sbgecom: Implement sbgECom INS driver (#24137 )

* Add new INS driver sbgECom Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot Be able to parametrize the serial port, baudrate and the communicating mode Clone sbgECom library only if sbgecom support is enabled and apply a patch Be able to send SBG Systems INS settings in several ways when starting sbgecom driver * Fix sensor airspeed simulator units * Fix HIGHRES_IMU pressure unit * Allow HIGHRES_IMU to support 4 IMUs * sbgECom: Add documentation * Use submodule instead of fetching sbgECom using CMake * Remove patch strategy * Fix dates * Remove patch file * Update SBG dev type ID Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
sim: refactor startup scripts and fix gz sim standalone (#24600 )
2026-06-18 08:01:29 +08:00 · 2025-11-24 09:27:36 -08:00 · 2025-11-24 09:21:46 -08:00 · 2025-11-24 09:19:43 -08:00 · 2025-11-24 09:19:43 -08:00 · 2025-11-24 09:19:41 -08:00
1052 changed files with 9170 additions and 27116 deletions
--- a/.github/ISSUE_TEMPLATE/bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/bug_report.yml
@ -3,45 +3,92 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
-  - type: markdown
-    attributes:
-      value: |
-        **Tips for a great bug report:**
-        - Describe what went wrong and what you expected
-        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
-        - Mention your PX4 version, flight controller, and vehicle type if relevant
-
  - type: textarea
    attributes:
      label: Describe the bug
-      description: A clear description of the bug and what you expected to happen.
-      placeholder: |
-        What happened and what did you expect instead?
-
-        Steps to reproduce (if applicable):
-        1.
-        2.
-        3.
+      description: A clear and concise description of the bug.
    validations:
      required: true

  - type: textarea
    attributes:
-      label: Flight Log / Additional Information
+      label: To Reproduce
      description: |
-        **Flight log** (highly recommended for flight-related issues):
-        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
-
-        **Additional details** (if relevant):
-        - PX4 version (output of `ver all` in MAVLink Shell)
-        - Flight controller model
-        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
-        - Screenshots or media
-      placeholder: |
-        Flight log link:
-
-        Version:
-
-        Hardware:
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
    validations:
      required: false
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: false
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: false
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: false
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ b/.github/ISSUE_TEMPLATE/config.yml
@ -1,4 +1,4 @@
-blank_issues_enabled: true
+blank_issues_enabled: false
 contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
--- a/.github/instructions/docs.en.instructions.md
+++ b/.github/instructions/docs.en.instructions.md
@ -1,48 +0,0 @@
---
-applyTo: "docs/en/**"
---
-
-# Review Guidelines docs/en Tree
-
-## File System & Structure
-
- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
-  - Valid: `docs/en/category/file.md`
-  - Invalid: `docs/en/category/subcategory/file.md`
- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
-
-## Markdown & Style
-
- **Headings:** Use Title Case ("First Letter Capitalisation"). 
-  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
-  - Do not apply bold or italic styling inside a heading.
- **Formatting:** 
-  - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
-  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
-
-## Linking & Navigation
-
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
-  Note relative link. 
- **Table Links:** To keep tables readable, use reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
-
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
- **Table Links:** To keep tables easier to edit, prefer reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
-
-## Quality Control
-
- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
- **Language:** Enforce **UK English** spelling and grammar.
--- a/.github/workflows/sitl_sih_tests.yml
+++ b/.github/workflows/sitl_sih_tests.yml
@ -0,0 +1,153 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
+name: SITL Tests using SIH
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {model: "quadx",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "xvert" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'
+
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+
+      - name: Cache Conf Config
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
+
+      - name: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default
+
+      - name: Cache Post-Run [px4_sitl_default]
+        run: ccache -s
+
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic
+
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s
+
+      - name: Download MAVSDK
+        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Install MAVSDK
+        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Check PX4 Environment Variables
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: |
+            export
+            ulimit -a
+
+      - name: Build PX4 / MAVSDK tests
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          DONT_RUN: 1
+        run: make px4_sitl_default gazebo mavsdk_tests
+
+      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
+        run: ccache -s
+
+      - name: Core Dump Settings
+        run: |
+            ulimit -c unlimited
+            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+      - name: Run SITL / MAVSDK Tests
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 1 --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl_sih.json --verbose
+        timeout-minutes: 45
+
+      - name: Upload failed logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: failed-${{matrix.config.model}}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+
+      - name: Look at Core files
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+
+      - name: Upload PX4 coredump
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: coredump
+          path: px4.core
+
+      - name: Setup & Generate Coverage Report
+        if: contains(matrix.config.build_type, 'Coverage')
+        run: |
+            git config --global credential.helper "" # disable the keychain credential helper
+            git config --global --add credential.helper store # enable the local store credential helper
+            echo "https://x-access-token:${{ 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@v4
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: mavsdk
+          file: coverage/lcov.info
--- a/.github/workflows/stale.yml
+++ b/.github/workflows/stale.yml
@ -15,7 +15,7 @@ jobs:
          stale-issue-label: 'stale'
          stale-pr-label: 'stale'
          remove-stale-when-updated: true
-          stale-issue-message: ''
-          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: ''
-          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
+          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
+          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
+          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
--- a/.github/workflows/sync_to_px4_msgs.yml
+++ b/.github/workflows/sync_to_px4_msgs.yml
@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs
--- a/.gitmodules
+++ b/.gitmodules
@ -103,9 +103,3 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
-[submodule "src/modules/mc_raptor/blob"]
-	path = src/modules/mc_raptor/blob
-	url = https://github.com/rl-tools/px4-blob
-[submodule "src/lib/rl_tools/rl_tools"]
-	path = src/lib/rl_tools/rl_tools
-	url = https://github.com/rl-tools/rl-tools.git
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@ -6,16 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_raptor:
-      short: px4_sitl_raptor
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_raptor_debug:
-      short: px4_sitl_raptor_debug
-      buildType: Debug
-      settings:
-        CONFIG: px4_sitl_raptor
    px4_sitl_spacecraft:
      short: px4_sitl_spacecraft
      buildType: RelWithDebInfo
@ -541,13 +531,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -267,7 +267,7 @@ endif()

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
--- a/30
+++ b/30
@ -220,6 +220,36 @@ pipeline {
          }
        }

+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              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('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              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')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+            }
+          }
+        }
+
        stage('S3') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
--- a/ROMFS/CMakeLists.txt
+++ b/ROMFS/CMakeLists.txt
@ -146,11 +146,6 @@ 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}
-	# Preprocess ROMFS files with KConfig definitions
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
-		--romfs-dir ${romfs_gen_root_dir}
-		--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
-		--cpp ${CMAKE_C_COMPILER}
 	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
@ -164,10 +159,8 @@ add_custom_command(
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS
-		${romfs_tar_file}
-		${PX4_BINARY_DIR}/px4_boardconfig.h
-	COMMENT "ROMFS: copying, preprocessing, generating airframes"
+	DEPENDS ${romfs_tar_file}
+	COMMENT "ROMFS: copying, generating airframes"
 	)

 # copy extras into ROMFS
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
@ -29,6 +29,12 @@ param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

