navigator: set 1 second hysteresis time before triggering navigator_fail_max_hagl

- this is needed to avoid a race condition with the estimator in cases where we transition from hover to forward flight and expect airspeed aiding to activate after the transition. Signed-off-by: RomanBapst <bapstroman@gmail.com>
update gz submodule to get new tiltrotor sim
2026-06-03 20:50:06 +08:00 · 2024-12-19 14:10:51 +03:00 · 2024-12-19 09:57:55 +01:00 · 2024-12-19 09:57:55 +01:00 · 2024-12-19 09:57:55 +01:00 · 2024-12-19 09:57:55 +01:00
295 changed files with 5605 additions and 2692 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 +50,14 @@ 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
@@ -173,10 +173,9 @@ set(config_module_list)
 set(config_kernel_list)

 # Find Python
-find_package(Python COMPONENTS Interpreter)
-
+find_package(PythonInterp 3)
 # We have a custom error message to tell users how to install python3.
-if(NOT Python_FOUND)
+if(NOT PYTHONINTERP_FOUND)
 	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
 		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
 		"    macOS: brew install python")
@@ -185,7 +184,7 @@ endif()
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
-	set(Python_EXECUTABLE coverage run -p)
+	set(PYTHON_EXECUTABLE coverage run -p)
 endif()

 include(px4_config)
@@ -482,7 +481,7 @@ foreach(module ${config_module_list})
 endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
 		${graph_module_list} --src-path src/lib
 		--merge-depends
 		--exclude-path src/examples
@@ -503,7 +502,7 @@ include(package)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
@@ -231,9 +231,13 @@ pipeline {
              sh("git clone https://${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')
@@ -169,7 +169,7 @@ endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

 # Functions
@@ -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)

@@ -124,15 +124,15 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
 		--board ${PX4_BOARD}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
@@ -330,7 +330,7 @@ add_custom_target(romfs_gen_files_target

 add_custom_command(
 	OUTPUT romfs_pruned.stamp
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
 	DEPENDS
 		romfs_copy.stamp
@@ -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

@@ -61,19 +60,25 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 # controls in practical scenarios.

 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_MIN1 0
+param set-default SIM_GZ_SV_MAX1 1000
+param set-default SIM_GZ_SV_DIS1 500
+param set-default SIM_GZ_SV_FAIL1 500
+param set-default SIM_GZ_SV_MAXA1 90
+param set-default SIM_GZ_SV_MINA1 -90

 # Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
 #    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_MIN2 0
+param set-default SIM_GZ_SV_MAX2 1000
+param set-default SIM_GZ_SV_DIS2 500
+param set-default SIM_GZ_SV_FAIL2 500
+param set-default SIM_GZ_SV_MAXA2 90
+param set-default SIM_GZ_SV_MINA2 -90
+
+param set-default CA_SV_CS_COUNT 2

 # Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:

@@ -47,5 +47,8 @@ param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100

 # Steering
+param set-default SIM_GZ_SV_MAXA1 30
+param set-default SIM_GZ_SV_MINA1 -30
+param set-default CA_SV_CS_COUNT 1
 param set-default SIM_GZ_SV_FUNC1 201
 param set-default SIM_GZ_SV_REV 1
@@ -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
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Gazebo x500 gimbal
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_gimbal}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+# Gimbal settings
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_RC_IN_MODE 1
+
+param set-default MNT_MAN_ROLL 1
+param set-default MNT_MAN_PITCH 2
+param set-default MNT_MAN_YAW 3
+
+param set-default MNT_RANGE_ROLL 180
+param set-default MNT_RANGE_PITCH 180
+param set-default MNT_RANGE_YAW 720
@@ -0,0 +1,112 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
+
+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 21
+
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR2_TILT 2
+param set-default CA_SV_TL0_MAXA 90
+param set-default CA_SV_TL0_MINA 0
+param set-default CA_SV_TL0_TD 0
+param set-default CA_SV_TL0_CT 1
+param set-default CA_SV_TL1_MAXA 90
+param set-default CA_SV_TL1_MINA 0
+param set-default CA_SV_TL1_TD 0
+param set-default CA_SV_TL1_CT 1
+
+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_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL_COUNT 2
+
+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 SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+
+param set-default SIM_GZ_SV_MAXA4 90
+param set-default SIM_GZ_SV_MINA4 0
+param set-default SIM_GZ_SV_MAXA5 90
+param set-default SIM_GZ_SV_MINA5 0
+
+param set-default NPFG_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_AIRMODE 1
+param set-default MC_YAWRATE_P 0.4
+param set-default MC_YAWRATE_I 0.1
+
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_FWD_THRUST_SC 0.6
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1
@@ -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 +90,9 @@ px4_add_romfs_files(
 	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
+	4018_gz_quadtailsitter
+	4019_gz_x500_gimbal
+	4020_gz_tiltrotor

