	2da944a834	Logger: combined key & cipher file Use one single .ulge file to store both wrapped symmetric key and encrypted ulog data instead of creating separate .ulgk/ulgc files	2024-12-05 07:25:29 +01:00
Jacob Dahl	ae61b4bfe0	params: flash: erase corrupt sector (#24065 )	2024-12-05 07:24:56 +01:00
Julian Oes	1778692ca2	gps: heading fixes for NMEA/Unicore This updates the GPS submodule which includes NMEA/Unicore fixes: - Add correct return value for sat infos - Only publish on position updates - Request required topics at 5 Hz for Unicore	2024-12-05 08:58:22 +13:00
Ramon Roche	28487350d3	ci: update actions and images Updates some actions to run build steps in container instead of the whole workflow.	2024-12-04 12:59:27 -05:00
Matthias Grob	d416cd2a6c	Commander: remove `COM_POS_FS_DELAY` A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.	2024-12-03 17:31:56 +01:00
Perre	dfa48f988d	ESC check: Avoid unsigned timestamp underflow in telemtry timeout (#24069 ) * Avoid unsigned integer underflow * ESC check: add brackets to timeout for readability --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>	2024-12-03 17:14:09 +01:00
bresch	8626019ae0	EKF2: reset global position using variance	2024-12-03 13:04:25 +01:00
bresch	6b637f82f8	lla; fix conversion to ECEF	2024-12-03 13:03:54 +01:00
Perre	4696338d29	Add gz model for quadtailsitter (#23943 ) * Add gazebo airspeed plugin and add a tailsitter model --------- Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com>	2024-12-02 17:27:23 +01:00
Claudio Chies	1a165a4956	Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed	2024-12-02 14:52:31 +01:00
Matthias Grob	7dcfeb2f77	PositionSmoothing: refactor _getMaxZSpeed()	2024-12-02 14:52:31 +01:00
Matthias Grob	092e5e8f9d	TrajectoryConstraints: clarify waypoint indexing	2024-12-02 14:52:31 +01:00
Claudio Chies	06dde4ede8	MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position.	2024-12-02 14:52:31 +01:00
Claudio Chies	72e758950b	Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic.	2024-12-02 14:52:31 +01:00
Hamish Willee	5ce2bf662b	airframes markdownout.py - br rather than p for generated code	2024-12-02 11:55:25 +01:00
chfriedrich98	be2a3afb83	mecanum: update parameter description	2024-12-02 10:54:43 +01:00
chfriedrich98	ff55313b0b	mecanum: update current position in main file	2024-12-02 10:54:43 +01:00
chfriedrich98	a1b68fcac2	mecanum: update SITL airframe parameters	2024-12-02 10:54:43 +01:00
chfriedrich98	369ce37d65	mecanum: adjust speed setpoints to always be feasible	2024-12-02 10:54:43 +01:00
chfriedrich98	2eda5659eb	mecanum: fix inverse kinematics	2024-12-02 10:54:43 +01:00
chfriedrich98	5dcccd999c	mecanum: add slew rates to yaw, yaw rate and speed setpoints	2024-12-02 10:54:43 +01:00
chfriedrich98	54abc59283	mecanum: deprecate RM_MAN_YAW_SCALE	2024-12-02 10:54:43 +01:00
chfriedrich98	6cce443005	mecanum: deprecate RM_MISS_SPD_DEF	2024-12-02 10:54:43 +01:00
chfriedrich98	7e705bbf55	differential: add slow down effect in mission mode	2024-12-02 10:44:22 +01:00
chfriedrich98	8880569b31	differential: adjust speed setpoint based on yaw rate setpoint	2024-12-02 10:44:22 +01:00
bresch	b06ff99a3e	disable SIH on x21-777 and v6u to save flash	2024-11-29 14:21:29 +01:00
Marco Hauswirth	db0160bf7c	fix sih hitl plane airframe	2024-11-29 14:21:29 +01:00
bresch	8b1975cb98	SIH: lower IMU noise before takeoff This speeds-up the EKF alignment	2024-11-29 14:21:29 +01:00
bresch	b30ea40c6d	SIH: set GNSS delay to 0 as delay is not simulated	2024-11-29 14:21:29 +01:00
bresch	cd18138b1c	SIH: add transport rate acceleration to local acceleration	2024-11-29 14:21:29 +01:00
bresch	674aa474e7	SIH: use LatLonAlt class	2024-11-29 14:21:29 +01:00
bresch	189122d553	lla: add gravity constant at equator	2024-11-29 14:21:29 +01:00
bresch	b6658df169	lla: move to lib directory	2024-11-29 14:21:29 +01:00
bresch	7cf42727fb	lla: add functions to convert from and to ECEF	2024-11-29 14:21:29 +01:00
bresch	7ee69d616d	SIH: rework FW ground contact	2024-11-29 14:21:29 +01:00