+# again follows from CA_* params. remove redundancy sometime
+param set-default SIH_L_PITCH 1  # = CA_ROTOR0_PX
+param set-default SIH_L_ROLL 1   # = CA_ROTOR0_PY
+param set-default SIH_T_MAX 6.5 # = default value of CA_ROTOR0_CT
+param set-default SIH_Q_MAX 0.325 # = CA_ROTOR0_KM * SIH_T_MAX
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
@ -17,6 +17,7 @@ param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1

 param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
@ -37,7 +38,10 @@ param set-default SIH_IYY 0.000625
 param set-default SIH_IZZ 0.00300
 param set-default SIH_IXZ 0
 param set-default SIH_KDV 0.2
-param set-default SIH_L_ROLL 0.145
+
+# SIH_L_ROLL = CA_ROTOR0_PX. this is redundant, should in future use CA rotor
+# geometry info in sih...
+param set-default SIH_L_ROLL 1

 # sih as tailsitter
 param set-default SIH_VEHICLE_TYPE 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol
@ -61,9 +61,9 @@ param set-default CA_SV_CS1_TYPE 3  # elevator
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4  # rudder

-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 10
-param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@ -81,8 +81,35 @@ param set-default MAV_TYPE 22

 param set-default SENS_DPRES_OFF 0.001

+
+#
+# # gazebo model:
+# # https://github.com/PX4/PX4-gazebo-models/blob/main/models/standard_vtol/model.sdf
+# # notes about gazebo models:
+# # https://github.com/mvernacc/gazebo_motor_model_docs/blob/master/notes.pdf
+#
+# # max thrust = maxRotVelocity**2 * motorConstant
+# param set SIH_T_MAX 45
+#
+# # max torque = ??
+# param set SIH_Q_MAX 0.0165
+#
+# # = base_link mass (rest irrelevant)
+# param set SIH_MASS 5
+#
+# param set SIH_IXX 0.4777
+# param set SIH_IYY 0.3417
+# param set SIH_IZZ 0.8110
+# param set SIH_IXZ 0
+#
+# param set SIH_KDV 0.2
+#
+# param set SIH_T_MAX 6.5
+# param set SIH_MASS 0.65
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
+
 param set SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set SIH_IXX 0.00354
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_ARSPDSIM 1
+
 param set-default FW_LND_ANG 8

 param set-default FW_PR_FF 0.08
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal
@ -19,6 +19,5 @@ 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_MAX_PITCH 45
-param set-default MNT_MIN_PITCH -135
+param set-default MNT_RANGE_PITCH 180
 param set-default MNT_RANGE_YAW 720
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual
@ -1,167 +0,0 @@
-#!/bin/sh
-#
-# @name KTH-ATMOS
-#
-# @type Free-Flyer
-# @class Spacecraft
-#
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-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_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-param set-default SIM_GZ_EC_FUNC9 301
-param set-default SIM_GZ_EC_FUNC10 302
-param set-default SIM_GZ_EC_FUNC11 303
-param set-default SIM_GZ_EC_FUNC12 304
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-param set-default SIM_GZ_EC_MIN9 1100
-param set-default SIM_GZ_EC_MIN10 1100
-param set-default SIM_GZ_EC_MIN11 1100
-param set-default SIM_GZ_EC_MIN12 1100
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-param set-default SIM_GZ_EC_MAX9 1900
-param set-default SIM_GZ_EC_MAX10 1900
-param set-default SIM_GZ_EC_MAX11 1900
-param set-default SIM_GZ_EC_MAX12 1900
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@ -118,7 +118,6 @@ px4_add_romfs_files(
 	60002_gz_uuv_bluerov2_heavy

 	70000_gz_atmos
-	70001_gz_atmos_dual

 	# [22000, 22999] Reserve for custom models
 )
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
@ -1,6 +1,8 @@
 #!/bin/sh
 # shellcheck disable=SC2154

+echo "INFO  [init] Gazebo simulator"
+
 # Enforce minimum gz version as Harmonic (gz-sim8)
 MIN_GZ_VERSION="8.0.0"
 GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
@ -159,19 +161,24 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi

 	# Set up camera to follow the model if requested
-	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then

 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"

+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}

 		# Set camera offset
-		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
-				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
-				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1

 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@ -8,8 +8,48 @@ param set-default IMU_INTEG_RATE 250
 param set-default COM_MODE_ARM_CHK 1

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

 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
    # Run Gazebo (gz)
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -126,6 +126,15 @@ then
 	set AUTOCNF yes
 fi

+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@ -229,15 +238,6 @@ then
 	exit 1
 fi

-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 dataman start

 # only start the simulator if not in replay mode, as both control the lockstep time
--- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@ -75,7 +75,10 @@ param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
 param set SIH_IXZ 0
 param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
+
+# SIH_L_ROLL = CA_ROTOR0_PX. this is redundant, should in future use CA rotor
+# geometry info in sih...
+param set SIH_L_ROLL 1

 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@ -18,8 +18,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@ -16,8 +16,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@ -7,8 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@ -77,6 +75,9 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5

+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
@ -78,6 +78,9 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5

+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 202
 param set-default SENS_FLOW_MAXHGT 25
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@ -29,6 +29,9 @@ param set-default MPC_MAN_TILT_MAX 60

 param set-default THR_MDL_FAC 0.3

+# enable high-rate logging profile (helps with tuning)
+param set-default SDLOG_PROFILE 19
+
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90

--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@ -11,8 +11,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@ -9,8 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@ -12,9 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
-# @board ark_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/70000_atmos
+++ b/ROMFS/px4fmu_common/init.d/airframes/70000_atmos
@ -20,9 +20,6 @@

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

-# Overwrite DDS AG IP to `192.168.0.1`
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@ -41,9 +41,3 @@ if param compare -s MC_NN_EN 1
 then
 	mc_nn_control start
 fi
-
-
-if param compare -s MC_RAPTOR_ENABLE 1
-then
-	mc_raptor start
-fi
--- a/ROMFS/px4fmu_common/init.d/rc.sc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.sc_defaults
@ -8,6 +8,9 @@ set VEHICLE_TYPE spacecraft
 # MAV_TYPE_SPACECRAFT_ORBITTER
 param set-default MAV_TYPE 45

+# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@ -8,24 +8,17 @@
 #                           Begin Optional drivers                            #
 ###############################################################################

-%ifdef CONFIG_DRIVERS_BATT_SMBUS
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_SMART_BATTERY_BATMON
 # Start batmon driver if enabled using BATMON_DRIVER_EN
 if param compare -s BATMON_DRIVER_EN 1
 then
 	batmon start -X  #start on external bus
 fi
-%endif

-
-%ifdef CONFIG_DRIVERS_PWM_INPUT
-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@ -34,121 +27,92 @@ then
 		ll40ls_pwm start
 	fi
 fi
-%endif

 # External automatic trigger system
 if param compare FD_EXT_ATS_EN 1
 then
 	pwm_input start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Lidar-Lite on I2C
 if param compare -s SENS_EN_LL40LS 2
 then
 	ll40ls start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MAPPYDOT
 # mappydot lidar sensor
 if param compare -s SENS_EN_MPDT 1
 then
 	mappydot start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX
 # mb12xx sonar sensor
 if param greater -s SENS_EN_MB12XX 0
 then
 	mb12xx start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_PGA460
 # pga460 sonar sensor
 if param greater -s SENS_EN_PGA460 0
 then
 	pga460 start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
 	lightware_laser_i2c start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05
 # Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
 if param compare -s SENS_EN_SR05 1
 then
 	srf05 start
 fi
-%endif