 	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
@@ -354,6 +354,11 @@ else
 	then
 		pps_capture start
 	fi
+	# RPM capture driver
+	if param greater -s RPM_CAP_ENABLE 0
+	then
+		rpm_capture start
+	fi
 	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -386,6 +391,7 @@ 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()))
@@ -40,6 +40,7 @@ exception_list = [
    'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND
    'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config
    'DRIVERS_PWM_INPUT', # Requires PWM config
+    'DRIVERS_RPM_CAPTURE', # Requires PPS GPIO config
    'DRIVERS_TEST_PPM', # PIN config not portable
    'DRIVERS_TATTU_CAN', # Broken needs fixing
    'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency?
@@ -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
@@ -35,7 +35,7 @@
 set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)

 add_custom_target(upload_teensy
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
 	DEPENDS ${PX4_FW_NAME}
 	COMMENT "uploading px4"
 	VERBATIM
@@ -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
@@ -1,20 +1,20 @@
 set(BOARD_DEFCONFIG ${PX4_CONFIG_FILE} CACHE FILEPATH "path to defconfig" FORCE)
 set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)

-execute_process(COMMAND ${Python_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
 if(ret EQUAL "1")
 	message(FATAL_ERROR "kconfiglib is not installed or not in PATH\n"
 				"please install using \"pip3 install kconfiglib\"\n")
 endif()

-set(MENUCONFIG_PATH ${Python_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
-set(GUICONFIG_PATH ${Python_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
-set(DEFCONFIG_PATH ${Python_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
-set(SAVEDEFCONFIG_PATH ${Python_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
-set(GENCONFIG_PATH ${Python_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
+set(MENUCONFIG_PATH ${PYTHON_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
+set(GUICONFIG_PATH ${PYTHON_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
+set(DEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
+set(SAVEDEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
+set(GENCONFIG_PATH ${PYTHON_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)

 set(COMMON_KCONFIG_ENV_SETTINGS
-	Python_EXECUTABLE=${Python_EXECUTABLE}
+	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 	KCONFIG_CONFIG=${BOARD_CONFIG}
 	# Set environment variables so that Kconfig can prune Kconfig source
 	# files for other architectures
@@ -47,7 +47,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		# Generate boardconfig from default.px4board and {label}.px4board
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
+			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 			OUTPUT_VARIABLE DUMMY_RESULTS
 		)
@@ -57,7 +57,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production")
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
+			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	endif()
@@ -452,7 +452,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -463,7 +463,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardguiconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${GUICONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -473,7 +473,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is

 	add_custom_target(px4_savedefconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -35,10 +35,10 @@

 add_custom_target(metadata_airframes
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
 	COMMENT "Generating full airframe metadata (markdown and xml)"
@@ -58,28 +58,28 @@ add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}

-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--all-ports --ethernet --params-file ${generated_params_dir}/serial_params.c --config-files ${yaml_config_files}

-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_params_dir}/module_params.c
 		--timer-config ${PX4_SOURCE_DIR}/boards/px4/fmu-v5/src/timer_config.cpp # select a typical board
 		--board-with-io
 		--ethernet
 		--config-files ${yaml_config_files} #--verbose