bresch	5d33971712	SIH: refactor MC ground contact	2024-11-29 14:21:29 +01:00
bresch	9b172d36a2	matrix: allow casting float<->double	2024-11-29 14:21:29 +01:00
Marco Hauswirth	5d7b734bc9	SIH: ellipsoidal earth model SIH: use projection functions and constants from geo lib SIH: remove unnecessary member variable SIH: clarify names of rotation matrices and frames SIH: do not store DCM corresponding to quaternion attitude Using DCM is more efficient when more than 1 rotation needs to be done, which is not the case here. SIH: don't store local variable as member SIH: use Wgs84 constants everywhere SIH: do not store delta_quaternion Converting an AxisAngle to a Quaternion uses the exponenial SIH: organise ECEF member variables SIH: add earth spin rate to gyro data Co-authored-by: bresch <brescianimathieu@gmail.com>	2024-11-29 14:21:29 +01:00
Matthias Grob	ce3fcd503f	navigator: unify timeout waiting for payload to execute mission item command Used for winch, gripper, gimbal to reach the desired state before continuing the mission. Ideally we'd have feedback from all these components and not just a feed-forward delay.	2024-11-28 20:23:36 +01:00
Matthias Grob	17c24bafbc	mission_block: simplify timeout check	2024-11-28 20:23:36 +01:00
Matthias Grob	ec1cf04bc9	mission_block: fix style, shorten debug message strings	2024-11-28 20:23:36 +01:00
Stefano Colli	8b3c78a0a4	Navigator: add optional delay after gimbal mission items	2024-11-28 20:23:36 +01:00
Sergei Grichine	ab320017cc	boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 (#24006 ) adds the `emlid_navio2_arm64` build target - supports 64-bit OS on Raspberry Pi 4,5 (#24006)	2024-11-28 08:44:44 -08:00
Julian Oes	95b5859913	boards: add SPA06 to KakuteH7/H7mini/H7v2 boards	2024-11-28 12:18:44 +13:00
Julian Oes	def6ab5a6b	drivers: add SPA06	2024-11-28 12:18:44 +13:00
Julian Oes	f7b62961cb	drivers: Copy SPL06 to SPA06	2024-11-28 12:18:44 +13:00
Ramon Roche	1b6215fcf3	readme: update ci badge	2024-11-27 17:41:43 -05:00
Daniel Agar	990b067b25	uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule	2024-11-27 14:09:13 -08:00
Daniel Agar	68cbbaab92	Tools/astyle: check_code_style_all.sh skip pre-commit hook if non-interactive	2024-11-27 13:51:10 -08:00
Ramon Roche	22c1f07f0c	container: use PX4 tags whiel tagging images	2024-11-27 16:42:13 -05:00
Ramon Roche	f2bbb6f407	ci: disable publishing PR images to docker hub Docker hub is rate limiting our API access, as a result tests are failing for no apparent reason. This change will decrease the API calls by at least 80% We have applied for an Open Source account with greater API limits, I will come back to this and update as necessary when and if they grant us access to their program.	2024-11-27 16:42:13 -05:00
bresch	85bc8ef885	SIH-plane: fix actuator mapping	2024-11-27 11:14:56 -05:00
bresch	8a9bac29a2	SIH-FW: allow pitching up during takeoff Otherwise difficult to get lift	2024-11-27 11:14:56 -05:00
bresch	7236ef2d17	SIH-FW: fix aileron and elevator signs This broken when changing from mixer files to the control allocation module.	2024-11-27 11:14:56 -05:00
bresch	1dad25b763	SIH: do not assume being a tailsitter when creating airspeed measurement	2024-11-27 11:14:56 -05:00
Matthias Grob	a280d67be8	PID: Fix test to respect integral updates being applied in the next iteration Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>	2024-11-26 16:13:48 +01:00
Matthias Grob	f9bcbc31ae	PID: protect from division by zero because of dt Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>	2024-11-26 16:13:48 +01:00
Matthias Grob	b89c53d28c	Replace old pid library with new one	2024-11-26 16:13:48 +01:00
Matthias Grob	e047972cde	Add new C++ PID library	2024-11-26 16:13:48 +01:00
Daniel Agar	e194a52907	ekf2: derivation.py remove sideslip small angle approximation	2024-11-25 08:53:57 +01:00
				`@@ -0,0 +1 @@`
				`mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p`
				`@@ -0,0 +1 @@`
				`CONFIG_BOARD_LINKER_PREFIX="flash-analysis"`