-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TERARANGER
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
 	teraranger start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905
 # paa3905 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAA3905 0
 then
 	paa3905 -S start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902
 # paw3902 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAW3902 0
 then
 	paw3902 -S start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901
 # pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X
 # vl53l0x i2c distance sensor
 if param compare -s SENS_EN_VL53L0X 1
 then
 	vl53l0x start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO
 # tf02 pro i2c distance sensor
 if param compare -s SENS_EN_TF02PRO 1
 then
 	tf02pro start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@ -161,33 +125,25 @@ then
 		adis16448 -S start -R 4
 	fi
 fi
-%endif

-%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
 # ADIS16507 spi external IMU
 if param greater -s SENS_EN_ADIS165X 0
 then
 	adis16507 -S start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_IMU_MURATA_SCH16T
 # SCH16T spi external IMU
 if param compare -s SENS_EN_SCH16T 1
 then
 	sch16t -S start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
 	ets_airspeed start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
@ -197,171 +153,110 @@ then
 		sdp3x start -X -a 0x22
 	fi
 fi
-%endif

-%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808
 # Microchip MCP9808 temperature sensor external I2C
 if param compare -s SENS_EN_MCP9808 1
 then
 	mcp9808 start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
 	ms4515 start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO
 # TE MS4525DO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525DO 1
 then
 	ms4525do start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO
 # TE MS5525DSO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS5525DS 1
 then
 	ms5525dso start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033
 # TE ASP5033 differential pressure sensor external I2C
 if param compare -s SENS_EN_ASP5033 1
 then
 	asp5033 start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
 # AUAV absolute/differential pressure sensor external I2C
 if param greater -s SENS_EN_AUAVX 0
 then
 	auav start -D -X
 	auav start -A -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_HYGROMETER_SHT3X
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
 	sht3x start -X
 	sht3x start -X -a 0x45
 fi
-%endif

-%ifdef CONFIG_DRIVERS_IRLOCK
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06
 # SPL06 sensor external I2C
 if param compare -s SENS_EN_SPL06 1
 then
 	spl06 -X start
 	spl06 -X -a 0x77 start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06
 # SPA06 sensor external I2C
 if param compare -s SENS_EN_SPA06 1
 then
 	spa06 -X start
 	spa06 -X -a 0x77 start
 fi
-%endif

-%ifdef CONFIG_DRIVERS_RPM_PCF8583
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
 	pcf8583 start -X
 	pcf8583 start -X -a 0x51
 fi
-%endif

-%ifdef CONFIG_DRIVERS_ADC_ADS7953
 # ADC sensor ADS7953 external SPI
 if param compare -s ADC_ADS7953_EN 1
 then
 	ads7953 start -S
 fi
-%endif

-%ifdef CONFIG_DRIVERS_ADC_TLA2528
 # ADC sensor tla2528 external I2C
 if param compare -s ADC_TLA2528_EN 1
 then
 	tla2528 start -X
 fi
-%endif

-%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
-# Start TMP102 temperature sensor
-if param compare -s SENS_EN_TMP102 1
-then
-	tmp102 start -X
-fi
-%endif
-
-%ifdef COMMON_MAGNETOMETER
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
-%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
 	icm20948_i2c_passthrough -X -q start
-%endif

 	# compasses
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_HMC5883
 	hmc5883 -T -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308
 	ist8308 -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310
 	ist8310 -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start
 	fi
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883L
 	qmc5883l -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883P
 	qmc5883p -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_RM3100
 	rm3100 -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350
 	bmm350 -X -q start
-%endif
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
-%endif

 	# start last (wait for possible icm20948 passthrough mode)
-%ifdef CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916
 	ak09916 -X -q start
-%endif
 fi
-%endif
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@ -265,15 +265,12 @@ else
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 	#
-%ifdef CONFIG_DRIVERS_TONE_ALARM
 	tone_alarm start
-%endif

 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-%ifdef CONFIG_MODULES_DATAMAN
 	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
@ -284,14 +281,11 @@ else
 			dataman start
 		fi
 	fi
-%endif

 	#
 	# Start the socket communication send_event handler.
 	#
-%ifdef CONFIG_MODULES_SEND_EVENT
 	send_event start
-%endif

 	#
 	# Start the hardfault streamer.
@ -304,25 +298,15 @@ else
 	#
 	# Start the resource load monitor.
 	#
-%ifdef CONFIG_MODULES_LOAD_MON
 	load_mon start
-%endif

 	#
 	# Start system state indicator.
 	#
-%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED
 	rgbled start -X -q
-%endif
-%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C
 	rgbled_ncp5623c start -X -q
-%endif
-%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_LP5562
 	rgbled_lp5562 start -X -q
-%endif
-%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_IS31FL3195
 	rgbled_is31fl3195 start -X -q
-%endif

 	#
 	# Override parameters from user configuration file.
@ -347,21 +331,11 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
-%ifdef CONFIG_MODULES_SIMULATION_SIMULATOR_SIH
 			simulator_sih start
-%endif
-%ifdef CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM
 			sensor_baro_sim start
-%endif
-%ifdef CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM
 			sensor_mag_sim start
-%endif
-%ifdef CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM
 			sensor_gps_sim start
-%endif
-%ifdef CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM
 			sensor_agp_sim start
-%endif
 		fi

 	else
@ -378,58 +352,43 @@ else

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

-%ifdef CONFIG_MODULES_SENSORS
-%ifdef CONFIG_MODULES_ESC_BATTERY
 		if param compare -s BAT1_SOURCE 2
 		then
 			esc_battery start
 		fi
-%endif

-%ifdef CONFIG_MODULES_BATTERY_STATUS
 		if ! param compare BAT1_SOURCE 1
 		then
 			battery_status start
 		fi
-%endif
-%endif

-%ifdef CONFIG_MODULES_SENSORS
 		sensors start
-%endif
 	fi

 	#
 	# state estimator selection
 	#
-%ifdef CONFIG_MODULES_EKF2
 	if param compare -s EKF2_EN 1
 	then
 		ekf2 start &
 	fi
-%endif

-%ifdef CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR
 	if param compare -s LPE_EN 1
 	then
 		local_position_estimator start
 	fi
-%endif

-%ifdef CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q
 	if param compare -s ATT_EN 1
 	then
 		attitude_estimator_q start
 	fi
-%endif

-%ifdef CONFIG_DRIVERS_PX4IO
 	#
 	# px4io
 	#
 	if px4io supported
 	then
-		# Check if PX4IO present and update firmware if needed.
+	# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@ -459,56 +418,40 @@ else
 			fi
 		fi
 	fi
-%endif

 	# Heater driver for temperature regulated IMUs.
 	# The heater needs to start after px4io.
-%ifdef CONFIG_DRIVERS_HEATER
 	if param compare -s SENS_EN_THERMAL 1
 	then
 		heater start
 	fi
-%endif


 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
 	#
-%ifdef CONFIG_MODULES_RC_UPDATE
 	rc_update start
-%endif
-%ifdef CONFIG_MODULES_MANUAL_CONTROL
 	manual_control start
-%endif