-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md

-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress

-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
@@ -90,7 +90,7 @@ add_custom_target(metadata_parameters

 add_custom_target(metadata_module_documentation
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
 		--markdown ${PX4_BINARY_DIR}/docs/modules
 	COMMENT "Generating module documentation"
 	USES_TERMINAL
@@ -99,17 +99,17 @@ add_custom_target(metadata_module_documentation
 set(events_src_path "${PX4_SOURCE_DIR}/src/lib/events")
 add_custom_target(metadata_extract_events
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/events
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--src-path ${PX4_SOURCE_DIR}/src
 		--json ${PX4_BINARY_DIR}/events/px4_full.json #--verbose
-	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
+	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
 		${PX4_BINARY_DIR}/events/px4_full.json
 		${events_src_path}/libevents/events/common.json
 		${events_src_path}/enums.json
 		--output ${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
+	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
 	COMMENT "Extracting events from full source"
 	USES_TERMINAL
@@ -67,7 +67,7 @@ function(px4_generate_airframes_xml)
 		ARGN ${ARGN})

 	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/airframes.xml
-		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 			--airframes-path ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${PX4_BOARD}
 			--xml ${PX4_BINARY_DIR}/airframes.xml
@@ -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)

@@ -312,10 +312,10 @@ add_custom_command(
 	OUTPUT
 		${uorb_headers}
 		${msg_out_path}/uORBTopics.hpp
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	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
@@ -333,10 +333,10 @@ add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 add_custom_command(
 	OUTPUT
 		${uorb_json_files}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	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
@@ -356,7 +356,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_message_fields_cpp_file}
 		${uorb_message_fields_header_file}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
 		-f ${uorb_json_files}
 		--source-output-file ${uorb_message_fields_cpp_file}
 		--header-output-file ${uorb_message_fields_header_file}
@@ -371,10 +371,10 @@ add_custom_command(
 # Generate microcdr headers
 add_custom_command(
 	OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	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
@@ -393,10 +393,10 @@ add_custom_command(
 	OUTPUT
 		${uorb_sources}
 		${msg_source_out_path}/uORBTopics.cpp
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	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)
@@ -459,7 +459,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		OUTPUT ${uorb_cdr_idl}
 		COMMAND ${CMAKE_COMMAND}
 		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
-			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
+			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
 			${uorb_cdr_msg}
 		DEPENDS
 			${uorb_cdr_msg}
@@ -489,10 +489,10 @@ if(CONFIG_LIB_CDRSTREAM)

 	add_custom_target(
 		uorb_idl_header
-		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		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
@@ -513,7 +513,7 @@ endif()

 if(CONFIG_MODULES_ZENOH)
 	# Update kconfig file for topics
-	execute_process(COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+	execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-config
 			-f ${msg_files}
 			-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
@@ -522,7 +522,7 @@ if(CONFIG_MODULES_ZENOH)
 	add_custom_command(
 		OUTPUT
 			${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
-		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-pub-sub
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/
@@ -16,5 +16,8 @@ float32 angular_velocity_y
 float32 angular_velocity_z

 uint32 failure_flags
+float32 delta_yaw
+float32 delta_yaw_velocity
+uint8 gimbal_device_id

 bool received_from_mavlink
@@ -33,4 +33,4 @@ float32 pitch_max # [rad]
 float32 yaw_min # [rad]
 float32 yaw_max # [rad]

-uint8 gimbal_device_compid
+uint8 gimbal_device_id
@@ -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
@@ -1,4 +1,4 @@
-uint64 timestamp                      # time since system start (microseconds)
+uint64 timestamp # time since system start (microseconds)

-float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
-float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute
+float32 rpm_estimate # filtered revolutions per minute
+float32 rpm_raw
@@ -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)

--- a/Show More
+++ b/Show More
				`@@ -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"`