 	# Start camera trigger, capture and PPS before pwm_out as they might access
 	# pwm pins
-%ifdef CONFIG_DRIVERS_CAMERA_TRIGGER
 	if param greater -s TRIG_MODE 0
 	then
 		camera_trigger start
-%ifdef CONFIG_MODULES_CAMERA_FEEDBACK
 		camera_feedback start
-%endif
 	fi
-%endif
 	# PPS capture driver
-%ifdef CONFIG_DRIVERS_PPS_CAPTURE
 	if param greater -s PPS_CAP_ENABLE 0
 	then
 		pps_capture start
 	fi
-%endif
 	# RPM capture driver
-%ifdef CONFIG_DRIVERS_RPM_CAPTURE
 	if param greater -s RPM_CAP_ENABLE 0
 	then
 		rpm_capture start
 	fi
-%endif
 	# Camera capture driver
-%ifdef CONFIG_DRIVERS_CAMERA_CAPTURE
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@ -516,34 +459,25 @@ else
 			camera_capture on
 		fi
 	fi
-%endif

 	#
 	# Commander
 	#
-%ifdef CONFIG_MODULES_COMMANDER
 	if param greater SYS_HITL 0
 	then
 		commander start -h

-%ifdef CONFIG_MODULES_SIMULATION_PWM_OUT_SIM
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
-%endif

 	else
 		commander start

-%ifdef CONFIG_DRIVERS_DSHOT
 		dshot start
-%endif
-%ifdef CONFIG_DRIVERS_PWM_OUT
 		pwm_out start
-%endif
 	fi
-%endif

 	#
 	# Configure vehicle type specific parameters.
@ -551,12 +485,10 @@ else
 	. ${R}etc/init.d/rc.vehicle_setup

 	# Pre-takeoff continuous magnetometer calibration
-%ifdef CONFIG_MODULES_MAG_BIAS_ESTIMATOR
 	if param compare -s MBE_ENABLE 1
 	then
 		mag_bias_estimator start
 	fi
-%endif

 	#
 	# Optional board mavlink streams: rc.board_mavlink
@ -601,67 +533,54 @@ else
 	#
 	# Start the navigator.
 	#
-%ifdef CONFIG_MODULES_NAVIGATOR
 	navigator start
-%endif

-%ifdef CONFIG_MODULES_TEMPERATURE_COMPENSATION
 	#
 	# Start a thermal calibration if required.
 	#
-	. ${R}etc/init.d/rc.thermal_cal
-%endif
+	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
+	if [ -f ${RC_THERMAL_CAL} ]
+	then
+		. ${RC_THERMAL_CAL}
+	fi
+	unset RC_THERMAL_CAL

 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
-%ifdef CONFIG_MODULES_GIMBAL
 	if param greater -s MNT_MODE_IN -1
 	then
 		gimbal start
 	fi
-%endif

 	# Blacksheep telemetry
-%ifdef CONFIG_DRIVERS_TELEMETRY_BST
 	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi
-%endif

-%ifdef CONFIG_MODULES_GYRO_FFT
 	if param compare -s IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
-%endif

-%ifdef CONFIG_MODULES_GYRO_CALIBRATION
 	if param compare -s IMU_GYRO_CAL_EN 1
 	then
 		gyro_calibration start
 	fi
-%endif

 	# Check for px4flow sensor
-%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW
 	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X &
 	fi
-%endif

-%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
 	payload_deliverer start
-%endif

-%ifdef CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL
 	if param compare -s ICE_EN 1
 	then
 		internal_combustion_engine_control start
 	fi
-%endif

 	#
 	# Optional board supplied extras: rc.board_extras
@ -683,12 +602,15 @@ else
 		. $FEXTRAS
 	fi

-%ifdef CONFIG_MODULES_LOGGER
 	#
 	# Start the logger.
 	#
-	. ${R}etc/init.d/rc.logging
-%endif
+	set RC_LOGGING ${R}etc/init.d/rc.logging
+	if [ -f ${RC_LOGGING} ]
+	then
+		. ${RC_LOGGING}
+	fi
+	unset RC_LOGGING

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@ -709,7 +631,6 @@ else
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
-%ifdef CONFIG_DRIVERS_UAVCAN
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
@ -718,27 +639,15 @@ else
 			tune_control play error
 		fi
 	else
-%ifdef CONFIG_DRIVERS_CYPHAL
 		if param greater -s CYPHAL_ENABLE 0
 		then
 			cyphal start
 		fi
-%endif
 	fi
-%else
-%ifdef CONFIG_DRIVERS_CYPHAL
-	if param greater -s CYPHAL_ENABLE 0
-	then
-		cyphal start
-	fi
-%endif
-%endif
-%ifdef CONFIG_MODULES_ZENOH
 	if param greater -s ZENOH_ENABLE 0
 	then
 		zenoh start
 	fi
-%endif

 #
 # End of autostart.
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@ -21,13 +21,11 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
-    -path src/lib/rl_tools/rl_tools -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/mc_raptor/blob -prune -o \
    -path test/fuzztest -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
--- a/Tools/check_submodules.sh
+++ b/Tools/check_submodules.sh
@ -17,12 +17,37 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
 	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
 	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[33mWarning: $1 submodule has uncommitted changes:\033[0m"
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "Different commits:"
 		echo -e "$SUBMODULE_STATUS"
 		echo ""
-		echo -e "To update submodules to the expected version, run:"
-		echo -e "   \033[94mgit submodule sync --recursive && git submodule update --init --recursive\033[0m"
 		echo ""
+		echo -e " *******************************************************************************"
+		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
+		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
+		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
+		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
+		echo -e " *******************************************************************************"
+		echo ""
+		echo ""
+		echo -e "   Only for EXPERTS:"
+		echo -e "   $1 submodule is not in the recommended version."
+		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
+		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
+		echo ""
+		read user_cmd
+		if [ "$user_cmd" == "y" ]; then
+			echo "Continuing build with manually overridden submodule.."
+		elif [ "$user_cmd" == "u" ]; then
+			git submodule sync --recursive -- $1
+			git submodule update --init --recursive -- $1 || true
+			git submodule update --init --recursive --force -- $1
+			echo "Submodule fixed, continuing build.."
+		else
+			echo "Build aborted."
+			exit 1
+		fi
 	fi
 else
 	git submodule --quiet sync --recursive --quiet -- $1
--- a/Tools/ci/generate_board_targets_json.py
+++ b/Tools/ci/generate_board_targets_json.py
@ -25,15 +25,15 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                    help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')

 args = parser.parse_args()
 verbose = args.verbose

-target_filter = []
+board_filter = []
 if args.filter:
-    for target in args.filter.split(','):
-        target_filter.append(target)
+    for board in args.filter.split(','):
+        board_filter.append(board)

 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@ -144,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                label = files.name[:-9]
                target_name = manufacturer.name + '_' + board.name + '_' + label

-                if target_filter and not any(target_name.startswith(f) for f in target_filter):
+                if board_filter and not board_name in board_filter:
                    if verbose: print(f'excluding board {board_name} ({target_name})')
                    continue

--- a/Tools/module_config/generate_actuators_metadata.py
+++ b/Tools/module_config/generate_actuators_metadata.py
@ -238,7 +238,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
            ( 'disarmed', 'Disarmed', 'DIS', False ),
            ( 'min', 'Minimum', 'MIN', False ),
            ( 'max', 'Maximum', 'MAX', False ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
            ( 'failsafe', 'Failsafe', 'FAIL', True ),
            ]
        for key, label, param_suffix, advanced in standard_params_array:
--- a/Tools/module_config/generate_params.py
+++ b/Tools/module_config/generate_params.py
@ -284,9 +284,6 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
-'''
-        center_description = \
-'''Servo Center output value (when not disarmed).
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
@ -299,7 +296,6 @@ When set to -1 (default), the value depends on the function (see {:}).
        standard_params_array = [
            ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
            ( 'min', 'Minimum', 'MIN', minimum_description ),
-            ( 'center', 'Center', 'CENT', center_description ),
            ( 'max', 'Maximum', 'MAX', maximum_description ),
            ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
            ]
@ -316,10 +312,6 @@ When set to -1 (default), the value depends on the function (see {:}).
                    standard_params[key]['default'] = -1
                    standard_params[key]['min'] = -1

-                if key == 'center':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
                param = {
                    'description': {
                        'short': channel_label+' ${i} '+label+' Value',
--- a/Tools/process_sensor_caldata.py
+++ b/Tools/process_sensor_caldata.py
@ -1675,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))

 # draw plots
-plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@ -1736,7 +1736,7 @@ if num_baros >= 2:
    plt.figure(14,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_1_x_resample,'r')
    plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
    plt.ylabel('Z bias (Pa)')
@ -1797,7 +1797,7 @@ if num_baros >= 3:
    plt.figure(15,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_2_x_resample,'r')
    plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
    plt.ylabel('Z bias (Pa)')
@ -1853,7 +1853,7 @@ if num_baros >= 4:
    plt.figure(16,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_3_x_resample,'r')
    plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
    plt.ylabel('Z bias (Pa)')
--- a/Tools/px_romfs_preprocess.py
+++ b/Tools/px_romfs_preprocess.py
@ -1,188 +0,0 @@
-#!/usr/bin/env python3
-"""
-Preprocesses ROMFS files with C preprocessor to enable KConfig support.
-
-This script processes all rc* files in the ROMFS directory through the C preprocessor,
-allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
-"""
-
-import argparse
-import os
-import subprocess
-import sys
-import tempfile
-from pathlib import Path
-
-
-def preprocess_file(file_path, kconfig_header, cpp_command):
-    """
-    Preprocess a single file through the C preprocessor.
-
-    Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
-    with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
-    #ifdef, #ifndef, #if, #else, #endif before preprocessing.
-
-    Args:
-        file_path: Path to the file to preprocess
-        kconfig_header: Path to the px4_boardconfig.h header
-        cpp_command: C preprocessor command (usually the C compiler)
-    """
-    # Read original file
-    with open(file_path, 'r') as f:
-        original_content = f.read()
-
-    # Process the file line by line:
-    # 1. Remove shell comment lines (to avoid conflicts with CPP)
-    # 2. Convert % preprocessor directives to # directives
-    lines = original_content.split('\n')
-    converted_lines = []
-
-    for line in lines:
-        stripped = line.lstrip()
-
-        # Check if line starts with % followed by a preprocessor keyword
-        if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
-            # Preserve leading whitespace, convert %ifdef to #ifdef
-            converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
-        elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
-            converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
-        elif stripped.startswith('%if '):
-            converted_lines.append(line.replace('%if', '#if', 1))
-        elif stripped.startswith('%elif '):
-            converted_lines.append(line.replace('%elif', '#elif', 1))
-        elif stripped.startswith('%else'):
-            converted_lines.append(line.replace('%else', '#else', 1))
-        elif stripped.startswith('%endif'):
-            converted_lines.append(line.replace('%endif', '#endif', 1))
-        elif stripped.startswith('#') and not stripped.startswith('#!'):
-            # Remove shell comment lines (but keep shebang)
-            # This prevents "# if ..." comments from being interpreted as "#if" by CPP
-            continue
-        else:
-            converted_lines.append(line)
-    converted_content = '\n'.join(converted_lines)
-
-    # Create temporary file with include directive and converted content
-    with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
-        tmp.write(f'#include "{kconfig_header}"\n')
-        tmp.write(converted_content)
-        tmp_path = tmp.name
-
-    try:
-        # Run C preprocessor
-        # -P: don't generate #line directives
-        # -E: preprocess only
-        # -undef: don't predefine any non-standard macros
-        # -nostdinc: don't search standard include directories
-        # -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
-        result = subprocess.run(
-            [cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
-            capture_output=True,
-            text=True,
-            check=True
-        )
-
-        preprocessed = result.stdout
-
-        # Clean up the output:
-        # 1. Remove empty lines at the beginning
-        # 2. Remove lines that are just whitespace
-        lines = preprocessed.split('\n')
-        cleaned_lines = []
-        started = False
-
-        for line in lines:
-            # Skip empty lines at the beginning
-            if not started and not line.strip():
-                continue
-            started = True
-            cleaned_lines.append(line)
-
-        # Remove trailing empty lines
-        while cleaned_lines and not cleaned_lines[-1].strip():
-            cleaned_lines.pop()
-
-        # Write preprocessed content back
-        with open(file_path, 'w') as f:
-            f.write('\n'.join(cleaned_lines))
-            if cleaned_lines:  # Add final newline if file is not empty
-                f.write('\n')
-
-        return True
-
-    except subprocess.CalledProcessError as e:
-        print(f"Error preprocessing {file_path}: {e}")
-        print(f"stderr: {e.stderr}")
-        return False
-    finally:
-        # Clean up temporary file
-        try:
-            os.unlink(tmp_path)
-        except:
-            pass
-
-
-def main():
-    parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
-    parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
-    parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
-    parser.add_argument('--cpp', required=True, help='C preprocessor command')
-    parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
-
-    args = parser.parse_args()
-
-    # Verify inputs
-    romfs_dir = Path(args.romfs_dir)
-    kconfig_header = Path(args.kconfig_header)
-
-    if not romfs_dir.exists():
-        print(f"Error: ROMFS directory not found: {romfs_dir}")
-        return 1
-
-    if not kconfig_header.exists():
-        print(f"Error: KConfig header not found: {kconfig_header}")
-        return 1
-
-    # Find all files to preprocess in init.d directory
-    init_d_dir = romfs_dir / 'init.d'
-    if not init_d_dir.exists():
-        print(f"Warning: init.d directory not found in {romfs_dir}")
-        return 0
-
-    # Find all rc* files (shell scripts)
-    files_to_process = []
-    for pattern in ['rc*', 'rcS']:
-        files_to_process.extend(init_d_dir.glob(pattern))
-
-    # Also check subdirectories like airframes
-    for subdir in init_d_dir.iterdir():
-        if subdir.is_dir():
-            for pattern in ['rc*']:
-                files_to_process.extend(subdir.glob(pattern))
-
-    # Remove duplicates and filter only files
-    files_to_process = list(set([f for f in files_to_process if f.is_file()]))
-
-    if not files_to_process:
-        print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
-        return 0
-
-    print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
-
-    # Process each file
-    success_count = 0
-    for file_path in sorted(files_to_process):
-        rel_path = file_path.relative_to(romfs_dir)
-        print(f"  Processing: {rel_path}")
-        if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
-            success_count += 1
-        else:
-            print(f"  Warning: Failed to preprocess {rel_path}")
-
-    print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
-
-    return 0 if success_count == len(files_to_process) else 1
-
-
-if __name__ == '__main__':
-    sys.exit(main())
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@ -98,6 +98,40 @@ class firmware(object):

    desc = {}
    image = bytes()
+    crctab = array.array('I', [
+        0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+        0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+        0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+        0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+        0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+        0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+        0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+        0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+        0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+        0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+        0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+        0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+        0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+        0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+        0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+        0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+        0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+        0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+        0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+        0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+        0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+        0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+        0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+        0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+        0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+        0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+        0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+        0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+        0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+        0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+        0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+        0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
+    crcpad = bytearray(b'\xff\xff\xff\xff')

    def __init__(self, path):

@ -115,15 +149,17 @@ class firmware(object):
    def property(self, propname):
        return self.desc[propname]

-    def crc(self, padlen):
-        state = 0xFFFFFFFF
-        state = zlib.crc32(self.image, state)
-        padding_length = padlen - len(self.image)
-        if padding_length > 0:
-            padding = b'\xff' * padding_length
-            state = zlib.crc32(padding, state)
+    def __crc32(self, bytes, state):
+        for byte in bytes:
+            index = (state ^ byte) & 0xff
+            state = self.crctab[index] ^ (state >> 8)
+        return state

-        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
+    def crc(self, padlen):
+        state = self.__crc32(self.image, int(0))
+        for _ in range(len(self.image), (padlen - 1), 4):
+            state = self.__crc32(self.crcpad, state)
+        return state


 class uploader:
--- a/Tools/simulation/gz
+++ b/Tools/simulation/gz
@ -1 +1 @@
-Subproject commit fe3fe236e36a3ed5bce01a7501347d20a466c407
+Subproject commit e34154fd1d38fc2a9d50db264870cd2a9a6039a9
--- a/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
+++ b/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld
+++ b/boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld
@ -132,6 +132,7 @@ ENTRY(_stext)
 */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)

 SECTIONS
 {
--- a/boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt
+++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt
@ -48,6 +48,7 @@ else()
 		i2c.cpp
 		init.c
 		led.c
+		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
--- a/boards/3dr/ctrl-zero-h7-oem-revg/src/mtd.cpp
+++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/mtd.cpp
@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -30,31 +30,30 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-//TODO:Prepare for NxtDual

 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };

 static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi5,
+	.device = &spi2,
 	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		}
+			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
+		},
 	},
 };

 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 1,
-	.entries = {
+	.nconfigs = 1,
+	.entries  = {
 		&fmum_fram
 	}
 };
--- a/boards/accton-godwit/ga1/default.px4board
+++ b/boards/accton-godwit/ga1/default.px4board
@ -34,6 +34,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
--- a/boards/accton-godwit/ga1/init/rc.board_defaults
+++ b/boards/accton-godwit/ga1/init/rc.board_defaults
@ -3,13 +3,19 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
+param set - default SENS_EN_INA238 0
+param set - default SENS_EN_INA228 0
+param set - default SENS_EN_INA226 0
+
 # Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
+param set - default MAV_2_CONFIG 1000
+param set - default MAV_2_BROADCAST 1
+param set - default MAV_2_MODE 0
+param set - default MAV_2_RADIO_CTL 0
+param set - default MAV_2_RATE 100000
+param set - default MAV_2_REMOTE_PRT 14550
+param set - default MAV_2_UDP_PRT 14550

 safety_button start
--- a/boards/accton-godwit/ga1/src/CMakeLists.txt
+++ b/boards/accton-godwit/ga1/src/CMakeLists.txt
@ -71,5 +71,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
+			platform_gpio_mcp23009
 	)
 endif()
--- a/boards/accton-godwit/ga1/src/init.cpp
+++ b/boards/accton-godwit/ga1/src/init.cpp
@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@ -285,6 +286,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 #endif /* !defined(BOOTLOADER) */

 	return OK;
--- a/boards/airmind/mindpx-v2/default.px4board
+++ b/boards/airmind/mindpx-v2/default.px4board
@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@ -35,11 +35,11 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
--- a/boards/ark/fmu-v6x/init/rc.board_defaults
+++ b/boards/ark/fmu-v6x/init/rc.board_defaults
@ -14,7 +14,10 @@ param set-default MAV_2_RATE 100000
 param set-default MAV_2_REMOTE_PRT 14550
 param set-default MAV_2_UDP_PRT 14550

+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
+
 param set-default SENS_EN_THERMAL 1
 param set-default SENS_IMU_MODE 1
 param set-default SENS_IMU_TEMP 10.0
--- a/boards/ark/fmu-v6x/init/rc.board_sensors
+++ b/boards/ark/fmu-v6x/init/rc.board_sensors
@ -97,11 +97,5 @@ bmm150 -I start
 # Internal Baro on I2C
 bmp388 -I start

-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
-
 unset HAVE_PM2
 unset HAVE_PM3
--- a/boards/ark/fpv/default.px4board
+++ b/boards/ark/fpv/default.px4board
@ -19,17 +19,8 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y
--- a/boards/ark/fpv/init/rc.board_sensors
+++ b/boards/ark/fpv/init/rc.board_sensors
@ -16,9 +16,3 @@ iis2mdc -R 0 -I -b 4 start

 # Internal Baro on I2C
 bmp388 -I -b 2 start
-
-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
--- a/boards/ark/pi6x/default.px4board
+++ b/boards/ark/pi6x/default.px4board
@ -19,7 +19,6 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
--- a/boards/ark/pi6x/init/rc.board_sensors
+++ b/boards/ark/pi6x/init/rc.board_sensors
@ -34,9 +34,3 @@ paw3902 -s -b 3 start -Y 90

 # Internal distance sensor
 afbrs50 start
-
-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
--- a/boards/ark/pi6x/rover.px4board
+++ b/boards/ark/pi6x/rover.px4board
@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
--- a/boards/auterion/fmu-v6s/default.px4board
+++ b/boards/auterion/fmu-v6s/default.px4board
@ -22,11 +22,11 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
@ -66,6 +66,9 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TIME_PERSISTOR=y
@ -74,7 +77,9 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@ -86,6 +91,8 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
--- a/boards/auterion/fmu-v6s/init/rc.board_defaults
+++ b/boards/auterion/fmu-v6s/init/rc.board_defaults
@ -3,6 +3,12 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# By disabling INA modules, we use the
+# i2c_launcher instead.
+param set-default SENS_EN_INA226 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA238 0
+
 # Set the backend of the dataman to SRAM
 param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
--- a/boards/auterion/fmu-v6s/init/rc.board_sensors
+++ b/boards/auterion/fmu-v6s/init/rc.board_sensors
@ -60,9 +60,6 @@ then
 	set INA_CONFIGURED yes
 fi

-# Auterion auto starter
-auterion_autostarter start
-
 if param compare BAT1_V_CHANNEL -2
 then
 	if [ "$INA_CONFIGURED" != "yes" ]
@ -77,5 +74,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -b 1
 fi
--- a/boards/auterion/fmu-v6x/default.px4board
+++ b/boards/auterion/fmu-v6x/default.px4board
@ -26,10 +26,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
--- a/boards/auterion/fmu-v6x/init/rc.board_defaults
+++ b/boards/auterion/fmu-v6x/init/rc.board_defaults
@ -3,6 +3,12 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 0
+
 # Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 param set-default UXRCE_DDS_PTCFG 2
 param set-default UXRCE_DDS_AG_IP 170461697
@ -20,9 +26,9 @@ safety_button start
 if ver hwbasecmp 009 010 011
 then
 	# No USB
-	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -M 0 -U 10
+	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
 fi
 if ver hwbasecmp 00a 008
 then
-	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -M 0 -U 10
+	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
 fi
--- a/boards/auterion/fmu-v6x/init/rc.board_sensors
+++ b/boards/auterion/fmu-v6x/init/rc.board_sensors
@ -55,8 +55,8 @@ then
 	set INA_CONFIGURED yes
 fi

-# Auterion auto starter
-auterion_autostarter start
+#Start Auterion Power Module selector for Skynode boards
+pm_selector_auterion start

 # Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 param set-default INA238_SHUNT 0.0003
@ -86,5 +86,8 @@ fi
 #external baro
 bmp388 -X start

+# Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
+#ms5611 -X start
+
 unset INA_CONFIGURED
 unset HAVE_PM2
--- a/boards/auterion/fmu-v6x/src/CMakeLists.txt
+++ b/boards/auterion/fmu-v6x/src/CMakeLists.txt
@ -69,6 +69,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
-			platform_gpio_mcp
+			platform_gpio_mcp23009
 	)
 endif()
--- a/boards/auterion/fmu-v6x/src/init.cpp
+++ b/boards/auterion/fmu-v6x/src/init.cpp
@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@ -281,6 +282,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 #endif /* !defined(BOOTLOADER) */

 	return OK;
--- a/boards/av/x-v1/default.px4board
+++ b/boards/av/x-v1/default.px4board
@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/bluerobotics/navigator/init/rc.board_defaults
+++ b/boards/bluerobotics/navigator/init/rc.board_defaults
@ -11,7 +11,3 @@ param set BAT1_V_DIV 5.7

 # Always keep current config
 param set SYS_AUTOCONFIG 0
-
-# PCA9685 PWM Out defaults
-param set-default PCA9685_EN_BUS 4
-param set-default PCA9685_I2C_ADDR 64
--- a/boards/bluerobotics/navigator/init/rc.board_sensors
+++ b/boards/bluerobotics/navigator/init/rc.board_sensors
@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi

-if ! pca9685_pwm_out start
+if ! pca9685_pwm_out start -a 0x40 -b 4
 then
 	echo "pca9685_pwm_out not found."
 fi
--- a/boards/cuav/fmu-v6x/default.px4board
+++ b/boards/cuav/fmu-v6x/default.px4board
@ -30,6 +30,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
--- a/boards/cuav/fmu-v6x/init/rc.board_defaults
+++ b/boards/cuav/fmu-v6x/init/rc.board_defaults
@ -3,6 +3,13 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 0
+
+
 # Mavlink ethernet (CFG 1000)
 param set-default MAV_2_CONFIG 1000
 param set-default MAV_2_BROADCAST 1
--- a/boards/cuav/fmu-v6x/init/rc.board_sensors
+++ b/boards/cuav/fmu-v6x/init/rc.board_sensors
@ -68,7 +68,7 @@ fi

 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
-iim42652 -R 6 -s -C 32768 start
+iim42652 -R 6 -s start
 icm45686 -R 2 -s start

 rm3100 -I -b 4 start
--- a/boards/cuav/fmu-v6x/src/CMakeLists.txt
+++ b/boards/cuav/fmu-v6x/src/CMakeLists.txt
@ -71,5 +71,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
+			platform_gpio_mcp23009
 	)
 endif()
--- a/boards/cuav/fmu-v6x/src/init.cpp
+++ b/boards/cuav/fmu-v6x/src/init.cpp
@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@ -285,6 +286,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 #endif /* !defined(BOOTLOADER) */

 	return OK;
--- a/boards/cuav/nora/default.px4board
+++ b/boards/cuav/nora/default.px4board
@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/cuav/x25-evo/default.px4board
+++ b/boards/cuav/x25-evo/default.px4board
@ -28,6 +28,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
--- a/boards/cuav/x25-evo/init/rc.board_defaults
+++ b/boards/cuav/x25-evo/init/rc.board_defaults
@ -15,6 +15,10 @@ param set-default MAV_2_UDP_PRT 14550
 param set-default BAT1_V_DIV 18
 param set-default BAT1_A_PER_V 24

+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 0
+
 param set-default USB_MAV_MODE 5

 param set-default UAVCAN_SUB_GPS 1
--- a/boards/cuav/x7pro/default.px4board
+++ b/boards/cuav/x7pro/default.px4board
@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/cubepilot/cubeorange/default.px4board
+++ b/boards/cubepilot/cubeorange/default.px4board
@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
--- a/boards/cubepilot/cubeorangeplus/default.px4board
+++ b/boards/cubepilot/cubeorangeplus/default.px4board
@ -25,6 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
--- a/boards/cubepilot/cubeyellow/default.px4board
+++ b/boards/cubepilot/cubeyellow/default.px4board
@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/hkust/nxt-dual/default.px4board
+++ b/boards/hkust/nxt-dual/default.px4board
@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
--- a/boards/hkust/nxt-v1/default.px4board
+++ b/boards/hkust/nxt-v1/default.px4board
@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
--- a/boards/holybro/durandal-v1/default.px4board
+++ b/boards/holybro/durandal-v1/default.px4board
@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/holybro/kakuteh7/default.px4board
+++ b/boards/holybro/kakuteh7/default.px4board
@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
--- a/boards/holybro/kakuteh7dualimu/default.px4board
+++ b/boards/holybro/kakuteh7dualimu/default.px4board
@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
--- a/boards/holybro/kakuteh7mini/default.px4board
+++ b/boards/holybro/kakuteh7mini/default.px4board
@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
--- a/boards/holybro/kakuteh7v2/default.px4board
+++ b/boards/holybro/kakuteh7v2/default.px4board
@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
--- a/boards/holybro/pix32v5/default.px4board
+++ b/boards/holybro/pix32v5/default.px4board
@ -25,6 +25,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
--- a/boards/matek/h743-mini/default.px4board
+++ b/boards/matek/h743-mini/default.px4board
@ -14,6 +14,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
--- a/boards/matek/h743-slim/default.px4board
+++ b/boards/matek/h743-slim/default.px4board
@ -17,6 +17,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
--- a/boards/matek/h743/default.px4board
+++ b/boards/matek/h743/default.px4board
@ -16,6 +16,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
--- a/boards/micoair/h743-aio/default.px4board
+++ b/boards/micoair/h743-aio/default.px4board
@ -26,11 +26,13 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/micoair/h743-lite/default.px4board
+++ b/boards/micoair/h743-lite/default.px4board
@ -24,10 +24,12 @@ CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/micoair/h743-v2/default.px4board
+++ b/boards/micoair/h743-v2/default.px4board
@ -25,11 +25,13 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/micoair/h743/default.px4board
+++ b/boards/micoair/h743/default.px4board
@ -27,11 +27,13 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/boards/modalai/fc-v1/default.px4board
+++ b/boards/modalai/fc-v1/default.px4board
@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Samuel Toledano	6e401548a8	sbgecom: Implement sbgECom INS driver (#24137 ) * Add new INS driver sbgECom Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot Be able to parametrize the serial port, baudrate and the communicating mode Clone sbgECom library only if sbgecom support is enabled and apply a patch Be able to send SBG Systems INS settings in several ways when starting sbgecom driver * Fix sensor airspeed simulator units * Fix HIGHRES_IMU pressure unit * Allow HIGHRES_IMU to support 4 IMUs * sbgECom: Add documentation * Use submodule instead of fetching sbgECom using CMake * Remove patch strategy * Fix dates * Remove patch file * Update SBG dev type ID Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-11-24 09:27:36 -08:00
Jacob Dahl	dc885169f3	sim: refactor startup scripts and fix gz sim standalone (#24600 ) * sim: refactor px4-rc.simulator into sim specific startup scripts. Fix gz sim for standalone mode. * shellcheck disable=SC2154	2025-11-24 09:21:46 -08:00
PX4 Build Bot	bd838a5ddf	New Crowdin translations - ko (#24560 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-24 09:19:43 -08:00
PX4 Build Bot	694bd49445	New Crowdin translations - ko (#24557 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-24 09:19:43 -08:00
Jacob Dahl	5ae6f3fdfb	gz: use server config file for loading world plugins (#24441 ) * gz: use server config file for loading world plugins * submodule * use server.config in tree * newlines * format * gzbridge: rename function * format * gzbridge: add magnetometer callback * change gz_find_package to find_package * fix up directory structure and cmake to allow multiple plugins * newlines * add comment block explaining gz_env.sh * remove dupe readme * remove SENS_EN_MAGSIM from all gz airframe files except spacecraft * update gz submodule	2025-11-24 09:19:41 -08:00
Balduin	6974c4a5cb	AutopilotTester: Speed up polling w speed factor If sim is running faster, we should also poll faster to keep the same timing resolution. This fixed quite a large number of test failures.	2025-11-24 09:13:16 -08:00
Balduin	45582fcf55	attempt at fixing xvert SensorAirspeedSim has hardcoded pitot tube direction in body front velocity. for tailsitter, this points DOWN in forward flight, thus the simulated sensor would read 0 in forward flight for tailsitters. fixed by using norm(velocity) instead like in sih.	2025-11-24 09:13:16 -08:00
Balduin	e4f4d240b6	last few hacks to make standard_vtol pass - higher airspeed targets - higher pusher thrust - higher takeoff attitude (arsp failure test) in the airspeed failure case, the lowered airspeed reading causes the controller to want to speed up until the (wrong) airspeed is at the setpoint, i.e. the real airspeed quite a bit faster. without these fixes, tecs does a nosedive to regain airspeed, but never becomes fast enough (with already maxed out pusher thrust). we pervent this with the first two adaptations, while the last one gives space for the remaining nosedive. fix this permanently by: - ensuring the model makes sense definitely (pusher thrust, mass, aero properties) - noticing the failure faster - adapting tecs so it doesn't nosedive? - stop sending airspeed in sih src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp is already doing that. in the sensor failure case (wrong), that implements the failure, but the SIH one not, giving conflicting data. so switch it off - larger acceptance radius quadx position mode is just not that accurate. is it a control/model mismatch problem, or a simulation problem? - wait longer for disarm in test_vtol_rtl this would fail at large speed factors previously. timing bug or acceptable small variation?	2025-11-24 09:13:14 -08:00
Balduin	6d5832b67a	figure 8 test: longer transition timeout, no sleep maybe this is a band-aid fix, and we actually should make sure the transition can be achieved in the given 5 seconds, as it is very reliably in the corresponding gazebo test case. check: - does SIH_T_MAX make sense? - does SIH_MASS make sense? - and any other model parameters which are suspicious	2025-11-24 09:12:15 -08:00
Balduin	48eaa7513a	cleanup	2025-11-24 09:12:15 -08:00
Balduin	790b60f027	mavsdk tests: use tester sleep function the original std::this_thread::sleep_for is with respect to host system time which is different from autopilot time if speed factor != 1, if some component runs slower than real time, or if debugging. tester.sleep_for (which already existed) correctly sleeps w.r.t. px4/simulation time.	2025-11-24 09:12:13 -08:00
Balduin	64dc071c34	consider thrust in aero model previously I removed this assuming that it would add the forward thrust as a resulting force. but it just considers its influence on the wing segment.	2025-11-24 09:10:23 -08:00
Balduin	56e361197e	specify timeout duration to wait for disarm	2025-11-24 09:09:44 -08:00
Balduin	12df575081	implement additional failure: airspeed wrong	2025-11-24 09:09:41 -08:00
Balduin	96d8a4f089	format	2025-11-24 09:09:02 -08:00
Balduin	b3c1d91408	start airspeed sensor sim according to param AFAIK this is not done anywhere else for SIH-as-SITL. Just below for gazebo it is already present. the corresponding check for SIH-on-FC happens at ROMFS/px4fmu_common/init.d/rcS:388 - also no airspeed is enabled anywhere. is that intended? also, handle airspeed failure correctly in SensorAirspeedSim.cpp	2025-11-24 09:09:00 -08:00
Balduin	5c08b11442	DataValidator: handle low noise scale Previously, DataValidator would automatically reject sensor data as stale if (almost) constant. But if setting SIH_NOISE_SCALE = 0 for deterministic sim, constant sensor data are to be expected. This adds logic to not flag sensor values as stale if noise scale is very small. If the sensor has actually gone stale with very low noise scale, this means we cannot detect it anymore.	2025-11-24 09:08:45 -08:00
Balduin	ce98211181	clean up comments	2025-11-24 09:08:45 -08:00
Balduin	cbbd621acd	add noise scale parameter this makes SIH artificial sensor noise smaller or larger. useful for deterministic-ish sim. setting it to 0 does not work right now for mysterious reasons.	2025-11-24 09:08:45 -08:00
Balduin	22b50e47bd	model mismatch, more conservative speed factor	2025-11-24 09:08:45 -08:00
Balduin	71c9214388	make tailsitter airframes less wrong	2025-11-24 09:08:45 -08:00
Balduin	43940b872c	don't --abort-early	2025-11-24 09:08:45 -08:00
Balduin	2e89edc5e5	implement baro stuck failure	2025-11-24 09:08:45 -08:00
Balduin	321ac6f994	new sensor failures airspeed, baro, and mag off. agp has no failures, and other failure types like stuck etc not implemented at all. doubting this implementation, lots of repetitions and almost-repetitions. maybe we should do it more similar to SimulatorMavlink.cpp? Where simulator_sih handles the sensor failures itself, with one big if mess, but the rest of it nice and lean. failing tests for quadx: - 'Continue on baro stuck during mission (baro height mode)': failed - 'Continue on baro stuck during mission (GPS height mode)': failed - 'Fly straight Multicopter Mission': failed - 'Offboard takeoff and land': failed - 'Offboard position control': failed	2025-11-24 09:08:43 -08:00
Balduin	00bf1413cc	first sensor failure	2025-11-24 09:08:17 -08:00
Balduin	ddeb548bb2	add workflow for sih-sitl tests also, fix tailsitter model so actuator signs follow convention	2025-11-24 09:08:17 -08:00
Balduin	345e5296cb	(very wip) sitl-sih integration tests	2025-11-24 09:08:15 -08:00
Balduin	ea74357dd0	remove confusing 'SVTOL' abbreviation	2025-11-24 09:06:52 -08:00
Balduin	ec9465f661	update output docstring	2025-11-24 09:05:36 -08:00
Balduin	467abbf85f	add svtol airframe for sih-in-sitl	2025-11-24 09:05:33 -08:00